mirror of https://github.com/ArduPilot/ardupilot
467 lines
11 KiB
Plaintext
467 lines
11 KiB
Plaintext
// called by 10 Hz loop
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// --------------------
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void update_commands(void)
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{
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// This function loads commands into three buffers
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// when a new command is loaded, it is processed with process_XXX()
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// ----------------------------------------------------------------
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if((home_is_set == false) || (control_mode != AUTO)){
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return; // don't do commands
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}
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if(control_mode == AUTO){
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load_next_command();
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process_next_command();
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}
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//verify_must();
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//verify_may();
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}
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void load_next_command()
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{
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// fetch next command if it's empty
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// --------------------------------
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if(next_command.id == CMD_BLANK){
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next_command = get_wp_with_index(wp_index+1);
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if(next_command.id != CMD_BLANK){
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//Serial.print("MSG fetch found new cmd from list at index: ");
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//Serial.println((wp_index+1),DEC);
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//Serial.print("MSG cmd id: ");
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//Serial.println(next_command.id,DEC);
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}
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}
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// If the preload failed, return or just Loiter
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// generate a dynamic command for RTL
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// --------------------------------------------
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if(next_command.id == CMD_BLANK){
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// we are out of commands!
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//send_message(SEVERITY_LOW,"out of commands!");
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//Serial.print("MSG out of commands, wp_index: ");
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//Serial.println(wp_index,DEC);
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switch (control_mode){
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case LAND:
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// don't get a new command
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break;
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default:
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next_command = get_LOITER_home_wp();
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//Serial.print("MSG Preload RTL cmd id: ");
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//Serial.println(next_command.id,DEC);
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break;
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}
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}
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}
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void process_next_command()
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{
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// these are waypoint/Must commands
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// ---------------------------------
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if (command_must_index == 0){ // no current command loaded
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if (next_command.id >= 0x10 && next_command.id <= 0x1F ){
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increment_WP_index();
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save_command_index(); // to Recover from in air Restart
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command_must_index = wp_index;
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//Serial.print("MSG new command_must_id ");
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//Serial.print(next_command.id,DEC);
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//Serial.print(" index:");
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//Serial.println(command_must_index,DEC);
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if (log_bitmask & MASK_LOG_CMD)
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Log_Write_Cmd(wp_index, &next_command);
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process_must();
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}
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}
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// these are May commands
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// ----------------------
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if (command_may_index == 0){
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if (next_command.id >= 0x20 && next_command.id <= 0x2F ){
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increment_WP_index();// this command is from the command list in EEPROM
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command_may_index = wp_index;
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//Serial.print("new command_may_index ");
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//Serial.println(command_may_index,DEC);
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if (log_bitmask & MASK_LOG_CMD)
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Log_Write_Cmd(wp_index, &next_command);
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process_may();
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}
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}
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// these are do it now commands
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// ---------------------------
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if (next_command.id >= 0x30){
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increment_WP_index();// this command is from the command list in EEPROM
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if (log_bitmask & MASK_LOG_CMD)
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Log_Write_Cmd(wp_index, &next_command);
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process_now();
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}
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}
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/*
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These functions implement the waypoint commands.
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*/
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void process_must()
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{
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//Serial.print("process must index: ");
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//Serial.println(command_must_index,DEC);
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send_message(SEVERITY_LOW,"New cmd: ");
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send_message(MSG_COMMAND, wp_index);
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// clear May indexes
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command_may_index = 0;
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command_may_ID = 0;
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command_must_ID = next_command.id;
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = 0;
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// reset navigation integrators
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// -------------------------
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reset_I();
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// loads the waypoint into Next_WP struct
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// --------------------------------------
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set_next_WP(&next_command);
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switch(command_must_ID){
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case CMD_TAKEOFF: // TAKEOFF!
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takeoff_altitude = (int)next_command.alt;
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next_WP.lat = current_loc.lat + 10; // so we don't have bad calcs
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next_WP.lng = current_loc.lng + 10; // so we don't have bad calcs
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takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
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break;
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case CMD_WAYPOINT: // Navigate to Waypoint
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break;
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case CMD_R_WAYPOINT: // Navigate to Waypoint
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next_command.lat += home.lat; // offset from home location
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next_command.lng += home.lng; // offset from home location
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// we've recalculated the WP so we need to set it again
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set_next_WP(&next_command);
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break;
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case CMD_LAND: // LAND to Waypoint
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velocity_land = 1000;
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next_WP.lat = current_loc.lat;
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next_WP.lng = current_loc.lng;
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next_WP.alt = home.alt;
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land_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
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break;
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case CMD_ALTITUDE: // Loiter indefinitely
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next_WP.lat = current_loc.lat + 10; // so we don't have bad calcs
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next_WP.lng = current_loc.lng + 10; // so we don't have bad calcs
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break;
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case CMD_LOITER: // Loiter indefinitely
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break;
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case CMD_LOITER_N_TURNS: // Loiter N Times
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break;
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case CMD_LOITER_TIME:
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break;
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case CMD_RTL:
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return_to_launch();
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break;
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}
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}
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void process_may()
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{
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//Serial.print("process_may cmd# ");
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//Serial.println(wp_index,DEC);
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command_may_ID = next_command.id;
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = 0;
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send_message(SEVERITY_LOW,"New cmd: ");
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send_message(MSG_COMMAND, wp_index);
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// do the command
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// --------------
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switch(command_may_ID){
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case CMD_DELAY: // Navigate to Waypoint
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delay_start = millis();
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delay_timeout = next_command.lat;
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break;
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case CMD_LAND_OPTIONS: // Land this puppy
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break;
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case CMD_ANGLE:
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// target angle in degrees
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command_yaw_start = nav_yaw; // current position
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command_yaw_end = next_command.p1 * 100;
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command_yaw_start_time = millis();
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// which direction to turn
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// 1 = clockwise, -1 = counterclockwise
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command_yaw_dir = next_command.lat;
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// 1 = Relative or 0 = Absolute
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if (next_command.lng == 1) {
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// relative
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command_yaw_dir = (command_yaw_end > 0) ? 1 : -1;
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command_yaw_end += nav_yaw;
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command_yaw_end = wrap_360(command_yaw_end);
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}
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// if unspecified go 10° a second
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if(command_yaw_speed == 0)
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command_yaw_speed = 10;
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// if unspecified go clockwise
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if(command_yaw_dir == 0)
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command_yaw_dir = 1;
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// calculate the delta travel
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if(command_yaw_dir == 1){
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if(command_yaw_start > command_yaw_end){
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command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end);
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}else{
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command_yaw_delta = command_yaw_end - command_yaw_start;
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}
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}else{
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if(command_yaw_start > command_yaw_end){
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command_yaw_delta = command_yaw_start - command_yaw_end;
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}else{
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command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end);
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}
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}
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command_yaw_delta = wrap_360(command_yaw_delta);
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// rate to turn deg per second - default is ten
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command_yaw_speed = next_command.alt;
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command_yaw_time = command_yaw_delta / command_yaw_speed;
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break;
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default:
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break;
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}
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}
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void process_now()
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{
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const float t5 = 100000.0;
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//Serial.print("process_now cmd# ");
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//Serial.println(wp_index,DEC);
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byte id = next_command.id;
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = 0;
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send_message(SEVERITY_LOW, "New cmd: ");
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send_message(MSG_COMMAND, wp_index);
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// do the command
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// --------------
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switch(id){
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case CMD_RESET_INDEX:
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init_commands();
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break;
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case CMD_GETVAR_INDEX:
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//
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break;
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case CMD_SENDVAR_INDEX:
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//
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break;
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case CMD_TELEMETRY:
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//
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break;
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//case CMD_AIRSPEED_CRUISE:
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//airspeed_cruise = next_command.p1 * 100;
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// todo save to EEPROM
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//break;
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case CMD_THROTTLE_CRUISE:
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throttle_cruise = next_command.p1;
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// todo save to EEPROM
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break;
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case CMD_RESET_HOME:
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init_home();
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break;
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case CMD_KP_GAIN:
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//kp[next_command.p1] = next_command.alt/t5;
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// todo save to EEPROM
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break;
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case CMD_KI_GAIN:
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//ki[next_command.p1] = next_command.alt/t5;
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// todo save to EEPROM
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break;
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case CMD_KD_GAIN:
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//kd[next_command.p1] = next_command.alt/t5;
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// todo save to EEPROM
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break;
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case CMD_KI_MAX:
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//integrator_max[next_command.p1] = next_command.alt/t5;
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// todo save to EEPROM
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break;
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//case CMD_KFF_GAIN:
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// kff[next_command.p1] = next_command.alt/t5;
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// todo save to EEPROM
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// break;
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//case CMD_RADIO_TRIM:
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//radio_trim[next_command.p1] = next_command.alt;
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//save_EEPROM_trims();
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//break;
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//case CMD_RADIO_MAX:
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// radio_max[next_command.p1] = next_command.alt;
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// save_EEPROM_radio_minmax();
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// break;
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//case CMD_RADIO_MIN:
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// radio_min[next_command.p1] = next_command.alt;
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// save_EEPROM_radio_minmax();
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// break;
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case CMD_REPEAT:
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new_event(&next_command);
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break;
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case CMD_SERVO:
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APM_RC.OutputCh(next_command.p1, next_command.alt);
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break;
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case CMD_INDEX:
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command_must_index = 0;
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command_may_index = 0;
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wp_index = next_command.p1 - 1;
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break;
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case CMD_RELAY:
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if(next_command.p1 = 0){
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relay_A();
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}else{
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relay_B();
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}
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break;
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}
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}
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// Verify commands
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// ---------------
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void verify_must()
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{
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float power;
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switch(command_must_ID) {
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case CMD_ALTITUDE:
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if (abs(next_WP.alt - current_loc.alt) < 100){
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command_must_index = 0;
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}
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break;
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case CMD_TAKEOFF: // Takeoff!
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if (current_loc.alt > (home.alt + takeoff_altitude)){
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command_must_index = 0;
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takeoff_complete = true;
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}
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break;
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case CMD_LAND:
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// 10 - 9 = 1
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velocity_land = ((old_alt - current_loc.alt) *.05) + (velocity_land * .95);
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old_alt = current_loc.alt;
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if(velocity_land == 0){
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land_complete = true;
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command_must_index = 0;
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}
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break;
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case CMD_WAYPOINT: // reach a waypoint
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if ((wp_distance > 0) && (wp_distance <= wp_radius)) {
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Serial.print("MSG REACHED_WAYPOINT #");
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Serial.println(command_must_index,DEC);
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// clear the command queue;
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command_must_index = 0;
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}
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// add in a more complex case
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// Doug to do
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if(loiter_sum > 300){
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send_message(SEVERITY_MEDIUM,"Missed WP");
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command_must_index = 0;
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}
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break;
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case CMD_LOITER_N_TURNS: // LOITER N times
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break;
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case CMD_LOITER_TIME: // loiter N milliseconds
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break;
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case CMD_RTL:
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if (wp_distance <= wp_radius) {
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//Serial.println("REACHED_HOME");
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command_must_index = 0;
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}
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break;
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case CMD_LOITER: // Just plain LOITER
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break;
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case CMD_ANGLE:
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if((millis() - command_yaw_start_time) > command_yaw_time){
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command_must_index = 0;
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nav_yaw = command_yaw_end;
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}
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// else we need to be at a certain place
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power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
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nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
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break;
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default:
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send_message(SEVERITY_HIGH,"No current Must commands");
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break;
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}
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}
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void verify_may()
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{
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switch(command_may_ID) {
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case CMD_DELAY:
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if ((millis() - delay_start) > delay_timeout){
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command_may_index = 0;
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delay_timeout = 0;
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}
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case CMD_LAND_OPTIONS:
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break;
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}
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}
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