mirror of https://github.com/ArduPilot/ardupilot
285 lines
7.8 KiB
Plaintext
285 lines
7.8 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* logic for dealing with the current command in the mission and home location
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*/
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static void init_commands()
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{
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g.command_index.set_and_save(0);
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nav_command_ID = NO_COMMAND;
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non_nav_command_ID = NO_COMMAND;
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next_nav_command.id = CMD_BLANK;
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nav_command_index = 0;
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}
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static void update_auto()
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{
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if (g.command_index >= g.command_total) {
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handle_no_commands();
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if(g.command_total == 0) {
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next_WP.lat = home.lat + 1000; // so we don't have bad calcs
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next_WP.lng = home.lng + 1000; // so we don't have bad calcs
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}
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} else {
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if(g.command_index != 0) {
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g.command_index = nav_command_index;
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nav_command_index--;
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}
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nav_command_ID = NO_COMMAND;
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non_nav_command_ID = NO_COMMAND;
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next_nav_command.id = CMD_BLANK;
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process_next_command();
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}
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}
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// this is only used by an air-start
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static void reload_commands_airstart()
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{
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init_commands();
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decrement_cmd_index();
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}
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/*
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fetch a mission item from EEPROM
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*/
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static struct Location get_cmd_with_index_raw(int16_t i)
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{
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struct Location temp;
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uint16_t mem;
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// Find out proper location in memory by using the start_byte position + the index
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// --------------------------------------------------------------------------------
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if (i > g.command_total) {
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memset(&temp, 0, sizeof(temp));
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temp.id = CMD_BLANK;
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}else{
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// read WP position
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mem = (WP_START_BYTE) + (i * WP_SIZE);
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temp.id = hal.storage->read_byte(mem);
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mem++;
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temp.options = hal.storage->read_byte(mem);
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mem++;
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temp.p1 = hal.storage->read_byte(mem);
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mem++;
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temp.alt = hal.storage->read_dword(mem);
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mem += 4;
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temp.lat = hal.storage->read_dword(mem);
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mem += 4;
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temp.lng = hal.storage->read_dword(mem);
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}
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return temp;
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}
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/*
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fetch a mission item from EEPROM. Adjust altitude to be absolute
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*/
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static struct Location get_cmd_with_index(int16_t i)
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{
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struct Location temp;
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temp = get_cmd_with_index_raw(i);
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// Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
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if ((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) &&
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(temp.options & MASK_OPTIONS_RELATIVE_ALT) &&
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(temp.lat != 0 || temp.lng != 0 || temp.alt != 0)) {
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temp.alt += home.alt;
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}
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return temp;
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}
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// Setters
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// -------
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static void set_cmd_with_index(struct Location temp, int16_t i)
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{
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i = constrain_int16(i, 0, g.command_total.get());
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uint16_t mem = WP_START_BYTE + (i * WP_SIZE);
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// force home wp to absolute height
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if (i == 0) {
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temp.options &= ~(MASK_OPTIONS_RELATIVE_ALT);
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}
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// zero unused bits
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temp.options &= (MASK_OPTIONS_RELATIVE_ALT | MASK_OPTIONS_LOITER_DIRECTION);
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hal.storage->write_byte(mem, temp.id);
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mem++;
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hal.storage->write_byte(mem, temp.options);
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mem++;
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hal.storage->write_byte(mem, temp.p1);
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mem++;
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hal.storage->write_dword(mem, temp.alt);
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mem += 4;
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hal.storage->write_dword(mem, temp.lat);
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mem += 4;
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hal.storage->write_dword(mem, temp.lng);
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}
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static void decrement_cmd_index()
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{
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if (g.command_index > 0) {
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g.command_index.set_and_save(g.command_index - 1);
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}
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}
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static int32_t read_alt_to_hold()
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{
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if (g.RTL_altitude_cm < 0) {
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return current_loc.alt;
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}
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return g.RTL_altitude_cm + home.alt;
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}
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/*
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* This function stores waypoint commands
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* It looks to see what the next command type is and finds the last command.
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*/
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static void set_next_WP(struct Location *wp)
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{
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// copy the current WP into the OldWP slot
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// ---------------------------------------
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prev_WP = next_WP;
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// Load the next_WP slot
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// ---------------------
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next_WP = *wp;
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// if lat and lon is zero, then use current lat/lon
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// this allows a mission to contain a "loiter on the spot"
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// command
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if (next_WP.lat == 0 && next_WP.lng == 0) {
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next_WP.lat = current_loc.lat;
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next_WP.lng = current_loc.lng;
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// additionally treat zero altitude as current altitude
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if (next_WP.alt == 0) {
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next_WP.alt = current_loc.alt;
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}
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}
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// are we already past the waypoint? This happens when we jump
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// waypoints, and it can cause us to skip a waypoint. If we are
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// past the waypoint when we start on a leg, then use the current
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// location as the previous waypoint, to prevent immediately
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// considering the waypoint complete
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("Resetting prev_WP"));
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prev_WP = current_loc;
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}
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// used to control FBW and limit the rate of climb
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// -----------------------------------------------
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target_altitude_cm = current_loc.alt;
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if (prev_WP.id != MAV_CMD_NAV_TAKEOFF &&
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prev_WP.alt != home.alt &&
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(next_WP.id == MAV_CMD_NAV_WAYPOINT || next_WP.id == MAV_CMD_NAV_LAND)) {
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offset_altitude_cm = next_WP.alt - prev_WP.alt;
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} else {
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offset_altitude_cm = 0;
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}
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// zero out our loiter vals to watch for missed waypoints
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loiter_delta = 0;
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loiter_sum = 0;
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loiter_total = 0;
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// this is handy for the groundstation
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wp_totalDistance = get_distance(¤t_loc, &next_WP);
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wp_distance = wp_totalDistance;
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target_bearing_cd = get_bearing_cd(¤t_loc, &next_WP);
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nav_bearing_cd = target_bearing_cd;
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// to check if we have missed the WP
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// ----------------------------
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old_target_bearing_cd = target_bearing_cd;
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// set a new crosstrack bearing
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// ----------------------------
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reset_crosstrack();
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}
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static void set_guided_WP(void)
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{
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// copy the current location into the OldWP slot
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// ---------------------------------------
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prev_WP = current_loc;
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// Load the next_WP slot
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// ---------------------
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next_WP = guided_WP;
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// used to control FBW and limit the rate of climb
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// -----------------------------------------------
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target_altitude_cm = current_loc.alt;
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offset_altitude_cm = next_WP.alt - prev_WP.alt;
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// this is handy for the groundstation
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wp_totalDistance = get_distance(¤t_loc, &next_WP);
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wp_distance = wp_totalDistance;
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target_bearing_cd = get_bearing_cd(¤t_loc, &next_WP);
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// to check if we have missed the WP
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// ----------------------------
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old_target_bearing_cd = target_bearing_cd;
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// set a new crosstrack bearing
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// ----------------------------
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reset_crosstrack();
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}
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// run this at setup on the ground
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// -------------------------------
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void init_home()
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("init home"));
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// block until we get a good fix
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// -----------------------------
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while (!g_gps->new_data || !g_gps->fix) {
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g_gps->update();
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil gps so we have new_data
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gcs_update();
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#endif
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}
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home.id = MAV_CMD_NAV_WAYPOINT;
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home.lng = g_gps->longitude; // Lon * 10**7
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home.lat = g_gps->latitude; // Lat * 10**7
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home.alt = max(g_gps->altitude, 0);
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home_is_set = true;
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gcs_send_text_fmt(PSTR("gps alt: %lu"), (unsigned long)home.alt);
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// Save Home to EEPROM - Command 0
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// -------------------
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set_cmd_with_index(home, 0);
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// Save prev loc
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// -------------
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next_WP = prev_WP = home;
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// Load home for a default guided_WP
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// -------------
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guided_WP = home;
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guided_WP.alt += g.RTL_altitude_cm;
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}
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