mirror of https://github.com/ArduPilot/ardupilot
556 lines
11 KiB
Plaintext
556 lines
11 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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void handle_process_must()
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{
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// reset navigation integrators
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// -------------------------
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reset_I();
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switch(next_command.id){
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case MAV_CMD_NAV_TAKEOFF:
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do_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp();
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break;
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case MAV_CMD_NAV_LAND: // LAND to Waypoint
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do_land();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
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do_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS: // 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:
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do_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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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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void handle_process_may()
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{
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switch(next_command.id){
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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do_change_alt();
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break;
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case MAV_CMD_CONDITION_YAW:
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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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void handle_process_now()
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{
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switch(next_command.id){
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case MAV_CMD_DO_JUMP:
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do_jump();
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break;
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case MAV_CMD_DO_CHANGE_SPEED:
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//do_change_speed();
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home();
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break;
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case MAV_CMD_DO_SET_SERVO:
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_RELAY:
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do_set_relay();
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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do_repeat_relay();
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break;
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}
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}
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void handle_no_commands()
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{
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if (command_must_ID)
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return;
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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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}
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/********************************************************************************/
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// Verify command Handlers
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/********************************************************************************/
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bool verify_must()
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{
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switch(command_must_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 true;
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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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bool verify_may()
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{
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switch(command_may_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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// Nav (Must) commands
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/********************************************************************************/
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void do_RTL(void)
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{
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control_mode = LOITER;
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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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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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gcs.send_message(MSG_HEARTBEAT);
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if (g.log_bitmask & MASK_LOG_MODE)
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Log_Write_Mode(control_mode);
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}
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void do_takeoff()
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{
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Location temp = current_loc;
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temp.alt = next_command.alt;
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takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
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set_next_WP(&temp);
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}
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void do_nav_wp()
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{
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set_next_WP(&next_command);
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}
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void do_land()
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{
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land_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
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velocity_land = 1000;
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Location temp = current_loc;
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temp.alt = home.alt;
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set_next_WP(&temp);
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}
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void do_loiter_unlimited()
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{
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set_next_WP(&next_command);
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}
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void do_loiter_turns()
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{
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set_next_WP(&next_command);
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loiter_total = next_command.p1 * 360;
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}
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void do_loiter_time()
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{
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set_next_WP(&next_command);
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loiter_time = millis();
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loiter_time_max = next_command.p1; // units are (seconds * 10)
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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bool verify_takeoff()
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{
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if (current_loc.alt > next_WP.alt){
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takeoff_complete = true;
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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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bool verify_land()
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{
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// XXX not sure
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velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8);
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old_alt = current_loc.alt;
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if((current_loc.alt < home.alt + 100) && velocity_land == 0){
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land_complete = true;
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return true;
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}
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update_crosstrack();
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return false;
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}
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bool verify_nav_wp()
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{
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update_crosstrack();
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
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//SendDebug("MSG <verify_must: MAV_CMD_NAV_WAYPOINT> REACHED_WAYPOINT #");
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//SendDebugln(command_must_index,DEC);
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char message[30];
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sprintf(message,"Reached Waypoint #%i",command_must_index);
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gcs.send_text(SEVERITY_LOW,message);
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return true;
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}
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// Have we passed the WP?
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if(loiter_sum > 90){
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gcs.send_text_P(SEVERITY_MEDIUM,PSTR("Missed WP"));
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return true;
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}
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return false;
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}
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bool verify_loiter_unlim()
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{
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return false;
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}
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bool verify_loiter_time()
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{
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if ((millis() - loiter_time) > (long)loiter_time_max * 10000l) { // scale loiter_time_max from (sec*10) to milliseconds
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gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
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return true;
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}
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return false;
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}
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bool verify_RTL()
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{
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if (wp_distance <= g.waypoint_radius) {
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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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void do_wait_delay()
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{
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condition_start = millis();
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condition_value = next_command.lat * 1000; // convert to milliseconds
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}
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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 = next_command.alt + home.alt;
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temp.alt = condition_value;
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set_next_WP(&temp);
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}
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void do_within_distance()
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{
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condition_value = next_command.lat;
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}
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void do_yaw()
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{
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// p1: bearing
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// alt: speed
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// lat: direction (-1,1),
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// lng: rel (1) abs (0)
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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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// which direction to turn
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// 1 = clockwise, -1 = counterclockwise
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command_yaw_dir = next_command.lat;
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// 1 = Relative or 0 = Absolute
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if (next_command.lng == 1) {
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// relative
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command_yaw_dir = (command_yaw_end > 0) ? 1 : -1;
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command_yaw_end += nav_yaw;
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command_yaw_end = wrap_360(command_yaw_end);
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}else{
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// absolute
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command_yaw_end = next_command.p1 * 100;
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}
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// if unspecified go 10° a second
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if(command_yaw_speed == 0)
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command_yaw_speed = 10;
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// if unspecified go clockwise
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if(command_yaw_dir == 0)
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command_yaw_dir = 1;
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// calculate the delta travel
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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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// rate to turn deg per second - default is ten
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command_yaw_speed = next_command.alt;
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command_yaw_time = command_yaw_delta / command_yaw_speed;
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//9000 turn in 10 seconds
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//command_yaw_time = 9000/ 10 = 900° per second
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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bool verify_wait_delay()
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{
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if ((millis() - condition_start) > condition_value){
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condition_value = 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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bool verify_change_alt()
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{
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if (condition_start < next_WP.alt){
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// we are going higer
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if(current_loc.alt > next_WP.alt){
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condition_value = 0;
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return true;
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}
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}else{
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// we are going lower
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if(current_loc.alt < next_WP.alt){
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condition_value = 0;
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return true;
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}
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}
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return false;
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}
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bool verify_within_distance()
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{
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if (wp_distance < condition_value){
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condition_value = 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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bool verify_yaw()
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{
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if((millis() - command_yaw_start_time) > command_yaw_time){
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nav_yaw = command_yaw_end;
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return true;
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}else{
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// else we need to be at a certain place
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// power is a ratio of the time : .5 = half done
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float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
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nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
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return false;
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}
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}
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/********************************************************************************/
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// Do (Now) commands
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/********************************************************************************/
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void do_loiter_at_location()
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{
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next_WP = current_loc;
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}
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void do_jump()
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{
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struct Location temp;
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if(next_command.lat > 0) {
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command_must_index = 0;
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command_may_index = 0;
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temp = get_wp_with_index(g.waypoint_index);
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temp.lat = next_command.lat - 1; // Decrement repeat counter
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set_wp_with_index(temp, g.waypoint_index);
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g.waypoint_index.set_and_save(next_command.p1 - 1);
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}
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}
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void do_set_home()
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{
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if(next_command.p1 == 1) {
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init_home();
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} else {
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home.id = MAV_CMD_NAV_WAYPOINT;
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home.lng = next_command.lng; // Lon * 10**7
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home.lat = next_command.lat; // Lat * 10**7
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home.alt = max(next_command.alt, 0);
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home_is_set = true;
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}
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}
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void do_set_servo()
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{
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APM_RC.OutputCh(next_command.p1 - 1, next_command.alt);
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}
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void do_set_relay()
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{
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if (next_command.p1 == 1) {
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relay_on();
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} else if (next_command.p1 == 0) {
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relay_off();
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}else{
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relay_toggle();
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}
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}
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void do_repeat_servo()
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{
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event_id = next_command.p1 - 1;
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if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) {
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event_timer = 0;
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event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
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event_repeat = next_command.lat * 2;
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event_value = next_command.alt;
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switch(next_command.p1) {
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case CH_5:
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event_undo_value = g.rc_5.radio_trim;
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break;
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case CH_6:
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event_undo_value = g.rc_6.radio_trim;
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break;
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case CH_7:
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event_undo_value = g.rc_7.radio_trim;
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break;
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case CH_8:
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event_undo_value = g.rc_8.radio_trim;
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break;
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}
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update_events();
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}
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}
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void do_repeat_relay()
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{
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event_id = RELAY_TOGGLE;
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event_timer = 0;
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event_delay = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
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event_repeat = next_command.alt * 2;
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update_events();
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}
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