mirror of https://github.com/ArduPilot/ardupilot
467 lines
12 KiB
Plaintext
467 lines
12 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) || (control_mode != AUTO)){
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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();
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process_next_command();
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}
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//verify_must();
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//verify_may();
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}
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void load_next_command()
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{
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// fetch next command if it's empty
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// --------------------------------
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if(next_command.id == CMD_BLANK){
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next_command = get_wp_with_index(get(PARAM_WP_INDEX)+1);
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if(next_command.id != CMD_BLANK){
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//SendDebug("MSG <load_next_command> fetch found new cmd from list at index ");
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//SendDebug((get(PARAM_WP_INDEX)+1),DEC);
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//SendDebug(" with cmd id ");
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//SendDebugln(next_command.id,DEC);
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}
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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 == CMD_BLANK){
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// we are out of commands!
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gcs.send_text(SEVERITY_LOW,"out of commands!");
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//SendDebug("MSG <load_next_command> out of commands, get(PARAM_WP_INDEX): ");
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//SendDebugln(get(PARAM_WP_INDEX),DEC);
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switch (control_mode){
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case LAND:
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// don't get a new command
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break;
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default:
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next_command = get_LOITER_home_wp();
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//SendDebug("MSG <load_next_command> Preload RTL cmd id: ");
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//SendDebugln(next_command.id,DEC);
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break;
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}
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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 waypoint/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 >= 0x10 && next_command.id <= 0x1F ){
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increment_WP_index();
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//save_command_index(); // to Recover from in air Restart
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command_must_index = get(PARAM_WP_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 (get(PARAM_LOG_BITMASK) & MASK_LOG_CMD)
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Log_Write_Cmd(get(PARAM_WP_INDEX), &next_command);
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process_must();
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}
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}
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// these are May commands
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// ----------------------
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if (command_may_index == 0){
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if (next_command.id >= 0x20 && next_command.id <= 0x2F ){
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increment_WP_index();// this command is from the command list in EEPROM
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command_may_index = get(PARAM_WP_INDEX);
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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 (get(PARAM_LOG_BITMASK) & MASK_LOG_CMD)
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Log_Write_Cmd(get(PARAM_WP_INDEX), &next_command);
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process_may();
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}
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}
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// these are do it now commands
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// ---------------------------
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if (next_command.id >= 0x30){
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increment_WP_index();// this command is from the command list in EEPROM
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if (get(PARAM_LOG_BITMASK) & MASK_LOG_CMD)
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Log_Write_Cmd(get(PARAM_WP_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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These functions implement the waypoint commands.
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*/
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void process_must()
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{
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//SendDebug("process must index: ");
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//SendDebugln(command_must_index,DEC);
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gcs.send_text(SEVERITY_LOW,"New cmd: <process_must>");
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gcs.send_message(MSG_COMMAND_LIST, get(PARAM_WP_INDEX));
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// clear May indexes
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command_may_index = 0;
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command_may_ID = 0;
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command_must_ID = next_command.id;
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// loads the waypoint into Next_WP struct
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// --------------------------------------
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set_next_WP(&next_command);
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = 0;
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// reset navigation integrators
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// -------------------------
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reset_I();
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switch(command_must_ID){
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case CMD_TAKEOFF: // TAKEOFF!
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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takeoff_pitch = (int)next_command.p1 * 100;
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takeoff_altitude = (int)next_command.alt;
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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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takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
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break;
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case CMD_WAYPOINT: // Navigate to Waypoint
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break;
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case CMD_LAND: // LAND to Waypoint
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break;
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case CMD_LOITER: // Loiter indefinitely
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break;
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case CMD_LOITER_N_TURNS: // Loiter N Times
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loiter_total = next_command.p1 * 360;
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break;
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case CMD_LOITER_TIME:
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loiter_time = millis();
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loiter_time_max = next_command.p1 * 10000; // seconds * 10 * 1000
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break;
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case CMD_RTL:
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break;
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}
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}
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void process_may()
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{
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//Serial.print("process_may cmd# ");
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//Serial.println(get(PARAM_WP_INDEX),DEC);
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command_may_ID = next_command.id;
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = 0;
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gcs.send_text(SEVERITY_LOW,"<process_may> New may command loaded:");
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gcs.send_message(MSG_COMMAND_LIST, get(PARAM_WP_INDEX));
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// do the command
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// --------------
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switch(command_may_ID){
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case CMD_DELAY: // Navigate to Waypoint
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delay_start = millis();
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delay_timeout = next_command.lat;
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break;
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case CMD_LAND_OPTIONS: // Land this puppy
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gcs.send_text(SEVERITY_LOW,"Landing options set");
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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landing_pitch = next_command.lng * 100;
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set(PARAM_TRIM_AIRSPEED, next_command.alt * 100);
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set(PARAM_TRIM_THROTTLE,next_command.lat);
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landing_distance = next_command.p1;
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//landing_roll = command.lng;
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SendDebug("MSG: throttle_cruise = ");
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SendDebugln(get(PARAM_TRIM_THROTTLE),DEC);
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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 process_now()
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{
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const float t5 = 100000.0;
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//Serial.print("process_now cmd# ");
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//Serial.println(get(PARAM_WP_INDEX),DEC);
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byte id = next_command.id;
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// invalidate command so a new one is loaded
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// -----------------------------------------
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next_command.id = 0;
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gcs.send_text(SEVERITY_LOW, "<process_now> New now command loaded: ");
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gcs.send_message(MSG_COMMAND_LIST, get(PARAM_WP_INDEX));
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// do the command
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// --------------
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switch(id){
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//case CMD_AP_MODE:
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//next_command.p1 = constrain(next_command.p1, MANUAL, LAND);
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//set_mode(next_command.p1);
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//break;
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case CMD_RESET_INDEX:
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init_commands();
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break;
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case CMD_GETVAR_INDEX:
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//
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break;
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case CMD_SENDVAR_INDEX:
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//
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break;
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case CMD_TELEMETRY:
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//
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break;
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case CMD_AIRSPEED_CRUISE:
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set(PARAM_TRIM_AIRSPEED,next_command.p1 * 100);
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break;
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case CMD_THROTTLE_CRUISE:
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set(PARAM_TRIM_THROTTLE,next_command.p1);
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break;
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case CMD_RESET_HOME:
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init_home();
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break;
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case CMD_KP_GAIN:
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pid_index[next_command.p1]->kP(next_command.alt/t5);
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pid_index[next_command.p1]->save_gains();
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break;
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case CMD_KI_GAIN:
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pid_index[next_command.p1]->kI(next_command.alt/t5);
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pid_index[next_command.p1]->save_gains();
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break;
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case CMD_KD_GAIN:
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pid_index[next_command.p1]->kD(next_command.alt/t5);
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pid_index[next_command.p1]->save_gains();
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break;
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case CMD_KI_MAX:
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pid_index[next_command.p1]->imax(next_command.alt/t5);
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pid_index[next_command.p1]->save_gains();
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break;
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case CMD_KFF_GAIN:
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{
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float val = next_command.alt/t5;
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switch(next_command.p1)
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{
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case CASE_PITCH_COMP: set(PARAM_KFF_PTCHCOMP,val); break;
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case CASE_RUDDER_MIX: set(PARAM_KFF_RDDRMIX,val); break;
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case CASE_P_TO_T: set(PARAM_KFF_PTCH2THR,val); break;
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}
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}
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break;
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case CMD_RADIO_TRIM:
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set_radio_trim(next_command.p1,next_command.alt);
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break;
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case CMD_RADIO_MAX:
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set_radio_max(next_command.p1,next_command.alt);
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break;
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case CMD_RADIO_MIN:
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set_radio_min(next_command.p1,next_command.alt);
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break;
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case CMD_REPEAT:
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new_event(&next_command);
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break;
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case CMD_SERVO:
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//Serial.print("CMD_SERVO ");
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//Serial.print(next_command.p1,DEC);
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//Serial.print(" PWM: ");
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//Serial.println(next_command.alt,DEC);
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APM_RC.OutputCh(next_command.p1, next_command.alt);
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break;
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case CMD_INDEX:
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command_must_index = 0;
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command_may_index = 0;
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set(PARAM_WP_INDEX,next_command.p1 - 1);
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break;
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case CMD_RELAY:
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if (next_command.p1 == 0) {
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relay_on();
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} else if (next_command.p1 == 1) {
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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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break;
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}
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}
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// Verify commands
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// ---------------
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void verify_must()
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{
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float power;
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switch(command_must_ID) {
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case CMD_TAKEOFF: // Takeoff!
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//Serial.print("verify_must cmd# ");
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//Serial.println(command_must_index,DEC);
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if (gps.ground_speed > 300){
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if(hold_course == -1){
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// save our current course to take off
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#if MAGNETOMETER == ENABLED
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hold_course = dcm.yaw_sensor;
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#else
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hold_course = gps.ground_course;
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#endif
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}
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}
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if(hold_course > -1){
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// recalc bearing error with hold_course;
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nav_bearing = hold_course;
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// recalc bearing error
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calc_bearing_error();
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}
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if (current_loc.alt > (home.alt + takeoff_altitude)) {
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command_must_index = 0;
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hold_course = -1;
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takeoff_complete = true;
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}
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break;
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case CMD_LAND:
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// we don't verify landing - we never go to a new Must command after Land.
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if ( ((wp_distance > 0) && (wp_distance <= (2*gps.ground_speed/100))) || (current_loc.alt <= next_WP.alt + 300) )
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{
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land_complete = 1; //Set land_complete if we are within 2 seconds distance or within 3 meters altitude
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if(hold_course == -1){
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// save our current course to land
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//hold_course = yaw_sensor;
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// save the course line of the runway to land
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hold_course = crosstrack_bearing;
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}
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}
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if(hold_course > -1){
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// recalc bearing error with hold_course;
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nav_bearing = hold_course;
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// recalc bearing error
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calc_bearing_error();
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}
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update_crosstrack();
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break;
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case CMD_WAYPOINT: // reach a waypoint
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hold_course == -1;
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update_crosstrack();
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if ((wp_distance > 0) && (wp_distance <= get(PARAM_WP_RADIUS))) {
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SendDebug("MSG <verify_must: CMD_WAYPOINT> REACHED_WAYPOINT #");
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SendDebugln(command_must_index,DEC);
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// clear the command queue;
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command_must_index = 0;
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}
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// add in a more complex case
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// Doug to do
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if(loiter_sum > 300){
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gcs.send_text(SEVERITY_MEDIUM,"<verify_must: CMD_WAYPOINT> Missed WP");
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command_must_index = 0;
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}
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break;
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case CMD_LOITER_N_TURNS: // LOITER N times
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update_loiter();
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calc_bearing_error();
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if(loiter_sum > loiter_total) {
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loiter_total = 0;
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gcs.send_text(SEVERITY_LOW,"<verify_must: CMD_LOITER_N_TURNS> LOITER orbits complete ");
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// clear the command queue;
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command_must_index = 0;
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}
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break;
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case CMD_LOITER_TIME: // loiter N milliseconds
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update_loiter();
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calc_bearing_error();
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if ((millis() - loiter_time) > loiter_time_max) {
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gcs.send_text(SEVERITY_LOW,"<verify_must: CMD_LOITER_TIME> LOITER time complete ");
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command_must_index = 0;
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}
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break;
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case CMD_RTL:
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if (wp_distance <= 30) {
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//Serial.println("REACHED_HOME");
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command_must_index = 0;
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}
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break;
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case CMD_LOITER: // Just plain LOITER
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update_loiter();
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calc_bearing_error();
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break;
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default:
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gcs.send_text(SEVERITY_HIGH,"<verify_must: default> No current Must commands");
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break;
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}
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}
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void verify_may()
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{
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switch(command_may_ID) {
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case CMD_DELAY:
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if ((millis() - delay_start) > delay_timeout){
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command_may_index = 0;
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delay_timeout = 0;
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}
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case CMD_LAND_OPTIONS:
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if ((wp_distance > 0) && (wp_distance <= landing_distance)) {
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//Serial.print("XXX REACHED_WAYPOINT #");
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//Serial.println(command_must_index,DEC);
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// clear the command queue;
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command_may_index = 0;
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}
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break;
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}
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}
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