mirror of https://github.com/ArduPilot/ardupilot
238 lines
7.4 KiB
C++
238 lines
7.4 KiB
C++
/*
|
|
* AP_Guide.cpp
|
|
*
|
|
* Created on: Apr 30, 2011
|
|
* Author: jgoppert
|
|
*/
|
|
|
|
#include "AP_Guide.h"
|
|
#include "../FastSerial/FastSerial.h"
|
|
#include "AP_Navigator.h"
|
|
#include "constants.h"
|
|
#include "AP_HardwareAbstractionLayer.h"
|
|
#include "AP_CommLink.h"
|
|
|
|
namespace apo {
|
|
|
|
AP_Guide::AP_Guide(AP_Navigator * navigator, AP_HardwareAbstractionLayer * hal) :
|
|
_navigator(navigator), _hal(hal), _command(AP_MavlinkCommand::home),
|
|
_previousCommand(AP_MavlinkCommand::home),
|
|
_headingCommand(0), _airSpeedCommand(0),
|
|
_groundSpeedCommand(0), _altitudeCommand(0), _pNCmd(0),
|
|
_pECmd(0), _pDCmd(0), _mode(MAV_NAV_LOST),
|
|
_numberOfCommands(1), _cmdIndex(0), _nextCommandCalls(0),
|
|
_nextCommandTimer(0) {
|
|
}
|
|
|
|
void AP_Guide::setCurrentIndex(uint8_t val){
|
|
_cmdIndex.set_and_save(val);
|
|
_command = AP_MavlinkCommand(getCurrentIndex());
|
|
_previousCommand = AP_MavlinkCommand(getPreviousIndex());
|
|
_hal->gcs->sendMessage(MAVLINK_MSG_ID_WAYPOINT_CURRENT);
|
|
}
|
|
|
|
MavlinkGuide::MavlinkGuide(AP_Navigator * navigator,
|
|
AP_HardwareAbstractionLayer * hal) :
|
|
AP_Guide(navigator, hal), _rangeFinderFront(), _rangeFinderBack(),
|
|
_rangeFinderLeft(), _rangeFinderRight(),
|
|
_group(k_guide, PSTR("guide_")),
|
|
_velocityCommand(&_group, 1, 1, PSTR("velCmd")),
|
|
_crossTrackGain(&_group, 2, 1, PSTR("xt")),
|
|
_crossTrackLim(&_group, 3, 90, PSTR("xtLim")) {
|
|
|
|
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {
|
|
RangeFinder * rF = _hal->rangeFinders[i];
|
|
if (rF == NULL)
|
|
continue;
|
|
if (rF->orientation_x == 1 && rF->orientation_y == 0
|
|
&& rF->orientation_z == 0)
|
|
_rangeFinderFront = rF;
|
|
else if (rF->orientation_x == -1 && rF->orientation_y == 0
|
|
&& rF->orientation_z == 0)
|
|
_rangeFinderBack = rF;
|
|
else if (rF->orientation_x == 0 && rF->orientation_y == 1
|
|
&& rF->orientation_z == 0)
|
|
_rangeFinderRight = rF;
|
|
else if (rF->orientation_x == 0 && rF->orientation_y == -1
|
|
&& rF->orientation_z == 0)
|
|
_rangeFinderLeft = rF;
|
|
|
|
}
|
|
}
|
|
|
|
void MavlinkGuide::update() {
|
|
// process mavlink commands
|
|
handleCommand();
|
|
|
|
// obstacle avoidance overrides
|
|
// stop if your going to drive into something in front of you
|
|
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++)
|
|
_hal->rangeFinders[i]->read();
|
|
float frontDistance = _rangeFinderFront->distance / 200.0; //convert for other adc
|
|
if (_rangeFinderFront && frontDistance < 2) {
|
|
_mode = MAV_NAV_VECTOR;
|
|
|
|
//airSpeedCommand = 0;
|
|
//groundSpeedCommand = 0;
|
|
// _headingCommand -= 45 * deg2Rad;
|
|
// _hal->debug->print("Obstacle Distance (m): ");
|
|
// _hal->debug->println(frontDistance);
|
|
// _hal->debug->print("Obstacle avoidance Heading Command: ");
|
|
// _hal->debug->println(headingCommand);
|
|
// _hal->debug->printf_P(
|
|
// PSTR("Front Distance, %f\n"),
|
|
// frontDistance);
|
|
}
|
|
if (_rangeFinderBack && _rangeFinderBack->distance < 5) {
|
|
_airSpeedCommand = 0;
|
|
_groundSpeedCommand = 0;
|
|
|
|
}
|
|
|
|
if (_rangeFinderLeft && _rangeFinderLeft->distance < 5) {
|
|
_airSpeedCommand = 0;
|
|
_groundSpeedCommand = 0;
|
|
}
|
|
|
|
if (_rangeFinderRight && _rangeFinderRight->distance < 5) {
|
|
_airSpeedCommand = 0;
|
|
_groundSpeedCommand = 0;
|
|
}
|
|
}
|
|
|
|
void MavlinkGuide::nextCommand() {
|
|
// within 1 seconds, check if more than 5 calls to next command occur
|
|
// if they do, go to home waypoint
|
|
if (millis() - _nextCommandTimer < 1000) {
|
|
if (_nextCommandCalls > 5) {
|
|
Serial.println("commands loading too fast, returning home");
|
|
setCurrentIndex(0);
|
|
setNumberOfCommands(1);
|
|
_nextCommandCalls = 0;
|
|
_nextCommandTimer = millis();
|
|
return;
|
|
}
|
|
_nextCommandCalls++;
|
|
} else {
|
|
_nextCommandTimer = millis();
|
|
_nextCommandCalls = 0;
|
|
}
|
|
|
|
_cmdIndex = getNextIndex();
|
|
//Serial.print("cmd : "); Serial.println(int(_cmdIndex));
|
|
//Serial.print("cmd prev : "); Serial.println(int(getPreviousIndex()));
|
|
//Serial.print("cmd num : "); Serial.println(int(getNumberOfCommands()));
|
|
_command = AP_MavlinkCommand(getCurrentIndex());
|
|
_previousCommand = AP_MavlinkCommand(getPreviousIndex());
|
|
}
|
|
|
|
void MavlinkGuide::handleCommand() {
|
|
|
|
// TODO handle more commands
|
|
switch (_command.getCommand()) {
|
|
|
|
case MAV_CMD_NAV_WAYPOINT: {
|
|
|
|
// if we don't have enough waypoint for cross track calcs
|
|
// go home
|
|
if (_numberOfCommands == 1) {
|
|
_mode = MAV_NAV_RETURNING;
|
|
_altitudeCommand = AP_MavlinkCommand::home.getAlt();
|
|
_headingCommand = AP_MavlinkCommand::home.bearingTo(
|
|
_navigator->getLat_degInt(), _navigator->getLon_degInt())
|
|
+ 180 * deg2Rad;
|
|
if (_headingCommand > 360 * deg2Rad)
|
|
_headingCommand -= 360 * deg2Rad;
|
|
|
|
//_hal->debug->printf_P(PSTR("going home: bearing: %f distance: %f\n"),
|
|
//headingCommand,AP_MavlinkCommand::home.distanceTo(_navigator->getLat_degInt(),_navigator->getLon_degInt()));
|
|
|
|
// if we have 2 or more waypoints do x track navigation
|
|
} else {
|
|
_mode = MAV_NAV_WAYPOINT;
|
|
float alongTrack = _command.alongTrack(_previousCommand,
|
|
_navigator->getLat_degInt(),
|
|
_navigator->getLon_degInt());
|
|
float distanceToNext = _command.distanceTo(
|
|
_navigator->getLat_degInt(), _navigator->getLon_degInt());
|
|
float segmentLength = _previousCommand.distanceTo(_command);
|
|
if (distanceToNext < _command.getRadius() || alongTrack
|
|
> segmentLength)
|
|
{
|
|
Serial.println("waypoint reached");
|
|
nextCommand();
|
|
}
|
|
_altitudeCommand = _command.getAlt();
|
|
float dXt = _command.crossTrack(_previousCommand,
|
|
_navigator->getLat_degInt(),
|
|
_navigator->getLon_degInt());
|
|
float temp = dXt * _crossTrackGain * deg2Rad; // crosstrack gain, rad/m
|
|
if (temp > _crossTrackLim * deg2Rad)
|
|
temp = _crossTrackLim * deg2Rad;
|
|
if (temp < -_crossTrackLim * deg2Rad)
|
|
temp = -_crossTrackLim * deg2Rad;
|
|
float bearing = _previousCommand.bearingTo(_command);
|
|
_headingCommand = bearing - temp;
|
|
//_hal->debug->printf_P(
|
|
//PSTR("nav: bCurrent2Dest: %f\tdXt: %f\tcmdHeading: %f\tnextWpDistance: %f\talongTrack: %f\n"),
|
|
//bearing * rad2Deg, dXt, _headingCommand * rad2Deg, distanceToNext, alongTrack);
|
|
}
|
|
|
|
_groundSpeedCommand = _velocityCommand;
|
|
|
|
// calculate pN,pE,pD from home and gps coordinates
|
|
_pNCmd = _command.getPN(_navigator->getLat_degInt(),
|
|
_navigator->getLon_degInt());
|
|
_pECmd = _command.getPE(_navigator->getLat_degInt(),
|
|
_navigator->getLon_degInt());
|
|
_pDCmd = _command.getPD(_navigator->getAlt_intM());
|
|
|
|
// debug
|
|
//_hal->debug->printf_P(
|
|
//PSTR("guide loop, number: %d, current index: %d, previous index: %d\n"),
|
|
//getNumberOfCommands(),
|
|
//getCurrentIndex(),
|
|
//getPreviousIndex());
|
|
|
|
break;
|
|
}
|
|
// case MAV_CMD_CONDITION_CHANGE_ALT:
|
|
// case MAV_CMD_CONDITION_DELAY:
|
|
// case MAV_CMD_CONDITION_DISTANCE:
|
|
// case MAV_CMD_CONDITION_LAST:
|
|
// case MAV_CMD_CONDITION_YAW:
|
|
// case MAV_CMD_DO_CHANGE_SPEED:
|
|
// case MAV_CMD_DO_CONTROL_VIDEO:
|
|
// case MAV_CMD_DO_JUMP:
|
|
// case MAV_CMD_DO_LAST:
|
|
// case MAV_CMD_DO_LAST:
|
|
// case MAV_CMD_DO_REPEAT_RELAY:
|
|
// case MAV_CMD_DO_REPEAT_SERVO:
|
|
// case MAV_CMD_DO_SET_HOME:
|
|
// case MAV_CMD_DO_SET_MODE:
|
|
// case MAV_CMD_DO_SET_PARAMETER:
|
|
// case MAV_CMD_DO_SET_RELAY:
|
|
// case MAV_CMD_DO_SET_SERVO:
|
|
// case MAV_CMD_PREFLIGHT_CALIBRATION:
|
|
// case MAV_CMD_PREFLIGHT_STORAGE:
|
|
// case MAV_CMD_NAV_LAND:
|
|
// case MAV_CMD_NAV_LAST:
|
|
// case MAV_CMD_NAV_LOITER_TIME:
|
|
// case MAV_CMD_NAV_LOITER_TURNS:
|
|
// case MAV_CMD_NAV_LOITER_UNLIM:
|
|
// case MAV_CMD_NAV_ORIENTATION_TARGET:
|
|
// case MAV_CMD_NAV_PATHPLANNING:
|
|
// case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
// case MAV_CMD_NAV_TAKEOFF:
|
|
default:
|
|
// unhandled command, skip
|
|
Serial.println("unhandled command");
|
|
nextCommand();
|
|
break;
|
|
}
|
|
}
|
|
|
|
} // namespace apo
|
|
|
|
// vim:ts=4:sw=4:expandtab
|