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ardupilot/ArduSub/commands_logic.cpp

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#include "Sub.h"
static enum AutoSurfaceState auto_surface_state = AUTO_SURFACE_STATE_GO_TO_LOCATION;
// start_command - this function will be called when the ap_mission lib wishes to start a new command
bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
{
// To-Do: logging when new commands start/end
if (should_log(MASK_LOG_CMD)) {
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
}
Location_Class target_loc(cmd.content.location);
// target alt must be negative (underwater)
if (target_loc.alt > 0.0f) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "BAD NAV ALT %0.2f", (double)target_loc.alt);
return true;
}
// only tested/supported alt frame so far is ALT_FRAME_ABOVE_HOME, where Home alt is always water's surface ie zero depth
if (target_loc.get_alt_frame() != Location_Class::ALT_FRAME_ABOVE_HOME) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame());
return true;
}
switch (cmd.id) {
///
/// navigation commands
///
case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint
do_nav_wp(cmd);
break;
case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
do_surface(cmd);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
do_RTL();
break;
case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely
do_loiter_unlimited(cmd);
break;
case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times
do_circle(cmd);
break;
case MAV_CMD_NAV_LOITER_TIME: // 19
do_loiter_time(cmd);
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // 82 Navigate to Waypoint using spline
do_spline_wp(cmd);
break;
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer
do_nav_guided_enable(cmd);
break;
#endif
case MAV_CMD_NAV_DELAY: // 94 Delay the next navigation command
do_nav_delay(cmd);
break;
//
// conditional commands
//
case MAV_CMD_CONDITION_DELAY: // 112
do_wait_delay(cmd);
break;
case MAV_CMD_CONDITION_DISTANCE: // 114
do_within_distance(cmd);
break;
case MAV_CMD_CONDITION_YAW: // 115
do_yaw(cmd);
break;
///
/// do commands
///
case MAV_CMD_DO_CHANGE_SPEED: // 178
do_change_speed(cmd);
break;
case MAV_CMD_DO_SET_HOME: // 179
do_set_home(cmd);
break;
case MAV_CMD_DO_SET_SERVO:
ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_REPEAT_RELAY:
ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_SET_ROI: // 201
// point the vehicle and camera at a region of interest (ROI)
do_roi(cmd);
break;
case MAV_CMD_DO_MOUNT_CONTROL: // 205
// point the camera to a specified angle
do_mount_control(cmd);
break;
#if CAMERA == ENABLED
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|
break;
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)|
do_digicam_configure(cmd);
break;
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|
do_digicam_control(cmd);
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
#endif
#if GRIPPER_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER: // Mission command to control gripper
do_gripper(cmd);
break;
#endif
#if NAV_GUIDED == ENABLED
case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
do_guided_limits(cmd);
break;
#endif
default:
// do nothing with unrecognized MAVLink messages
break;
}
// always return success
return true;
}
/********************************************************************************/
// Verify command Handlers
/********************************************************************************/
// check to see if current command goal has been acheived
// called by mission library in mission.update()
bool Sub::verify_command_callback(const AP_Mission::Mission_Command& cmd)
{
if (control_mode == AUTO) {
bool cmd_complete = verify_command(cmd);
// send message to GCS
if (cmd_complete) {
gcs_send_mission_item_reached_message(cmd.index);
}
return cmd_complete;
}
return false;
}
// check if current mission command has completed
bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_surface(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
case MAV_CMD_NAV_DELAY:
return verify_nav_delay(cmd);
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_GUIDED_LIMITS:
return true;
default:
// error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
// exit_mission - function that is called once the mission completes
void Sub::exit_mission()
{
// play a tone
AP_Notify::events.mission_complete = 1;
// Try to enter loiter, if that fails, go to depth hold
if (!auto_loiter_start()) {
set_mode(ALT_HOLD, MODE_REASON_MISSION_END);
}
}
/********************************************************************************/
// Nav (Must) commands
/********************************************************************************/
// do_nav_wp - initiate move to next waypoint
void Sub::do_nav_wp(const AP_Mission::Mission_Command& cmd)
{
Location_Class target_loc(cmd.content.location);
// use current lat, lon if zero
if (target_loc.lat == 0 && target_loc.lng == 0) {
target_loc.lat = current_loc.lat;
target_loc.lng = current_loc.lng;
}
// use current altitude if not provided
if (target_loc.alt == 0) {
// set to current altitude but in command's alt frame
int32_t curr_alt;
if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
} else {
// default to current altitude as alt-above-home
target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
}
}
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds
loiter_time_max = cmd.p1;
// Set wp navigation target
auto_wp_start(target_loc);
// if no delay set the waypoint as "fast"
if (loiter_time_max == 0) {
wp_nav.set_fast_waypoint(true);
}
}
// do_surface - initiate surface procedure
void Sub::do_surface(const AP_Mission::Mission_Command& cmd)
{
Location_Class target_location;
// if location provided we fly to that location at current altitude
if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
// set state to go to location
auto_surface_state = AUTO_SURFACE_STATE_GO_TO_LOCATION;
// calculate and set desired location below surface target
// convert to location class
target_location = Location_Class(cmd.content.location);
// decide if we will use terrain following
int32_t curr_terr_alt_cm, target_terr_alt_cm;
if (current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) &&
target_location.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) {
// if using terrain, set target altitude to current altitude above terrain
target_location.set_alt_cm(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN);
} else {
// set target altitude to current altitude above home
target_location.set_alt_cm(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME);
}
} else {
// set surface state to ascend
auto_surface_state = AUTO_SURFACE_STATE_ASCEND;
// Set waypoint destination to current location at zero depth
target_location = Location_Class(current_loc.lat, current_loc.lng, 0, Location_Class::ALT_FRAME_ABOVE_HOME);
}
// Go to wp location
auto_wp_start(target_location);
}
void Sub::do_RTL()
{
auto_wp_start(ahrs.get_home());
}
// do_loiter_unlimited - start loitering with no end conditions
// note: caller should set yaw_mode
void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
// convert back to location
Location_Class target_loc(cmd.content.location);
// use current location if not provided
if (target_loc.lat == 0 && target_loc.lng == 0) {
// To-Do: make this simpler
Vector3f temp_pos;
wp_nav.get_wp_stopping_point_xy(temp_pos);
Location_Class temp_loc(temp_pos);
target_loc.lat = temp_loc.lat;
target_loc.lng = temp_loc.lng;
}
// In mavproxy misseditor: Abs = 0 = ALT_FRAME_ABSOLUTE
// Rel = 1 = ALT_FRAME_ABOVE_HOME
// AGL = 3 = ALT_FRAME_ABOVE_TERRAIN
// 2 = ALT_FRAME_ABOVE_ORIGIN, not an option in mavproxy misseditor
// use current altitude if not provided
// To-Do: use z-axis stopping point instead of current alt
if (target_loc.alt == 0) {
// set to current altitude but in command's alt frame
int32_t curr_alt;
if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
} else {
// default to current altitude as alt-above-home
target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
}
}
// start way point navigator and provide it the desired location
auto_wp_start(target_loc);
}
// do_circle - initiate moving in a circle
void Sub::do_circle(const AP_Mission::Mission_Command& cmd)
{
Location_Class circle_center(cmd.content.location);
// default lat/lon to current position if not provided
// To-Do: use stopping point or position_controller's target instead of current location to avoid jerk?
if (circle_center.lat == 0 && circle_center.lng == 0) {
circle_center.lat = current_loc.lat;
circle_center.lng = current_loc.lng;
}
// default target altitude to current altitude if not provided
if (circle_center.alt == 0) {
int32_t curr_alt;
if (current_loc.get_alt_cm(circle_center.get_alt_frame(),curr_alt)) {
// circle altitude uses frame from command
circle_center.set_alt_cm(curr_alt,circle_center.get_alt_frame());
} else {
// default to current altitude above origin
circle_center.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
}
}
// calculate radius
uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
// move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
auto_circle_movetoedge_start(circle_center, circle_radius_m);
}
// do_loiter_time - initiate loitering at a point for a given time period
// note: caller should set yaw_mode
void Sub::do_loiter_time(const AP_Mission::Mission_Command& cmd)
{
// re-use loiter unlimited
do_loiter_unlimited(cmd);
// setup loiter timer
loiter_time = 0;
loiter_time_max = cmd.p1; // units are (seconds)
}
// do_spline_wp - initiate move to next waypoint
void Sub::do_spline_wp(const AP_Mission::Mission_Command& cmd)
{
Location_Class target_loc(cmd.content.location);
// use current lat, lon if zero
if (target_loc.lat == 0 && target_loc.lng == 0) {
target_loc.lat = current_loc.lat;
target_loc.lng = current_loc.lng;
}
// use current altitude if not provided
if (target_loc.alt == 0) {
// set to current altitude but in command's alt frame
int32_t curr_alt;
if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
} else {
// default to current altitude as alt-above-home
target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
}
}
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds
loiter_time_max = cmd.p1;
// determine segment start and end type
bool stopped_at_start = true;
AC_WPNav::spline_segment_end_type seg_end_type = AC_WPNav::SEGMENT_END_STOP;
AP_Mission::Mission_Command temp_cmd;
// if previous command was a wp_nav command with no delay set stopped_at_start to false
// To-Do: move processing of delay into wp-nav controller to allow it to determine the stopped_at_start value itself?
uint16_t prev_cmd_idx = mission.get_prev_nav_cmd_index();
if (prev_cmd_idx != AP_MISSION_CMD_INDEX_NONE) {
if (mission.read_cmd_from_storage(prev_cmd_idx, temp_cmd)) {
if ((temp_cmd.id == MAV_CMD_NAV_WAYPOINT || temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) && temp_cmd.p1 == 0) {
stopped_at_start = false;
}
}
}
// if there is no delay at the end of this segment get next nav command
Location_Class next_loc;
if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) {
next_loc = temp_cmd.content.location;
// default lat, lon to first waypoint's lat, lon
if (next_loc.lat == 0 && next_loc.lng == 0) {
next_loc.lat = target_loc.lat;
next_loc.lng = target_loc.lng;
}
// default alt to first waypoint's alt but in next waypoint's alt frame
if (next_loc.alt == 0) {
int32_t next_alt;
if (target_loc.get_alt_cm(next_loc.get_alt_frame(), next_alt)) {
next_loc.set_alt_cm(next_alt, next_loc.get_alt_frame());
} else {
// default to first waypoints altitude
next_loc.set_alt_cm(target_loc.alt, target_loc.get_alt_frame());
}
}
// if the next nav command is a waypoint set end type to spline or straight
if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT) {
seg_end_type = AC_WPNav::SEGMENT_END_STRAIGHT;
} else if (temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) {
seg_end_type = AC_WPNav::SEGMENT_END_SPLINE;
}
}
// set spline navigation target
auto_spline_start(target_loc, stopped_at_start, seg_end_type, next_loc);
}
#if NAV_GUIDED == ENABLED
// do_nav_guided_enable - initiate accepting commands from external nav computer
void Sub::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{
if (cmd.p1 > 0) {
// initialise guided limits
guided_limit_init_time_and_pos();
// set spline navigation target
auto_nav_guided_start();
}
}
#endif // NAV_GUIDED
// do_nav_delay - Delay the next navigation command
void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{
nav_delay_time_start = millis();
if (cmd.content.nav_delay.seconds > 0) {
// relative delay
nav_delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
} else {
// absolute delay to utc time
nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
}
#if GRIPPER_ENABLED == ENABLED
// do_gripper - control gripper
void Sub::do_gripper(const AP_Mission::Mission_Command& cmd)
{
// Note: we ignore the gripper num parameter because we only support one gripper
switch (cmd.content.gripper.action) {
case GRIPPER_ACTION_RELEASE:
g2.gripper.release();
Log_Write_Event(DATA_GRIPPER_RELEASE);
break;
case GRIPPER_ACTION_GRAB:
g2.gripper.grab();
Log_Write_Event(DATA_GRIPPER_GRAB);
break;
default:
// do nothing
break;
}
}
#endif
#if NAV_GUIDED == ENABLED
// do_guided_limits - pass guided limits to guided controller
void Sub::do_guided_limits(const AP_Mission::Mission_Command& cmd)
{
guided_limit_set(cmd.p1 * 1000, // convert seconds to ms
cmd.content.guided_limits.alt_min * 100.0f, // convert meters to cm
cmd.content.guided_limits.alt_max * 100.0f, // convert meters to cm
cmd.content.guided_limits.horiz_max * 100.0f); // convert meters to cm
}
#endif
/********************************************************************************/
// Verify Nav (Must) commands
/********************************************************************************/
// verify_nav_wp - check if we have reached the next way point
bool Sub::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
{
// check if we have reached the waypoint
if (!wp_nav.reached_wp_destination()) {
return false;
}
// play a tone
AP_Notify::events.waypoint_complete = 1;
// start timer if necessary
if (loiter_time == 0) {
loiter_time = millis();
}
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
} else {
return false;
}
}
// verify_surface - returns true if surface procedure has been completed
bool Sub::verify_surface(const AP_Mission::Mission_Command& cmd)
{
bool retval = false;
switch (auto_surface_state) {
case AUTO_SURFACE_STATE_GO_TO_LOCATION:
// check if we've reached the location
if (wp_nav.reached_wp_destination()) {
// Set target to current xy and zero depth
// TODO get xy target from current wp destination, because current location may be acceptance-radius away from original destination
Location_Class target_location(cmd.content.location.lat, cmd.content.location.lng, 0, Location_Class::ALT_FRAME_ABOVE_HOME);
auto_wp_start(target_location);
// advance to next state
auto_surface_state = AUTO_SURFACE_STATE_ASCEND;
}
break;
case AUTO_SURFACE_STATE_ASCEND:
if (wp_nav.reached_wp_destination()) {
retval = true;
}
break;
default:
// this should never happen
// TO-DO: log an error
retval = true;
break;
}
// true is returned if we've successfully surfaced
return retval;
}
bool Sub::verify_RTL() {
return wp_nav.reached_wp_destination();
}
bool Sub::verify_loiter_unlimited()
{
return false;
}
// verify_loiter_time - check if we have loitered long enough
bool Sub::verify_loiter_time()
{
// return immediately if we haven't reached our destination
if (!wp_nav.reached_wp_destination()) {
return false;
}
// start our loiter timer
if (loiter_time == 0) {
loiter_time = millis();
}
// check if loiter timer has run out
return (((millis() - loiter_time) / 1000) >= loiter_time_max);
}
// verify_circle - check if we have circled the point enough
bool Sub::verify_circle(const AP_Mission::Mission_Command& cmd)
{
// check if we've reached the edge
if (auto_mode == Auto_CircleMoveToEdge) {
if (wp_nav.reached_wp_destination()) {
Vector3f curr_pos = inertial_nav.get_position();
Vector3f circle_center = pv_location_to_vector(cmd.content.location);
// set target altitude if not provided
if (is_zero(circle_center.z)) {
circle_center.z = curr_pos.z;
}
// set lat/lon position if not provided
if (cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
circle_center.x = curr_pos.x;
circle_center.y = curr_pos.y;
}
// start circling
auto_circle_start();
}
return false;
}
// check if we have completed circling
return fabsf(circle_nav.get_angle_total()/M_2PI) >= LOWBYTE(cmd.p1);
}
// verify_spline_wp - check if we have reached the next way point using spline
bool Sub::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
{
// check if we have reached the waypoint
if (!wp_nav.reached_wp_destination()) {
return false;
}
// start timer if necessary
if (loiter_time == 0) {
loiter_time = millis();
}
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
} else {
return false;
}
}
#if NAV_GUIDED == ENABLED
// verify_nav_guided - check if we have breached any limits
bool Sub::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{
// if disabling guided mode then immediately return true so we move to next command
if (cmd.p1 == 0) {
return true;
}
// check time and position limits
return guided_limit_check();
}
#endif // NAV_GUIDED
// verify_nav_delay - check if we have waited long enough
bool Sub::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{
if (millis() - nav_delay_time_start > (uint32_t)MAX(nav_delay_time_max,0)) {
nav_delay_time_max = 0;
return true;
}
return false;
}
/********************************************************************************/
// Condition (May) commands
/********************************************************************************/
void Sub::do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
condition_start = millis();
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
}
void Sub::do_within_distance(const AP_Mission::Mission_Command& cmd)
{
condition_value = cmd.content.distance.meters * 100;
}
void Sub::do_yaw(const AP_Mission::Mission_Command& cmd)
{
set_auto_yaw_look_at_heading(
cmd.content.yaw.angle_deg,
cmd.content.yaw.turn_rate_dps,
cmd.content.yaw.direction,
cmd.content.yaw.relative_angle);
}
/********************************************************************************/
// Verify Condition (May) commands
/********************************************************************************/
bool Sub::verify_wait_delay()
{
if (millis() - condition_start > (uint32_t)MAX(condition_value,0)) {
condition_value = 0;
return true;
}
return false;
}
bool Sub::verify_within_distance()
{
if (wp_nav.get_wp_distance_to_destination() < (uint32_t)MAX(condition_value,0)) {
condition_value = 0;
return true;
}
return false;
}
// verify_yaw - return true if we have reached the desired heading
bool Sub::verify_yaw()
{
// set yaw mode if it has been changed (the waypoint controller often retakes control of yaw as it executes a new waypoint command)
if (auto_yaw_mode != AUTO_YAW_LOOK_AT_HEADING) {
set_auto_yaw_mode(AUTO_YAW_LOOK_AT_HEADING);
}
// check if we are within 2 degrees of the target heading
if (labs(wrap_180_cd(ahrs.yaw_sensor-yaw_look_at_heading)) <= 200) {
return true;
} else {
return false;
}
}
/********************************************************************************/
// Do (Now) commands
/********************************************************************************/
// do_guided - start guided mode
bool Sub::do_guided(const AP_Mission::Mission_Command& cmd)
{
// only process guided waypoint if we are in guided mode
if (control_mode != GUIDED && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
return false;
}
// switch to handle different commands
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: {
// set wp_nav's destination
Location_Class dest(cmd.content.location);
return guided_set_destination(dest);
break;
}
case MAV_CMD_CONDITION_YAW:
do_yaw(cmd);
return true;
break;
default:
// reject unrecognised command
return false;
break;
}
return true;
}
void Sub::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
wp_nav.set_speed_xy(cmd.content.speed.target_ms * 100.0f);
}
}
void Sub::do_set_home(const AP_Mission::Mission_Command& cmd)
{
if (cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) {
set_home_to_current_location();
} else {
if (!far_from_EKF_origin(cmd.content.location)) {
set_home(cmd.content.location);
}
}
}
// do_roi - starts actions required by MAV_CMD_NAV_ROI
// this involves either moving the camera to point at the ROI (region of interest)
// and possibly rotating the vehicle to point at the ROI if our mount type does not support a yaw feature
// TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint
void Sub::do_roi(const AP_Mission::Mission_Command& cmd)
{
set_auto_yaw_roi(cmd.content.location);
}
#if CAMERA == ENABLED
// do_digicam_configure Send Digicam Configure message with the camera library
void Sub::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
{
camera.configure(cmd.content.digicam_configure.shooting_mode,
cmd.content.digicam_configure.shutter_speed,
cmd.content.digicam_configure.aperture,
cmd.content.digicam_configure.ISO,
cmd.content.digicam_configure.exposure_type,
cmd.content.digicam_configure.cmd_id,
cmd.content.digicam_configure.engine_cutoff_time);
}
// do_digicam_control Send Digicam Control message with the camera library
void Sub::do_digicam_control(const AP_Mission::Mission_Command& cmd)
{
if (camera.control(cmd.content.digicam_control.session,
cmd.content.digicam_control.zoom_pos,
cmd.content.digicam_control.zoom_step,
cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id)) {
log_picture();
}
}
// do_take_picture - take a picture with the camera library
void Sub::do_take_picture()
{
camera.trigger_pic(true);
log_picture();
}
// log_picture - log picture taken and send feedback to GCS
void Sub::log_picture()
{
if (!camera.using_feedback_pin()) {
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
} else {
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
}
}
}
#endif
// point the camera to a specified angle
void Sub::do_mount_control(const AP_Mission::Mission_Command& cmd)
{
#if MOUNT == ENABLED
camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
#endif
}
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