mirror of https://github.com/ArduPilot/ardupilot
765 lines
17 KiB
Plaintext
765 lines
17 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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static void process_nav_command()
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{
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switch(command_nav_queue.id){
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case MAV_CMD_NAV_TAKEOFF: // 22
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do_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint
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do_nav_wp();
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break;
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case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
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do_land();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely
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do_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times
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do_loiter_turns();
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break;
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case MAV_CMD_NAV_LOITER_TIME: // 19
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do_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20
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do_RTL();
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break;
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default:
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break;
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}
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}
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static void process_cond_command()
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{
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switch(command_cond_queue.id){
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case MAV_CMD_CONDITION_DELAY: // 112
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE: // 114
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT: // 113
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do_change_alt();
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break;
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case MAV_CMD_CONDITION_YAW: // 115
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do_yaw();
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break;
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default:
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break;
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}
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}
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static void process_now_command()
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{
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switch(command_cond_queue.id){
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case MAV_CMD_DO_JUMP: // 177
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do_jump();
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break;
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case MAV_CMD_DO_CHANGE_SPEED: // 178
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do_change_speed();
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break;
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case MAV_CMD_DO_SET_HOME: // 179
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do_set_home();
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break;
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case MAV_CMD_DO_SET_SERVO: // 183
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_RELAY: // 181
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do_set_relay();
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break;
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case MAV_CMD_DO_REPEAT_SERVO: // 184
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_RELAY: // 182
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do_repeat_relay();
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break;
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case MAV_CMD_DO_SET_ROI: // 201
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do_target_yaw();
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}
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}
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//static void handle_no_commands()
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/*{
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switch (control_mode){
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default:
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set_mode(RTL);
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break;
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}
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return;
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Serial.println("Handle No CMDs");
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}*/
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/********************************************************************************/
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// Verify command Handlers
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/********************************************************************************/
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static bool verify_must()
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{
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//Serial.printf("vmust: %d\n", command_nav_ID);
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switch(command_nav_queue.id) {
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case MAV_CMD_NAV_TAKEOFF:
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return verify_takeoff();
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break;
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case MAV_CMD_NAV_LAND:
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return verify_land();
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break;
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM:
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return false;
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break;
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case MAV_CMD_NAV_LOITER_TURNS:
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return verify_loiter_turns();
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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break;
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default:
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//gcs_send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current Must commands"));
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return false;
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break;
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}
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}
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static bool verify_may()
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{
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switch(command_cond_queue.id) {
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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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case MAV_CMD_CONDITION_CHANGE_ALT:
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return verify_change_alt();
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break;
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case MAV_CMD_CONDITION_YAW:
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return verify_yaw();
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break;
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default:
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//gcs_send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current May commands"));
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return false;
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break;
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}
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}
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/********************************************************************************/
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//
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/********************************************************************************/
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static void do_RTL(void)
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{
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// TODO: Altitude option from mission planner
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Location temp = home;
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temp.alt = read_alt_to_hold();
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//so we know where we are navigating from
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// --------------------------------------
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next_WP = current_loc;
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// Loads WP from Memory
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// --------------------
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set_next_WP(&temp);
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// output control mode to the ground station
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// -----------------------------------------
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gcs_send_message(MSG_HEARTBEAT);
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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_takeoff()
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{
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wp_control = LOITER_MODE;
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// Start with current location
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Location temp = current_loc;
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// command_nav_queue.alt is a relative altitude!!!
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if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
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temp.alt = command_nav_queue.alt + home.alt;
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//Serial.printf("rel alt: %ld",temp.alt);
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} else {
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temp.alt = command_nav_queue.alt;
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//Serial.printf("abs alt: %ld",temp.alt);
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}
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// Set our waypoint
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set_next_WP(&temp);
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}
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static void do_nav_wp()
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{
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wp_control = WP_MODE;
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// command_nav_queue.alt is a relative altitude!!!
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if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
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command_nav_queue.alt += home.alt;
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}
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set_next_WP(&command_nav_queue);
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// this is our bitmask to verify we have met all conditions to move on
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wp_verify_byte = 0;
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// this will be used to remember the time in millis after we reach or pass the WP.
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loiter_time = 0;
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// this is the delay, stored in seconds and expanded to millis
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loiter_time_max = command_nav_queue.p1 * 1000;
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// if we don't require an altitude minimum, we save this flag as passed (1)
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if((next_WP.options & MASK_OPTIONS_RELATIVE_ALT) == 0){
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// we don't need to worry about it
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wp_verify_byte |= NAV_ALTITUDE;
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}
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}
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static void do_land()
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{
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wp_control = LOITER_MODE;
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land_complete = false;
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// hold at our current location
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set_next_WP(¤t_loc);
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// Set a new target altitude
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set_new_altitude(-200);
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}
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static void do_loiter_unlimited()
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{
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wp_control = LOITER_MODE;
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//Serial.println("dloi ");
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if(command_nav_queue.lat == 0)
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set_next_WP(¤t_loc);
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else
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set_next_WP(&command_nav_queue);
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}
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static void do_loiter_turns()
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{
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wp_control = CIRCLE_MODE;
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// reset desired location
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if(command_nav_queue.lat == 0){
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// allow user to specify just the altitude
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if(command_nav_queue.alt > 0){
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current_loc.alt = command_nav_queue.alt;
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}
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set_next_WP(¤t_loc);
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}else{
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set_next_WP(&command_nav_queue);
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}
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loiter_total = command_nav_queue.p1 * 360;
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loiter_sum = 0;
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old_target_bearing = target_bearing;
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circle_angle = target_bearing + 18000;
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circle_angle = wrap_360(circle_angle);
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circle_angle *= RADX100;
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}
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static void do_loiter_time()
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{
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if(command_nav_queue.lat == 0){
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wp_control = LOITER_MODE;
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loiter_time = millis();
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set_next_WP(¤t_loc);
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}else{
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wp_control = WP_MODE;
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set_next_WP(&command_nav_queue);
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}
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loiter_time_max = command_nav_queue.p1 * 1000; // units are (seconds)
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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_takeoff()
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{
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// wait until we are ready!
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if(g.rc_3.control_in == 0){
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return false;
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}
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// are we above our target altitude?
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//return (current_loc.alt > next_WP.alt);
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return (current_loc.alt > target_altitude);
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}
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// called at 10hz
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static bool verify_land()
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{
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static int16_t velocity_land = -1;
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static float icount = 0;
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// landing detector
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if (current_loc.alt > 300){
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velocity_land = 2000;
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icount = 1;
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}else{
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// a LP filter used to tell if we have landed
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// will drive to 0 if we are on the ground - maybe, the baro is noisy
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velocity_land = ((velocity_land * 7) + climb_rate ) / 8;
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}
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if ((current_loc.alt - home.alt) < 200){
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// don't bank to hold position
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wp_control = NO_NAV_MODE;
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// try and come down faster
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//landing_boost++;
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//landing_boost = min(landing_boost, 15);
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float tmp = (1.75 * icount * icount) - (7.2 * icount);
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landing_boost = tmp;
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landing_boost = constrain(landing_boost, 1, 200);
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icount += 0.4;
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//Serial.printf("lb:%d, %1.4f, ic:%1.4f\n",landing_boost, tmp, icount);
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}else{
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landing_boost = 0;
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wp_control = LOITER_MODE;
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}
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//if(/*(current_loc.alt < 100) && */ (velocity_land < 20)){
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if((landing_boost > 150) || (velocity_land < 20)){
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icount = 1;
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land_complete = true;
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landing_boost = 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_nav_wp()
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{
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// Altitude checking
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if(next_WP.options & MASK_OPTIONS_RELATIVE_ALT){
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// we desire a certain minimum altitude
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//if (current_loc.alt > next_WP.alt){
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if (current_loc.alt > target_altitude){
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// we have reached that altitude
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wp_verify_byte |= NAV_ALTITUDE;
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}
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}
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// Did we pass the WP? // Distance checking
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if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
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// if we have a distance calc error, wp_distance may be less than 0
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if(wp_distance > 0){
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wp_verify_byte |= NAV_LOCATION;
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if(loiter_time == 0){
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loiter_time = millis();
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}
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}
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}
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// Hold at Waypoint checking, we cant move on until this is OK
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if(wp_verify_byte & NAV_LOCATION){
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// we have reached our goal
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// loiter at the WP
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wp_control = LOITER_MODE;
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if ((millis() - loiter_time) > loiter_time_max) {
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wp_verify_byte |= NAV_DELAY;
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//gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
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//Serial.println("vlt done");
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}
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}
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if(wp_verify_byte >= 7){
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//if(wp_verify_byte & NAV_LOCATION){
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char message[30];
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sprintf(message,"Reached Command #%i",command_nav_index);
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gcs_send_text(SEVERITY_LOW,message);
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wp_verify_byte = 0;
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return true;
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}else{
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return false;
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}
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}
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//static bool verify_loiter_unlim()
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//{
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// return false;
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//}
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static bool verify_loiter_time()
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{
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if(wp_control == LOITER_MODE){
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if ((millis() - loiter_time) > loiter_time_max) {
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return true;
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}
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}
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if(wp_control == WP_MODE && wp_distance <= g.waypoint_radius){
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// reset our loiter time
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loiter_time = millis();
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// switch to position hold
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wp_control = LOITER_MODE;
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}
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return false;
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}
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static bool verify_loiter_turns()
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{
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//Serial.printf("loiter_sum: %d \n", loiter_sum);
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// have we rotated around the center enough times?
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// -----------------------------------------------
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if(abs(loiter_sum) > loiter_total) {
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loiter_total = 0;
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loiter_sum = 0;
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//gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete"));
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// clear the command queue;
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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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// loiter at the WP
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wp_control = WP_MODE;
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// Did we pass the WP? // Distance checking
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if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
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wp_control = LOITER_MODE;
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//gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
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return true;
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}else{
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return false;
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}
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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()
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{
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//Serial.print("dwd ");
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condition_start = millis();
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condition_value = command_cond_queue.lat * 1000; // convert to milliseconds
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//Serial.println(condition_value,DEC);
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}
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static void do_change_alt()
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{
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Location temp = next_WP;
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condition_start = current_loc.alt;
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//condition_value = command_cond_queue.alt;
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temp.alt = command_cond_queue.alt;
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set_next_WP(&temp);
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}
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static void do_within_distance()
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{
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condition_value = command_cond_queue.lat * 100;
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}
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static void do_yaw()
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{
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//Serial.println("dyaw ");
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yaw_tracking = MAV_ROI_NONE;
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// target angle in degrees
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command_yaw_start = nav_yaw; // current position
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command_yaw_start_time = millis();
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command_yaw_dir = command_cond_queue.p1; // 1 = clockwise, 0 = counterclockwise
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command_yaw_speed = command_cond_queue.lat * 100; // ms * 100
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command_yaw_relative = command_cond_queue.lng; // 1 = Relative, 0 = Absolute
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// if unspecified go 30° a second
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if(command_yaw_speed == 0)
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command_yaw_speed = 3000;
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// if unspecified go counterclockwise
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if(command_yaw_dir == 0)
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command_yaw_dir = -1;
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else
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command_yaw_dir = 1;
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if (command_yaw_relative == 1){
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// relative
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command_yaw_delta = command_cond_queue.alt * 100;
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}else{
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// absolute
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command_yaw_end = command_cond_queue.alt * 100;
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// calculate the delta travel in deg * 100
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if(command_yaw_dir == 1){
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if(command_yaw_start >= command_yaw_end){
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command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end);
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}else{
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command_yaw_delta = command_yaw_end - command_yaw_start;
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}
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}else{
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if(command_yaw_start > command_yaw_end){
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command_yaw_delta = command_yaw_start - command_yaw_end;
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}else{
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command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end);
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}
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}
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command_yaw_delta = wrap_360(command_yaw_delta);
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}
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// rate to turn deg per second - default is ten
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command_yaw_time = (command_yaw_delta / command_yaw_speed) * 1000;
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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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//Serial.print("vwd");
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if ((unsigned)(millis() - condition_start) > (unsigned)condition_value){
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//Serial.println("y");
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condition_value = 0;
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return true;
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}
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|
//Serial.println("n");
|
|
return false;
|
|
}
|
|
|
|
static bool verify_change_alt()
|
|
{
|
|
//Serial.printf("change_alt, ca:%d, na:%d\n", (int)current_loc.alt, (int)next_WP.alt);
|
|
if ((int32_t)condition_start < next_WP.alt){
|
|
// we are going higer
|
|
if(current_loc.alt > next_WP.alt){
|
|
return true;
|
|
}
|
|
}else{
|
|
// we are going lower
|
|
if(current_loc.alt < next_WP.alt){
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
static bool verify_within_distance()
|
|
{
|
|
//Serial.printf("cond dist :%d\n", (int)condition_value);
|
|
if (wp_distance < condition_value){
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
static bool verify_yaw()
|
|
{
|
|
//Serial.printf("vyaw %d\n", (int)(nav_yaw/100));
|
|
|
|
if((millis() - command_yaw_start_time) > command_yaw_time){
|
|
// time out
|
|
// make sure we hold at the final desired yaw angle
|
|
nav_yaw = command_yaw_end;
|
|
auto_yaw = nav_yaw;
|
|
|
|
//Serial.println("Y");
|
|
return true;
|
|
|
|
}else{
|
|
// else we need to be at a certain place
|
|
// power is a ratio of the time : .5 = half done
|
|
float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
|
|
|
|
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
|
|
nav_yaw = wrap_360(nav_yaw);
|
|
auto_yaw = nav_yaw;
|
|
//Serial.printf("ny %ld\n",nav_yaw);
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Do (Now) commands
|
|
/********************************************************************************/
|
|
|
|
static void do_change_speed()
|
|
{
|
|
g.waypoint_speed_max = command_cond_queue.p1 * 100;
|
|
}
|
|
|
|
static void do_target_yaw()
|
|
{
|
|
yaw_tracking = command_cond_queue.p1;
|
|
|
|
if(yaw_tracking == MAV_ROI_LOCATION){
|
|
target_WP = command_cond_queue;
|
|
}
|
|
}
|
|
|
|
static void do_loiter_at_location()
|
|
{
|
|
next_WP = current_loc;
|
|
}
|
|
|
|
static void do_jump()
|
|
{
|
|
// Used to track the state of the jump command in Mission scripting
|
|
// -10 is a value that means the register is unused
|
|
// when in use, it contains the current remaining jumps
|
|
static int8_t jump = -10; // used to track loops in jump command
|
|
|
|
//Serial.printf("do Jump: %d\n", jump);
|
|
|
|
if(jump == -10){
|
|
//Serial.printf("Fresh Jump\n");
|
|
// we use a locally stored index for jump
|
|
jump = command_cond_queue.lat;
|
|
}
|
|
//Serial.printf("Jumps left: %d\n",jump);
|
|
|
|
if(jump > 0) {
|
|
//Serial.printf("Do Jump to %d\n",command_cond_queue.p1);
|
|
jump--;
|
|
change_command(command_cond_queue.p1);
|
|
|
|
} else if (jump == 0){
|
|
//Serial.printf("Did last jump\n");
|
|
// we're done, move along
|
|
jump = -11;
|
|
|
|
} else if (jump == -1) {
|
|
//Serial.printf("jumpForever\n");
|
|
// repeat forever
|
|
change_command(command_cond_queue.p1);
|
|
}
|
|
}
|
|
|
|
static void do_set_home()
|
|
{
|
|
if(command_cond_queue.p1 == 1) {
|
|
init_home();
|
|
} else {
|
|
home.id = MAV_CMD_NAV_WAYPOINT;
|
|
home.lng = command_cond_queue.lng; // Lon * 10**7
|
|
home.lat = command_cond_queue.lat; // Lat * 10**7
|
|
home.alt = max(command_cond_queue.alt, 0);
|
|
home_is_set = true;
|
|
}
|
|
}
|
|
|
|
static void do_set_servo()
|
|
{
|
|
APM_RC.OutputCh(command_cond_queue.p1 - 1, command_cond_queue.alt);
|
|
}
|
|
|
|
static void do_set_relay()
|
|
{
|
|
if (command_cond_queue.p1 == 1) {
|
|
relay.on();
|
|
} else if (command_cond_queue.p1 == 0) {
|
|
relay.off();
|
|
}else{
|
|
relay.toggle();
|
|
}
|
|
}
|
|
|
|
static void do_repeat_servo()
|
|
{
|
|
event_id = command_cond_queue.p1 - 1;
|
|
|
|
if(command_cond_queue.p1 >= CH_5 + 1 && command_cond_queue.p1 <= CH_8 + 1) {
|
|
|
|
event_timer = 0;
|
|
event_value = command_cond_queue.alt;
|
|
event_repeat = command_cond_queue.lat * 2;
|
|
event_delay = command_cond_queue.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
|
|
|
|
switch(command_cond_queue.p1) {
|
|
case CH_5:
|
|
event_undo_value = g.rc_5.radio_trim;
|
|
break;
|
|
case CH_6:
|
|
event_undo_value = g.rc_6.radio_trim;
|
|
break;
|
|
case CH_7:
|
|
event_undo_value = g.rc_7.radio_trim;
|
|
break;
|
|
case CH_8:
|
|
event_undo_value = g.rc_8.radio_trim;
|
|
break;
|
|
}
|
|
update_events();
|
|
}
|
|
}
|
|
|
|
static void do_repeat_relay()
|
|
{
|
|
event_id = RELAY_TOGGLE;
|
|
event_timer = 0;
|
|
event_delay = command_cond_queue.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
|
|
event_repeat = command_cond_queue.alt * 2;
|
|
update_events();
|
|
}
|