mirror of https://github.com/ArduPilot/ardupilot
143 lines
4.0 KiB
Plaintext
143 lines
4.0 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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// called by 10 Hz loop
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// --------------------
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void update_commands(void)
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{
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// This function loads commands into three buffers
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// when a new command is loaded, it is processed with process_XXX()
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// ----------------------------------------------------------------
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if(home_is_set == false){
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return; // don't do commands
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}
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if(control_mode == AUTO){
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load_next_command_from_EEPROM();
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process_next_command();
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} // Other (eg GCS_Auto) modes may be implemented here
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}
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void verify_commands(void)
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{
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if(verify_must()){
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command_must_index = NO_COMMAND;
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}
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if(verify_may()){
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command_may_index = NO_COMMAND;
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command_may_ID = NO_COMMAND;
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}
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}
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void load_next_command_from_EEPROM()
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{
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// fetch next command if the next command queue is empty
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// -----------------------------------------------------
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if(next_command.id == NO_COMMAND){
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next_command = get_wp_with_index(g.waypoint_index + 1);
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}
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// If the preload failed, return or just Loiter
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// generate a dynamic command for RTL
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// --------------------------------------------
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if(next_command.id == NO_COMMAND){
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// we are out of commands!
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gcs.send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
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handle_no_commands();
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}
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}
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void process_next_command()
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{
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// these are Navigation/Must commands
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// ---------------------------------
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if (command_must_index == 0){ // no current command loaded
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if (next_command.id < MAV_CMD_NAV_LAST ){
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increment_WP_index();
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//save_command_index(); // TO DO - fix - to Recover from in air Restart
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command_must_index = g.waypoint_index;
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//SendDebug("MSG <process_next_command> new command_must_id ");
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//SendDebug(next_command.id,DEC);
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//SendDebug(" index:");
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//SendDebugln(command_must_index,DEC);
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Cmd(g.waypoint_index, &next_command);
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process_must();
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}
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}
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// these are Condition/May commands
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// ----------------------
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if (command_may_index == 0){
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if (next_command.id > MAV_CMD_NAV_LAST && next_command.id < MAV_CMD_CONDITION_LAST ){
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increment_WP_index(); // this command is from the command list in EEPROM
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command_may_index = g.waypoint_index;
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//SendDebug("MSG <process_next_command> new command_may_id ");
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//SendDebug(next_command.id,DEC);
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//Serial.print("new command_may_index ");
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//Serial.println(command_may_index,DEC);
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Cmd(g.waypoint_index, &next_command);
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process_may();
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}
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// these are Do/Now commands
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// ---------------------------
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if (next_command.id > MAV_CMD_CONDITION_LAST){
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increment_WP_index(); // this command is from the command list in EEPROM
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//SendDebug("MSG <process_next_command> new command_now_id ");
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//SendDebug(next_command.id,DEC);
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Cmd(g.waypoint_index, &next_command);
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process_now();
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}
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}
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}
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/**************************************************/
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// These functions implement the commands.
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/**************************************************/
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void process_must()
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{
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gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
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gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
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// clear May indexes
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command_may_index = NO_COMMAND;
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command_may_ID = NO_COMMAND;
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command_must_ID = next_command.id;
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handle_process_must();
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = NO_COMMAND;
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}
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void process_may()
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{
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gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
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gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
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command_may_ID = next_command.id;
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handle_process_may();
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = NO_COMMAND;
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}
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void process_now()
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{
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handle_process_now();
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = NO_COMMAND;
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gcs.send_text_P(SEVERITY_LOW, PSTR("<process_now>"));
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gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
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}
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