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ardupilot/libraries/AP_Mission/AP_Mission.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_Mission.cpp
/// @brief Handles the MAVLINK command mission stack. Reads and writes mission to storage.
#include "AP_Mission.h"
#include <AP_Terrain/AP_Terrain.h>
const AP_Param::GroupInfo AP_Mission::var_info[] PROGMEM = {
// @Param: TOTAL
// @DisplayName: Total mission commands
// @Description: The number of mission mission items that has been loaded by the ground station. Do not change this manually.
// @Range: 0 32766
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("TOTAL", 0, AP_Mission, _cmd_total, 0),
// @Param: RESTART
// @DisplayName: Mission Restart when entering Auto mode
// @Description: Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
// @Values: 0:Resume Mission, 1:Restart Mission
AP_GROUPINFO("RESTART", 1, AP_Mission, _restart, AP_MISSION_RESTART_DEFAULT),
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
// storage object
StorageAccess AP_Mission::_storage(StorageManager::StorageMission);
///
/// public mission methods
///
/// init - initialises this library including checks the version in eeprom matches this library
void AP_Mission::init()
{
// check_eeprom_version - checks version of missions stored in eeprom matches this library
// command list will be cleared if they do not match
check_eeprom_version();
// prevent an easy programming error, this will be optimised out
if (sizeof(union Content) != 12) {
hal.scheduler->panic(PSTR("AP_Mission Content must be 12 bytes"));
}
_last_change_time_ms = hal.scheduler->millis();
}
/// start - resets current commands to point to the beginning of the mission
/// To-Do: should we validate the mission first and return true/false?
void AP_Mission::start()
{
_flags.state = MISSION_RUNNING;
reset(); // reset mission to the first command, resets jump tracking
// advance to the first command
if (!advance_current_nav_cmd()) {
// on failure set mission complete
complete();
}
}
/// stop - stops mission execution. subsequent calls to update() will have no effect until the mission is started or resumed
void AP_Mission::stop()
{
_flags.state = MISSION_STOPPED;
}
/// resume - continues the mission execution from where we last left off
/// previous running commands will be re-initialised
void AP_Mission::resume()
{
// if mission had completed then start it from the first command
if (_flags.state == MISSION_COMPLETE) {
start();
return;
}
// if mission had stopped then restart it
if (_flags.state == MISSION_STOPPED) {
_flags.state = MISSION_RUNNING;
// if no valid nav command index restart from beginning
if (_nav_cmd.index == AP_MISSION_CMD_INDEX_NONE) {
start();
return;
}
}
// ensure cache coherence
// don't bother checking if the read is successful. If it fails _nav_cmd
// won't change and we'll continue flying the old cached command.
read_cmd_from_storage(_nav_cmd.index, _nav_cmd);
// restart active navigation command. We run these on resume()
// regardless of whether the mission was stopped, as we may be
// re-entering AUTO mode and the nav_cmd callback needs to be run
// to setup the current target waypoint
// Note: if there is no active command then the mission must have been stopped just after the previous nav command completed
// update will take care of finding and starting the nav command
if (_flags.nav_cmd_loaded) {
_cmd_start_fn(_nav_cmd);
}
// restart active do command
if (_flags.do_cmd_loaded && _do_cmd.index != AP_MISSION_CMD_INDEX_NONE) {
_cmd_start_fn(_do_cmd);
}
}
/// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()
void AP_Mission::start_or_resume()
{
if (_restart) {
start();
} else {
resume();
}
}
/// reset - reset mission to the first command
void AP_Mission::reset()
{
_flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false;
_flags.do_cmd_all_done = false;
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE;
init_jump_tracking();
}
/// clear - clears out mission
/// returns true if mission was running so it could not be cleared
bool AP_Mission::clear()
{
// do not allow clearing the mission while it is running
if (_flags.state == MISSION_RUNNING) {
return false;
}
// remove all commands
_cmd_total.set_and_save(0);
// clear index to commands
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false;
// return success
return true;
}
/// trucate - truncate any mission items beyond index
void AP_Mission::truncate(uint16_t index)
{
if ((unsigned)_cmd_total > index) {
_cmd_total.set_and_save(index);
}
}
/// update - ensures the command queues are loaded with the next command and calls main programs command_init and command_verify functions to progress the mission
/// should be called at 10hz or higher
void AP_Mission::update()
{
// exit immediately if not running or no mission commands
if (_flags.state != MISSION_RUNNING || _cmd_total == 0) {
return;
}
// check if we have an active nav command
if (!_flags.nav_cmd_loaded || _nav_cmd.index == AP_MISSION_CMD_INDEX_NONE) {
// advance in mission if no active nav command
if (!advance_current_nav_cmd()) {
// failure to advance nav command means mission has completed
complete();
return;
}
}else{
// run the active nav command
if (_cmd_verify_fn(_nav_cmd)) {
// market _nav_cmd as complete (it will be started on the next iteration)
_flags.nav_cmd_loaded = false;
// immediately advance to the next mission command
if (!advance_current_nav_cmd()) {
// failure to advance nav command means mission has completed
complete();
return;
}
}
}
// check if we have an active do command
if (!_flags.do_cmd_loaded) {
advance_current_do_cmd();
}else{
// run the active do command
if (_cmd_verify_fn(_do_cmd)) {
// market _nav_cmd as complete (it will be started on the next iteration)
_flags.do_cmd_loaded = false;
}
}
}
///
/// public command methods
///
/// add_cmd - adds a command to the end of the command list and writes to storage
/// returns true if successfully added, false on failure
/// cmd.index is updated with it's new position in the mission
bool AP_Mission::add_cmd(Mission_Command& cmd)
{
// attempt to write the command to storage
bool ret = write_cmd_to_storage(_cmd_total, cmd);
if (ret) {
// update command's index
cmd.index = _cmd_total;
// increment total number of commands
_cmd_total.set_and_save(_cmd_total + 1);
}
return ret;
}
/// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd
/// replacing the current active command will have no effect until the command is restarted
/// returns true if successfully replaced, false on failure
bool AP_Mission::replace_cmd(uint16_t index, Mission_Command& cmd)
{
// sanity check index
if (index >= (unsigned)_cmd_total) {
return false;
}
// attempt to write the command to storage
return write_cmd_to_storage(index, cmd);
}
/// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command
bool AP_Mission::is_nav_cmd(const Mission_Command& cmd)
{
return (cmd.id <= MAV_CMD_NAV_LAST);
}
/// get_next_nav_cmd - gets next "navigation" command found at or after start_index
/// returns true if found, false if not found (i.e. reached end of mission command list)
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_nav_cmd(uint16_t start_index, Mission_Command& cmd)
{
uint16_t cmd_index = start_index;
// search until the end of the mission command list
while(cmd_index < (unsigned)_cmd_total) {
// get next command
if (!get_next_cmd(cmd_index, cmd, false)) {
// no more commands so return failure
return false;
}else{
// if found a "navigation" command then return it
if (is_nav_cmd(cmd)) {
return true;
}else{
// move on in list
cmd_index++;
}
}
}
// if we got this far we did not find a navigation command
return false;
}
/// get the ground course of the next navigation leg in centidegrees
/// from 0 36000. Return default_angle if next navigation
/// leg cannot be determined
int32_t AP_Mission::get_next_ground_course_cd(int32_t default_angle)
{
Mission_Command cmd;
if (!get_next_nav_cmd(_nav_cmd.index+1, cmd)) {
return default_angle;
}
return get_bearing_cd(_nav_cmd.content.location, cmd.content.location);
}
// set_current_cmd - jumps to command specified by index
bool AP_Mission::set_current_cmd(uint16_t index)
{
Mission_Command cmd;
// sanity check index and that we have a mission
if (index >= (unsigned)_cmd_total || _cmd_total == 1) {
return false;
}
// stop the current running do command
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_flags.do_cmd_loaded = false;
_flags.do_cmd_all_done = false;
// stop current nav cmd
_flags.nav_cmd_loaded = false;
// if index is zero then the user wants to completely restart the mission
if (index == 0 || _flags.state == MISSION_COMPLETE) {
_prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE;
// reset the jump tracking to zero
init_jump_tracking();
if (index == 0) {
index = 1;
}
}
// if the mission is stopped or completed move the nav_cmd index to the specified point and set the state to stopped
// so that if the user resumes the mission it will begin at the specified index
if (_flags.state != MISSION_RUNNING) {
// search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) {
// get next command
if (!get_next_cmd(index, cmd, true)) {
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
return false;
}
// check if navigation or "do" command
if (is_nav_cmd(cmd)) {
// set current navigation command
_nav_cmd = cmd;
_flags.nav_cmd_loaded = true;
}else{
// set current do command
if (!_flags.do_cmd_loaded) {
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
}
}
// move onto next command
index = cmd.index+1;
}
// if we have not found a do command then set flag to show there are no do-commands to be run before nav command completes
if (!_flags.do_cmd_loaded) {
_flags.do_cmd_all_done = true;
}
// if we got this far then the mission can safely be "resumed" from the specified index so we set the state to "stopped"
_flags.state = MISSION_STOPPED;
return true;
}
// the state must be MISSION_RUNNING
// search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) {
// get next command
if (!get_next_cmd(index, cmd, true)) {
// if we run out of nav commands mark mission as complete
complete();
// return true because we did what was requested
// which was apparently to jump to a command at the end of the mission
return true;
}
// check if navigation or "do" command
if (is_nav_cmd(cmd)) {
// save previous nav command index
_prev_nav_cmd_index = _nav_cmd.index;
// set current navigation command and start it
_nav_cmd = cmd;
_flags.nav_cmd_loaded = true;
_cmd_start_fn(_nav_cmd);
}else{
// set current do command and start it (if not already set)
if (!_flags.do_cmd_loaded) {
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
_cmd_start_fn(_do_cmd);
}
}
// move onto next command
index = cmd.index+1;
}
// if we have not found a do command then set flag to show there are no do-commands to be run before nav command completes
if (!_flags.do_cmd_loaded) {
_flags.do_cmd_all_done = true;
}
// if we got this far we must have successfully advanced the nav command
return true;
}
/// load_cmd_from_storage - load command from storage
/// true is return if successful
bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const
{
// exit immediately if index is beyond last command but we always let cmd #0 (i.e. home) be read
if (index > (unsigned)_cmd_total && index != 0) {
return false;
}
// special handling for command #0 which is home
if (index == 0) {
cmd.index = 0;
cmd.id = MAV_CMD_NAV_WAYPOINT;
cmd.p1 = 0;
cmd.content.location = _ahrs.get_home();
}else{
// Find out proper location in memory by using the start_byte position + the index
// we can load a command, we don't process it yet
// read WP position
uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
cmd.id = _storage.read_byte(pos_in_storage);
cmd.p1 = _storage.read_uint16(pos_in_storage+1);
_storage.read_block(cmd.content.bytes, pos_in_storage+3, 12);
// set command's index to it's position in eeprom
cmd.index = index;
}
// return success
return true;
}
/// write_cmd_to_storage - write a command to storage
/// index is used to calculate the storage location
/// true is returned if successful
bool AP_Mission::write_cmd_to_storage(uint16_t index, Mission_Command& cmd)
{
// range check cmd's index
if (index >= num_commands_max()) {
return false;
}
// calculate where in storage the command should be placed
uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
_storage.write_byte(pos_in_storage, cmd.id);
_storage.write_uint16(pos_in_storage+1, cmd.p1);
_storage.write_block(pos_in_storage+3, cmd.content.bytes, 12);
// remember when the mission last changed
_last_change_time_ms = hal.scheduler->millis();
// return success
return true;
}
/// write_home_to_storage - writes the special purpose cmd 0 (home) to storage
/// home is taken directly from ahrs
void AP_Mission::write_home_to_storage()
{
Mission_Command home_cmd = {};
home_cmd.id = MAV_CMD_NAV_WAYPOINT;
home_cmd.content.location = _ahrs.get_home();
write_cmd_to_storage(0,home_cmd);
}
// mavlink_to_mission_cmd - converts mavlink message to an AP_Mission::Mission_Command object which can be stored to eeprom
// return true on success, false on failure
bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd)
{
bool copy_location = false;
bool copy_alt = false;
uint8_t num_turns, radius_m; // used by MAV_CMD_NAV_LOITER_TURNS & _TO_ALT
uint8_t heading_req; // used by MAV_CMD_NAV_LOITER_TO_ALT
// command's position in mission list and mavlink id
cmd.index = packet.seq;
cmd.id = packet.command;
cmd.content.location.options = 0;
// command specific conversions from mavlink packet to mission command
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
copy_location = true;
/*
the 15 byte limit means we can't fit both delay and radius
in the cmd structure. When we expand the mission structure
we can do this properly
*/
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// acceptance radius in meters
cmd.p1 = packet.param2;
#else
// delay at waypoint in seconds
cmd.p1 = packet.param1;
#endif
break;
case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
copy_location = true;
cmd.content.location.flags.loiter_ccw = (packet.param3 < 0); // -1 = counter clockwise, +1 = clockwise
break;
case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
copy_location = true;
num_turns = packet.param1; // number of times to circle is held in param1
radius_m = fabsf(packet.param3); // radius in meters is held in high in param3
cmd.p1 = (((uint16_t)radius_m)<<8) | (uint16_t)num_turns; // store radius in high byte of p1, num turns in low byte of p1
cmd.content.location.flags.loiter_ccw = (packet.param3 < 0);
break;
case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
copy_location = true;
cmd.p1 = packet.param1; // loiter time in seconds
cmd.content.location.flags.loiter_ccw = (packet.param3 < 0);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
copy_location = true;
break;
case MAV_CMD_NAV_LAND: // MAV ID: 21
copy_location = true;
break;
case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
copy_location = true; // only altitude is used
cmd.p1 = packet.param1; // minimum pitch (plane only)
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
copy_location = true; // only using alt
break;
case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31
copy_location = true;
heading_req = packet.param1; //heading towards next waypoint required (0 = False)
cmd.content.location.flags.loiter_ccw = (packet.param2 < 0);
//Don't give users the impression I can set the radius size.
//I can only set the direction at this time and so can every
//other command, despite what is implied (I'm looking at YOU
//NAV_LOITER_TURNS):
radius_m = 1;
cmd.p1 = (((uint16_t)radius_m)<<8) | (uint16_t)heading_req; // store "radius" in high byte of p1, heading_req in low byte of p1
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82
copy_location = true;
cmd.p1 = packet.param1; // delay at waypoint in seconds
break;
case MAV_CMD_NAV_GUIDED_ENABLE: // MAV ID: 92
cmd.p1 = packet.param1; // on/off. >0.5 means "on", hand-over control to external controller
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
cmd.content.delay.seconds = packet.param1; // delay in seconds
break;
case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113
copy_alt = true; // only altitude is used
cmd.content.location.lat = packet.param1 * 100; // climb/descent converted from m/s to cm/s. To-Do: store in proper climb_rate structure
break;
case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114
cmd.content.distance.meters = packet.param1; // distance in meters from next waypoint
break;
case MAV_CMD_CONDITION_YAW: // MAV ID: 115
cmd.content.yaw.angle_deg = packet.param1; // target angle in degrees
cmd.content.yaw.turn_rate_dps = packet.param2; // 0 = use default turn rate otherwise specific turn rate in deg/sec
cmd.content.yaw.direction = packet.param3; // -1 = ccw, +1 = cw
cmd.content.yaw.relative_angle = packet.param4; // lng=0: absolute angle provided, lng=1: relative angle provided
break;
case MAV_CMD_DO_SET_MODE: // MAV ID: 176
cmd.p1 = packet.param1; // flight mode identifier
break;
case MAV_CMD_DO_JUMP: // MAV ID: 177
cmd.content.jump.target = packet.param1; // jump-to command number
cmd.content.jump.num_times = packet.param2; // repeat count
break;
case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178
cmd.content.speed.speed_type = packet.param1; // 0 = airspeed, 1 = ground speed
cmd.content.speed.target_ms = packet.param2; // target speed in m/s
cmd.content.speed.throttle_pct = packet.param3; // throttle as a percentage from 0 ~ 100%
break;
case MAV_CMD_DO_SET_HOME:
copy_location = true;
cmd.p1 = packet.param1; // p1=0 means use current location, p=1 means use provided location
break;
case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180
cmd.p1 = packet.param1; // parameter number
cmd.content.location.alt = packet.param2; // parameter value
break;
case MAV_CMD_DO_SET_RELAY: // MAV ID: 181
cmd.content.relay.num = packet.param1; // relay number
cmd.content.relay.state = packet.param2; // 0:off, 1:on
break;
case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182
cmd.content.repeat_relay.num = packet.param1; // relay number
cmd.content.repeat_relay.repeat_count = packet.param2; // count
cmd.content.repeat_relay.cycle_time = packet.param3; // time converted from seconds to milliseconds
break;
case MAV_CMD_DO_SET_SERVO: // MAV ID: 183
cmd.content.servo.channel = packet.param1; // channel
cmd.content.servo.pwm = packet.param2; // PWM
break;
case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184
cmd.content.repeat_servo.channel = packet.param1; // channel
cmd.content.repeat_servo.pwm = packet.param2; // PWM
cmd.content.repeat_servo.repeat_count = packet.param3; // count
cmd.content.repeat_servo.cycle_time = packet.param4; // time in seconds
break;
case MAV_CMD_DO_LAND_START: // MAV ID: 189
copy_location = true;
break;
case MAV_CMD_DO_SET_ROI: // MAV ID: 201
copy_location = true;
cmd.p1 = packet.param1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // MAV ID: 202
cmd.content.digicam_configure.shooting_mode = packet.param1;
cmd.content.digicam_configure.shutter_speed = packet.param2;
cmd.content.digicam_configure.aperture = packet.param3;
cmd.content.digicam_configure.ISO = packet.param4;
cmd.content.digicam_configure.exposure_type = packet.x;
cmd.content.digicam_configure.cmd_id = packet.y;
cmd.content.digicam_configure.engine_cutoff_time = packet.z;
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
cmd.content.digicam_control.session = packet.param1;
cmd.content.digicam_control.zoom_pos = packet.param2;
cmd.content.digicam_control.zoom_step = packet.param3;
cmd.content.digicam_control.focus_lock = packet.param4;
cmd.content.digicam_control.shooting_cmd = packet.x;
cmd.content.digicam_control.cmd_id = packet.y;
break;
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
cmd.content.mount_control.pitch = packet.param1;
cmd.content.mount_control.roll = packet.param2;
cmd.content.mount_control.yaw = packet.param3;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
cmd.content.cam_trigg_dist.meters = packet.param1; // distance between camera shots in meters
break;
case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
cmd.p1 = packet.param1; // action 0=disable, 1=enable
break;
case MAV_CMD_DO_PARACHUTE: // MAV ID: 208
cmd.p1 = packet.param1; // action 0=disable, 1=enable, 2=release. See PARACHUTE_ACTION enum
break;
case MAV_CMD_DO_INVERTED_FLIGHT: // MAV ID: 210
cmd.p1 = packet.param1; // normal=0 inverted=1
break;
case MAV_CMD_DO_GRIPPER: // MAV ID: 211
cmd.content.gripper.num = packet.param1; // gripper number
cmd.content.gripper.action = packet.param2; // action 0=release, 1=grab. See GRIPPER_ACTION enum
break;
case MAV_CMD_DO_GUIDED_LIMITS: // MAV ID: 222
cmd.p1 = packet.param1; // max time in seconds the external controller will be allowed to control the vehicle
cmd.content.guided_limits.alt_min = packet.param2; // min alt below which the command will be aborted. 0 for no lower alt limit
cmd.content.guided_limits.alt_max = packet.param3; // max alt above which the command will be aborted. 0 for no upper alt limit
cmd.content.guided_limits.horiz_max = packet.param4;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
break;
case MAV_CMD_DO_AUTOTUNE_ENABLE: // MAV ID: 211
cmd.p1 = packet.param1; // disable=0 enable=1
break;
case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83
cmd.content.altitude_wait.altitude = packet.param1;
cmd.content.altitude_wait.descent_rate = packet.param2;
cmd.content.altitude_wait.wiggle_time = packet.param3;
break;
default:
// unrecognised command
return false;
}
// copy location from mavlink to command
if (copy_location || copy_alt) {
switch (packet.frame) {
case MAV_FRAME_MISSION:
case MAV_FRAME_GLOBAL:
if (copy_location) {
cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t
cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
cmd.content.location.flags.relative_alt = 0;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
if (copy_location) {
cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t
cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
cmd.content.location.flags.relative_alt = 1;
break;
#ifdef MAV_FRAME_LOCAL_NED
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
if (copy_location) {
cmd.content.location.lat = 1.0e7f*ToDeg(packet.x/
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + _ahrs.get_home().lat;
cmd.content.location.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + _ahrs.get_home().lng;
}
cmd.content.location.alt = -packet.z*1.0e2f;
cmd.content.location.flags.relative_alt = 1;
break;
#endif
#ifdef MAV_FRAME_LOCAL
case MAV_FRAME_LOCAL: // local (relative to home position)
if (copy_location) {
cmd.content.location.lat = 1.0e7f*ToDeg(packet.x/
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + _ahrs.get_home().lat;
cmd.content.location.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + _ahrs.get_home().lng;
}
cmd.content.location.alt = packet.z*1.0e2f;
cmd.content.location.flags.relative_alt = 1;
break;
#endif
#if AP_TERRAIN_AVAILABLE
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
if (copy_location) {
cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t
cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
// we mark it as a relative altitude, as it doesn't have
// home alt added
cmd.content.location.flags.relative_alt = 1;
// mark altitude as above terrain, not above home
cmd.content.location.flags.terrain_alt = 1;
break;
#endif
default:
return false;
}
}
// if we got this far then it must have been succesful
return true;
}
// mission_cmd_to_mavlink - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
// return true on success, false on failure
bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet)
{
bool copy_location = false;
bool copy_alt = false;
// command's position in mission list and mavlink id
packet.seq = cmd.index;
packet.command = cmd.id;
// set defaults
packet.current = 0; // 1 if we are passing back the mission command that is currently being executed
packet.param1 = 0;
packet.param2 = 0;
packet.param3 = 0;
packet.param4 = 0;
packet.autocontinue = 1;
// command specific conversions from mission command to mavlink packet
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
copy_location = true;
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// acceptance radius in meters
packet.param2 = cmd.p1;
#else
// delay at waypoint in seconds
packet.param1 = cmd.p1;
#endif
break;
case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
copy_location = true;
if (cmd.content.location.flags.loiter_ccw) {
packet.param3 = -1;
}else{
packet.param3 = 1;
}
break;
case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
copy_location = true;
packet.param1 = LOWBYTE(cmd.p1); // number of times to circle is held in low byte of p1
packet.param3 = HIGHBYTE(cmd.p1); // radius is held in high byte of p1
if (cmd.content.location.flags.loiter_ccw) {
packet.param3 = -packet.param3;
}
break;
case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
copy_location = true;
packet.param1 = cmd.p1; // loiter time in seconds
if (cmd.content.location.flags.loiter_ccw) {
packet.param3 = -1;
}else{
packet.param3 = 1;
}
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
copy_location = true;
break;
case MAV_CMD_NAV_LAND: // MAV ID: 21
copy_location = true;
break;
case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
copy_location = true; // only altitude is used
packet.param1 = cmd.p1; // minimum pitch (plane only)
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
copy_location = true; //only using alt.
break;
case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31
copy_location = true;
packet.param1 = LOWBYTE(cmd.p1); //heading towards next waypoint required (0 = False)
packet.param2 = HIGHBYTE(cmd.p1); //loiter radius(m)
if (cmd.content.location.flags.loiter_ccw) {
packet.param2 = -packet.param2;
}
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82
copy_location = true;
packet.param1 = cmd.p1; // delay at waypoint in seconds
break;
case MAV_CMD_NAV_GUIDED_ENABLE: // MAV ID: 92
packet.param1 = cmd.p1; // on/off. >0.5 means "on", hand-over control to external controller
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
packet.param1 = cmd.content.delay.seconds; // delay in seconds
break;
case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113
copy_alt = true; // only altitude is used
packet.param1 = cmd.content.location.lat / 100.0f; // climb/descent rate converted from cm/s to m/s. To-Do: store in proper climb_rate structure
break;
case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114
packet.param1 = cmd.content.distance.meters; // distance in meters from next waypoint
break;
case MAV_CMD_CONDITION_YAW: // MAV ID: 115
packet.param1 = cmd.content.yaw.angle_deg; // target angle in degrees
packet.param2 = cmd.content.yaw.turn_rate_dps; // 0 = use default turn rate otherwise specific turn rate in deg/sec
packet.param3 = cmd.content.yaw.direction; // -1 = ccw, +1 = cw
packet.param4 = cmd.content.yaw.relative_angle; // 0 = absolute angle provided, 1 = relative angle provided
break;
case MAV_CMD_DO_SET_MODE: // MAV ID: 176
packet.param1 = cmd.p1; // set flight mode identifier
break;
case MAV_CMD_DO_JUMP: // MAV ID: 177
packet.param1 = cmd.content.jump.target; // jump-to command number
packet.param2 = cmd.content.jump.num_times; // repeat count
break;
case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178
packet.param1 = cmd.content.speed.speed_type; // 0 = airspeed, 1 = ground speed
packet.param2 = cmd.content.speed.target_ms; // speed in m/s
packet.param3 = cmd.content.speed.throttle_pct; // throttle as a percentage from 0 ~ 100%
break;
case MAV_CMD_DO_SET_HOME: // MAV ID: 179
copy_location = true;
packet.param1 = cmd.p1; // p1=0 means use current location, p=1 means use provided location
break;
case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180
packet.param1 = cmd.p1; // parameter number
packet.param2 = cmd.content.location.alt; // parameter value
break;
case MAV_CMD_DO_SET_RELAY: // MAV ID: 181
packet.param1 = cmd.content.relay.num; // relay number
packet.param2 = cmd.content.relay.state; // 0:off, 1:on
break;
case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182
packet.param1 = cmd.content.repeat_relay.num; // relay number
packet.param2 = cmd.content.repeat_relay.repeat_count; // count
packet.param3 = cmd.content.repeat_relay.cycle_time; // time in seconds
break;
case MAV_CMD_DO_SET_SERVO: // MAV ID: 183
packet.param1 = cmd.content.servo.channel; // channel
packet.param2 = cmd.content.servo.pwm; // PWM
break;
case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184
packet.param1 = cmd.content.repeat_servo.channel; // channel
packet.param2 = cmd.content.repeat_servo.pwm; // PWM
packet.param3 = cmd.content.repeat_servo.repeat_count; // count
packet.param4 = cmd.content.repeat_servo.cycle_time; // time in milliseconds converted to seconds
break;
case MAV_CMD_DO_LAND_START: // MAV ID: 189
copy_location = true;
break;
case MAV_CMD_DO_SET_ROI: // MAV ID: 201
copy_location = true;
packet.param1 = cmd.p1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // MAV ID: 202
packet.param1 = cmd.content.digicam_configure.shooting_mode;
packet.param2 = cmd.content.digicam_configure.shutter_speed;
packet.param3 = cmd.content.digicam_configure.aperture;
packet.param4 = cmd.content.digicam_configure.ISO;
packet.x = cmd.content.digicam_configure.exposure_type;
packet.y = cmd.content.digicam_configure.cmd_id;
packet.z = cmd.content.digicam_configure.engine_cutoff_time;
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
packet.param1 = cmd.content.digicam_control.session;
packet.param2 = cmd.content.digicam_control.zoom_pos;
packet.param3 = cmd.content.digicam_control.zoom_step;
packet.param4 = cmd.content.digicam_control.focus_lock;
packet.x = cmd.content.digicam_control.shooting_cmd;
packet.y = cmd.content.digicam_control.cmd_id;
break;
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
packet.param1 = cmd.content.mount_control.pitch;
packet.param2 = cmd.content.mount_control.roll;
packet.param3 = cmd.content.mount_control.yaw;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
packet.param1 = cmd.content.cam_trigg_dist.meters; // distance between camera shots in meters
break;
case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
packet.param1 = cmd.p1; // action 0=disable, 1=enable
break;
case MAV_CMD_DO_PARACHUTE: // MAV ID: 208
packet.param1 = cmd.p1; // action 0=disable, 1=enable, 2=release. See PARACHUTE_ACTION enum
break;
case MAV_CMD_DO_INVERTED_FLIGHT: // MAV ID: 210
packet.param1 = cmd.p1; // normal=0 inverted=1
break;
case MAV_CMD_DO_GRIPPER: // MAV ID: 211
packet.param1 = cmd.content.gripper.num; // gripper number
packet.param2 = cmd.content.gripper.action; // action 0=release, 1=grab. See GRIPPER_ACTION enum
break;
case MAV_CMD_DO_GUIDED_LIMITS: // MAV ID: 222
packet.param1 = cmd.p1; // max time in seconds the external controller will be allowed to control the vehicle
packet.param2 = cmd.content.guided_limits.alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit
packet.param3 = cmd.content.guided_limits.alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit
packet.param4 = cmd.content.guided_limits.horiz_max;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
break;
case MAV_CMD_DO_AUTOTUNE_ENABLE:
packet.param1 = cmd.p1; // disable=0 enable=1
break;
case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83
packet.param1 = cmd.content.altitude_wait.altitude;
packet.param2 = cmd.content.altitude_wait.descent_rate;
packet.param3 = cmd.content.altitude_wait.wiggle_time;
break;
default:
// unrecognised command
return false;
}
// copy location from mavlink to command
if (copy_location) {
packet.x = cmd.content.location.lat / 1.0e7f; // int32_t latitude to float
packet.y = cmd.content.location.lng / 1.0e7f; // int32_t longitude to float
}
if (copy_location || copy_alt) {
packet.z = cmd.content.location.alt / 100.0f; // cmd alt in cm to m
if (cmd.content.location.flags.relative_alt) {
packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}else{
packet.frame = MAV_FRAME_GLOBAL;
}
#if AP_TERRAIN_AVAILABLE
if (cmd.content.location.flags.terrain_alt) {
// this is a above-terrain altitude
if (!cmd.content.location.flags.relative_alt) {
// refuse to return non-relative terrain mission
// items. Internally we do have these, and they
// have home.alt added, but we should never be
// returning them to the GCS, as the GCS doesn't know
// our home.alt, so it would have no way to properly
// interpret it
return false;
}
packet.z = cmd.content.location.alt * 0.01f;
packet.frame = MAV_FRAME_GLOBAL_TERRAIN_ALT;
}
#else
// don't ever return terrain mission items if no terrain support
if (cmd.content.location.flags.terrain_alt) {
return false;
}
#endif
}
// if we got this far then it must have been successful
return true;
}
///
/// private methods
///
/// complete - mission is marked complete and clean-up performed including calling the mission_complete_fn
void AP_Mission::complete()
{
// flag mission as complete
_flags.state = MISSION_COMPLETE;
// callback to main program's mission complete function
_mission_complete_fn();
}
/// advance_current_nav_cmd - moves current nav command forward
/// do command will also be loaded
/// accounts for do-jump commands
// returns true if command is advanced, false if failed (i.e. mission completed)
bool AP_Mission::advance_current_nav_cmd()
{
Mission_Command cmd;
uint16_t cmd_index;
// exit immediately if we're not running
if (_flags.state != MISSION_RUNNING) {
return false;
}
// exit immediately if current nav command has not completed
if (_flags.nav_cmd_loaded) {
return false;
}
// stop the current running do command
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_flags.do_cmd_loaded = false;
_flags.do_cmd_all_done = false;
// get starting point for search
cmd_index = _nav_cmd.index;
if (cmd_index == AP_MISSION_CMD_INDEX_NONE) {
// start from beginning of the mission command list
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
}else{
// start from one position past the current nav command
cmd_index++;
}
// avoid endless loops
uint8_t max_loops = 255;
// search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) {
// get next command
if (!get_next_cmd(cmd_index, cmd, true)) {
return false;
}
// check if navigation or "do" command
if (is_nav_cmd(cmd)) {
// save previous nav command index
_prev_nav_cmd_index = _nav_cmd.index;
// set current navigation command and start it
_nav_cmd = cmd;
_flags.nav_cmd_loaded = true;
_cmd_start_fn(_nav_cmd);
}else{
// set current do command and start it (if not already set)
if (!_flags.do_cmd_loaded) {
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
_cmd_start_fn(_do_cmd);
} else {
// protect against endless loops of do-commands
if (max_loops-- == 0) {
return false;
}
}
}
// move onto next command
cmd_index = cmd.index+1;
}
// if we have not found a do command then set flag to show there are no do-commands to be run before nav command completes
if (!_flags.do_cmd_loaded) {
_flags.do_cmd_all_done = true;
}
// if we got this far we must have successfully advanced the nav command
return true;
}
/// advance_current_do_cmd - moves current do command forward
/// accounts for do-jump commands
void AP_Mission::advance_current_do_cmd()
{
Mission_Command cmd;
uint16_t cmd_index;
// exit immediately if we're not running or we've completed all possible "do" commands
if (_flags.state != MISSION_RUNNING || _flags.do_cmd_all_done) {
return;
}
// get starting point for search
cmd_index = _do_cmd.index;
if (cmd_index == AP_MISSION_CMD_INDEX_NONE) {
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
}else{
// start from one position past the current do command
cmd_index++;
}
// check if we've reached end of mission
if (cmd_index >= (unsigned)_cmd_total) {
// set flag to stop unnecessarily searching for do commands
_flags.do_cmd_all_done = true;
return;
}
// find next do command
if (get_next_do_cmd(cmd_index, cmd)) {
// set current do command and start it
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
_cmd_start_fn(_do_cmd);
}else{
// set flag to stop unnecessarily searching for do commands
_flags.do_cmd_all_done = true;
}
}
/// get_next_cmd - gets next command found at or after start_index
/// returns true if found, false if not found (i.e. mission complete)
/// accounts for do_jump commands
/// increment_jump_num_times_if_found should be set to true if advancing the active navigation command
bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool increment_jump_num_times_if_found)
{
uint16_t cmd_index = start_index;
Mission_Command temp_cmd;
uint16_t jump_index = AP_MISSION_CMD_INDEX_NONE;
// search until the end of the mission command list
uint8_t max_loops = 64;
while(cmd_index < (unsigned)_cmd_total) {
// load the next command
if (!read_cmd_from_storage(cmd_index, temp_cmd)) {
// this should never happen because of check above but just in case
return false;
}
// check for do-jump command
if (temp_cmd.id == MAV_CMD_DO_JUMP) {
if (max_loops-- == 0) {
return false;
}
// check for invalid target
if ((temp_cmd.content.jump.target >= (unsigned)_cmd_total) || (temp_cmd.content.jump.target == 0)) {
// To-Do: log an error?
return false;
}
// check for endless loops
if (!increment_jump_num_times_if_found && jump_index == cmd_index) {
// we have somehow reached this jump command twice and there is no chance it will complete
// To-Do: log an error?
return false;
}
// record this command so we can check for endless loops
if (jump_index == AP_MISSION_CMD_INDEX_NONE) {
jump_index = cmd_index;
}
// check if jump command is 'repeat forever'
if (temp_cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER) {
// continue searching from jump target
cmd_index = temp_cmd.content.jump.target;
}else{
// get number of times jump command has already been run
int16_t jump_times_run = get_jump_times_run(temp_cmd);
if (jump_times_run < temp_cmd.content.jump.num_times) {
// update the record of the number of times run
if (increment_jump_num_times_if_found) {
increment_jump_times_run(temp_cmd);
}
// continue searching from jump target
cmd_index = temp_cmd.content.jump.target;
}else{
// jump has been run specified number of times so move search to next command in mission
cmd_index++;
}
}
}else{
// this is a non-jump command so return it
cmd = temp_cmd;
return true;
}
}
// if we got this far we did not find a navigation command
return false;
}
/// get_next_do_cmd - gets next "do" or "conditional" command after start_index
/// returns true if found, false if not found
/// stops and returns false if it hits another navigation command before it finds the first do or conditional command
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_do_cmd(uint16_t start_index, Mission_Command& cmd)
{
Mission_Command temp_cmd;
// check we have not passed the end of the mission list
if (start_index >= (unsigned)_cmd_total) {
return false;
}
// get next command
if (!get_next_cmd(start_index, temp_cmd, false)) {
// no more commands so return failure
return false;
}else if (is_nav_cmd(temp_cmd)) {
// if it's a "navigation" command then return false because we do not progress past nav commands
return false;
}else{
// this must be a "do" or "conditional" and is not a do-jump command so return it
cmd = temp_cmd;
return true;
}
}
///
/// jump handling methods
///
// init_jump_tracking - initialise jump_tracking variables
void AP_Mission::init_jump_tracking()
{
for(uint8_t i=0; i<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
_jump_tracking[i].index = AP_MISSION_CMD_INDEX_NONE;
_jump_tracking[i].num_times_run = 0;
}
}
/// get_jump_times_run - returns number of times the jump command has been run
int16_t AP_Mission::get_jump_times_run(const Mission_Command& cmd)
{
// exit immediatley if cmd is not a do-jump command or target is invalid
if ((cmd.id != MAV_CMD_DO_JUMP) || (cmd.content.jump.target >= (unsigned)_cmd_total) || (cmd.content.jump.target == 0)) {
// To-Do: log an error?
return AP_MISSION_JUMP_TIMES_MAX;
}
// search through jump_tracking array for this cmd
for (uint8_t i=0; i<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
if (_jump_tracking[i].index == cmd.index) {
return _jump_tracking[i].num_times_run;
}else if(_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) {
// we've searched through all known jump commands and haven't found it so allocate new space in _jump_tracking array
_jump_tracking[i].index = cmd.index;
_jump_tracking[i].num_times_run = 0;
return 0;
}
}
// if we've gotten this far then the _jump_tracking array must be full
// To-Do: log an error?
return AP_MISSION_JUMP_TIMES_MAX;
}
/// increment_jump_times_run - increments the recorded number of times the jump command has been run
void AP_Mission::increment_jump_times_run(Mission_Command& cmd)
{
// exit immediately if cmd is not a do-jump command
if (cmd.id != MAV_CMD_DO_JUMP) {
// To-Do: log an error?
return;
}
// search through jump_tracking array for this cmd
for (uint8_t i=0; i<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
if (_jump_tracking[i].index == cmd.index) {
_jump_tracking[i].num_times_run++;
return;
}else if(_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) {
// we've searched through all known jump commands and haven't found it so allocate new space in _jump_tracking array
_jump_tracking[i].index = cmd.index;
_jump_tracking[i].num_times_run = 1;
return;
}
}
// if we've gotten this far then the _jump_tracking array must be full
// To-Do: log an error
return;
}
// check_eeprom_version - checks version of missions stored in eeprom matches this library
// command list will be cleared if they do not match
void AP_Mission::check_eeprom_version()
{
uint32_t eeprom_version = _storage.read_uint32(0);
// if eeprom version does not match, clear the command list and update the eeprom version
if (eeprom_version != AP_MISSION_EEPROM_VERSION) {
if (clear()) {
_storage.write_uint32(0, AP_MISSION_EEPROM_VERSION);
}
}
}
/*
return total number of commands that can fit in storage space
*/
uint16_t AP_Mission::num_commands_max(void) const
{
// -4 to remove space for eeprom version number
return (_storage.size() - 4) / AP_MISSION_EEPROM_COMMAND_SIZE;
}
// find the nearest landing sequence starting point (DO_LAND_START) and
// return its index. Returns 0 if no appropriate DO_LAND_START point can
// be found.
uint16_t AP_Mission::get_landing_sequence_start()
{
struct Location current_loc;
if (!_ahrs.get_position(current_loc)) {
return 0;
}
uint16_t landing_start_index = 0;
float min_distance = -1;
// Go through mission looking for nearest landing start command
for (uint16_t i = 0; i < num_commands(); i++) {
Mission_Command tmp;
if (!read_cmd_from_storage(i, tmp)) {
continue;
}
if (tmp.id == MAV_CMD_DO_LAND_START) {
float tmp_distance = get_distance(tmp.content.location, current_loc);
if (min_distance < 0 || tmp_distance < min_distance) {
min_distance = tmp_distance;
landing_start_index = i;
}
}
}
return landing_start_index;
}
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