mirror of https://github.com/ArduPilot/ardupilot
337 lines
11 KiB
Plaintext
337 lines
11 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// forward declarations to make compiler happy
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static void do_nav_wp(const AP_Mission::Mission_Command& cmd);
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static void do_wait_delay(const AP_Mission::Mission_Command& cmd);
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static void do_within_distance(const AP_Mission::Mission_Command& cmd);
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static void do_change_speed(const AP_Mission::Mission_Command& cmd);
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static void do_set_home(const AP_Mission::Mission_Command& cmd);
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static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
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#if CAMERA == ENABLED
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static void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
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static void do_digicam_control(const AP_Mission::Mission_Command& cmd);
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#endif
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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static bool
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start_command(const AP_Mission::Mission_Command& cmd)
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{
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// log when new commands start
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if (should_log(MASK_LOG_CMD)) {
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Log_Write_Cmd(cmd);
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}
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// exit immediately if not in AUTO mode
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if (control_mode != AUTO) {
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return false;
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}
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);
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// remember the course of our next navigation leg
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next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
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switch(cmd.id){
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp(cmd);
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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do_RTL();
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break;
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// Conditional commands
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay(cmd);
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance(cmd);
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break;
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// Do commands
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed(cmd);
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home(cmd);
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break;
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case MAV_CMD_DO_SET_SERVO:
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ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
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break;
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case MAV_CMD_DO_SET_RELAY:
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ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
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cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
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cmd.content.repeat_relay.cycle_time * 1000.0f);
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break;
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#if CAMERA == ENABLED
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case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
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break;
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case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
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do_digicam_configure(cmd);
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break;
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case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
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do_digicam_control(cmd);
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break;
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
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break;
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#endif
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#if MOUNT == ENABLED
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// Sets the region of interest (ROI) for a sensor set or the
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// vehicle itself. This can then be used by the vehicles control
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// system to control the vehicle attitude and the attitude of various
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// devices such as cameras.
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// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
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case MAV_CMD_DO_SET_ROI:
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if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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// switch off the camera tracking if enabled
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if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
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camera_mount.set_mode_to_default();
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}
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} else {
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// send the command to the camera mount
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camera_mount.set_roi_target(cmd.content.location);
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}
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break;
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#endif
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default:
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// return false for unhandled commands
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return false;
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}
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// if we got this far we must have been successful
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return true;
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}
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// exit_mission - callback function called from ap-mission when the mission has completed
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// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
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static void exit_mission()
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{
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if (control_mode == AUTO) {
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gcs_send_text_fmt(PSTR("No commands. Can't set AUTO - setting HOLD"));
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set_mode(HOLD);
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}
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}
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/********************************************************************************/
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// Verify command Handlers
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// Returns true if command complete
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/********************************************************************************/
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static bool verify_command(const AP_Mission::Mission_Command& cmd)
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{
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// exit immediately if not in AUTO mode
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// we return true or we will continue to be called by ap-mission
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if (control_mode != AUTO) {
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return true;
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}
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switch(cmd.id) {
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp(cmd);
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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case MAV_CMD_CONDITION_DELAY:
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return verify_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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break;
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default:
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if (cmd.id > MAV_CMD_CONDITION_LAST) {
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// this is a command that doesn't require verify
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return true;
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}
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command"));
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return true;
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break;
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}
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return false;
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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static void do_RTL(void)
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{
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prev_WP = current_loc;
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control_mode = RTL;
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next_WP = home;
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}
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static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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set_next_WP(cmd.content.location);
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
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gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
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(unsigned)cmd.index,
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(unsigned)get_distance(current_loc, next_WP));
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return true;
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}
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// have we gone past the waypoint?
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"),
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(unsigned)cmd.index,
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(unsigned)get_distance(current_loc, next_WP));
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return true;
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}
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return false;
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}
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static bool verify_RTL()
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{
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if (wp_distance <= g.waypoint_radius) {
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gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
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rtl_complete = true;
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return true;
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}
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// have we gone past the waypoint?
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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gcs_send_text_fmt(PSTR("Reached Home dist %um"),
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(unsigned)get_distance(current_loc, next_WP));
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return true;
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}
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return false;
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}
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/********************************************************************************/
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// Condition (May) commands
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/********************************************************************************/
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static void do_wait_delay(const AP_Mission::Mission_Command& cmd)
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{
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condition_start = millis();
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condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
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}
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static void do_within_distance(const AP_Mission::Mission_Command& cmd)
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{
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condition_value = cmd.content.distance.meters;
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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static bool verify_wait_delay()
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{
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if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){
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condition_value = 0;
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return true;
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}
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return false;
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}
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static bool verify_within_distance()
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{
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if (wp_distance < condition_value){
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condition_value = 0;
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return true;
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}
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return false;
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}
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/********************************************************************************/
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// Do (Now) commands
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/********************************************************************************/
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static void do_change_speed(const AP_Mission::Mission_Command& cmd)
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{
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switch (cmd.p1)
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{
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case 0:
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if (cmd.content.speed.target_ms > 0) {
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g.speed_cruise.set(cmd.content.speed.target_ms);
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gcs_send_text_fmt(PSTR("Cruise speed: %.1f m/s"), g.speed_cruise.get());
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}
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break;
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}
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if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
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g.throttle_cruise.set(cmd.content.speed.throttle_pct);
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gcs_send_text_fmt(PSTR("Cruise throttle: %.1f"), g.throttle_cruise.get());
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}
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}
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static void do_set_home(const AP_Mission::Mission_Command& cmd)
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{
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if(cmd.p1 == 1 && have_position) {
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init_home();
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} else {
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ahrs.set_home(cmd.content.location);
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home_is_set = true;
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}
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}
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// do_digicam_configure Send Digicam Configure message with the camera library
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static void do_digicam_configure(const AP_Mission::Mission_Command& cmd)
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{
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#if CAMERA == ENABLED
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camera.configure_cmd(cmd);
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#endif
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}
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// do_digicam_control Send Digicam Control message with the camera library
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static void do_digicam_control(const AP_Mission::Mission_Command& cmd)
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{
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#if CAMERA == ENABLED
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camera.control_cmd(cmd);
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log_picture();
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#endif
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}
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// do_take_picture - take a picture with the camera library
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static void do_take_picture()
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{
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#if CAMERA == ENABLED
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camera.trigger_pic(true);
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log_picture();
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#endif
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}
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// log_picture - log picture taken and send feedback to GCS
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static void log_picture()
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{
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gcs_send_message(MSG_CAMERA_FEEDBACK);
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if (should_log(MASK_LOG_CAMERA)) {
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DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
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}
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}
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