mirror of https://github.com/ArduPilot/ardupilot
414 lines
15 KiB
C++
414 lines
15 KiB
C++
#include "Rover.h"
|
|
|
|
// update mission including starting or stopping commands. called by scheduler at 10Hz
|
|
void Rover::update_mission(void)
|
|
{
|
|
if (control_mode == &mode_auto) {
|
|
if (home_is_set != HOME_UNSET && mission.num_commands() > 1) {
|
|
mission.update();
|
|
}
|
|
}
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Command Event Handlers
|
|
/********************************************************************************/
|
|
bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// log when new commands start
|
|
if (should_log(MASK_LOG_CMD)) {
|
|
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
|
|
}
|
|
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)",
|
|
cmd.type(), cmd.id);
|
|
|
|
switch (cmd.id) {
|
|
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
|
|
do_nav_wp(cmd, false);
|
|
break;
|
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
do_RTL();
|
|
break;
|
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
|
|
case MAV_CMD_NAV_LOITER_TIME: // Loiter for specified time
|
|
do_nav_wp(cmd, true);
|
|
break;
|
|
|
|
case MAV_CMD_NAV_SET_YAW_SPEED:
|
|
do_nav_set_yaw_speed(cmd);
|
|
break;
|
|
|
|
// Conditional commands
|
|
case MAV_CMD_CONDITION_DELAY:
|
|
do_wait_delay(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_CONDITION_DISTANCE:
|
|
do_within_distance(cmd);
|
|
break;
|
|
|
|
// Do commands
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
do_change_speed(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_HOME:
|
|
do_set_home(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_RELAY:
|
|
ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
|
|
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_RELAY:
|
|
ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
|
|
cmd.content.repeat_relay.cycle_time * 1000.0f);
|
|
break;
|
|
|
|
#if CAMERA == ENABLED
|
|
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
|
|
break;
|
|
|
|
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
|
|
do_digicam_configure(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
|
|
do_digicam_control(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
|
|
camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
|
|
break;
|
|
#endif
|
|
|
|
#if MOUNT == ENABLED
|
|
// Sets the region of interest (ROI) for a sensor set or the
|
|
// vehicle itself. This can then be used by the vehicles control
|
|
// system to control the vehicle attitude and the attitude of various
|
|
// devices such as cameras.
|
|
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
|
|
case MAV_CMD_DO_SET_ROI:
|
|
if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
|
|
// switch off the camera tracking if enabled
|
|
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
|
|
camera_mount.set_mode_to_default();
|
|
}
|
|
} else {
|
|
// send the command to the camera mount
|
|
camera_mount.set_roi_target(cmd.content.location);
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
case MAV_CMD_DO_SET_REVERSE:
|
|
do_set_reverse(cmd);
|
|
break;
|
|
|
|
default:
|
|
// return false for unhandled commands
|
|
return false;
|
|
}
|
|
|
|
// if we got this far we must have been successful
|
|
return true;
|
|
}
|
|
|
|
// exit_mission - callback function called from ap-mission when the mission has completed
|
|
void Rover::exit_mission()
|
|
{
|
|
gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
|
|
set_mode(mode_hold, MODE_REASON_MISSION_END);
|
|
}
|
|
|
|
// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
|
|
// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
|
|
bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
const bool cmd_complete = verify_command(cmd);
|
|
|
|
// send message to GCS
|
|
if (cmd_complete) {
|
|
gcs().send_mission_item_reached_message(cmd.index);
|
|
}
|
|
|
|
return cmd_complete;
|
|
}
|
|
|
|
/*******************************************************************************
|
|
Verify command Handlers
|
|
|
|
Each type of mission element has a "verify" operation. The verify
|
|
operation returns true when the mission element has completed and we
|
|
should move onto the next mission element.
|
|
Return true if we do not recognize the command so that we move on to the next command
|
|
*******************************************************************************/
|
|
|
|
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
switch (cmd.id) {
|
|
case MAV_CMD_NAV_WAYPOINT:
|
|
return verify_nav_wp(cmd);
|
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
return verify_RTL();
|
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
return verify_loiter_unlimited(cmd);
|
|
|
|
case MAV_CMD_NAV_LOITER_TIME:
|
|
return verify_loiter_time(cmd);
|
|
|
|
case MAV_CMD_CONDITION_DELAY:
|
|
return verify_wait_delay();
|
|
|
|
case MAV_CMD_CONDITION_DISTANCE:
|
|
return verify_within_distance();
|
|
|
|
case MAV_CMD_NAV_SET_YAW_SPEED:
|
|
return verify_nav_set_yaw_speed();
|
|
|
|
// do commands (always return true)
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
case MAV_CMD_DO_SET_HOME:
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
case MAV_CMD_DO_SET_RELAY:
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
case MAV_CMD_DO_REPEAT_RELAY:
|
|
case MAV_CMD_DO_CONTROL_VIDEO:
|
|
case MAV_CMD_DO_DIGICAM_CONFIGURE:
|
|
case MAV_CMD_DO_DIGICAM_CONTROL:
|
|
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
|
|
case MAV_CMD_DO_SET_ROI:
|
|
case MAV_CMD_DO_SET_REVERSE:
|
|
return true;
|
|
|
|
default:
|
|
// error message
|
|
gcs().send_text(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
|
|
// return true if we do not recognize the command so that we move on to the next command
|
|
return true;
|
|
}
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Nav (Must) commands
|
|
/********************************************************************************/
|
|
|
|
void Rover::do_RTL(void)
|
|
{
|
|
// start rtl in auto mode
|
|
mode_auto.start_RTL();
|
|
}
|
|
|
|
void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination)
|
|
{
|
|
// just starting so we haven't previously reached the waypoint
|
|
previously_reached_wp = false;
|
|
|
|
// this will be used to remember the time in millis after we reach or pass the WP.
|
|
loiter_start_time = 0;
|
|
|
|
// this is the delay, stored in seconds
|
|
loiter_duration = cmd.p1;
|
|
|
|
// get heading to following waypoint (auto mode reduces speed to allow corning without large overshoot)
|
|
// in case of non-zero loiter duration, we provide heading-unknown to signal we should stop at the point
|
|
float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN;
|
|
if (!always_stop_at_destination && loiter_duration == 0) {
|
|
next_leg_bearing_cd = mission.get_next_ground_course_cd(MODE_NEXT_HEADING_UNKNOWN);
|
|
}
|
|
|
|
// retrieve and sanitize target location
|
|
Location cmdloc = cmd.content.location;
|
|
location_sanitize(current_loc, cmdloc);
|
|
mode_auto.set_desired_location(cmdloc, next_leg_bearing_cd);
|
|
}
|
|
|
|
// do_set_yaw_speed - turn to a specified heading and achieve and given speed
|
|
void Rover::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
float desired_heading_cd;
|
|
|
|
// get final angle, 1 = Relative, 0 = Absolute
|
|
if (cmd.content.set_yaw_speed.relative_angle > 0) {
|
|
// relative angle
|
|
desired_heading_cd = wrap_180_cd(ahrs.yaw_sensor + cmd.content.set_yaw_speed.angle_deg * 100.0f);
|
|
} else {
|
|
// absolute angle
|
|
desired_heading_cd = cmd.content.set_yaw_speed.angle_deg * 100.0f;
|
|
}
|
|
|
|
// set auto target
|
|
const float speed_max = control_mode->get_speed_default();
|
|
mode_auto.set_desired_heading_and_speed(desired_heading_cd, constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max));
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Verify Nav (Must) commands
|
|
/********************************************************************************/
|
|
bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// exit immediately if we haven't reached the destination
|
|
if (!mode_auto.reached_destination()) {
|
|
return false;
|
|
}
|
|
|
|
// Check if this is the first time we have noticed reaching the waypoint
|
|
if (!previously_reached_wp) {
|
|
previously_reached_wp = true;
|
|
|
|
// check if we are loitering at this waypoint - the message sent to the GCS is different
|
|
if (loiter_duration > 0) {
|
|
// send message including loiter time
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds",
|
|
static_cast<uint32_t>(cmd.index),
|
|
static_cast<uint32_t>(loiter_duration));
|
|
// record the current time i.e. start timer
|
|
loiter_start_time = millis();
|
|
} else {
|
|
// send simpler message to GCS
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u", static_cast<uint32_t>(cmd.index));
|
|
}
|
|
}
|
|
|
|
// Check if we have loitered long enough
|
|
if (loiter_duration == 0) {
|
|
return true;
|
|
} else {
|
|
return (((millis() - loiter_start_time) / 1000) >= loiter_duration);
|
|
}
|
|
}
|
|
|
|
bool Rover::verify_RTL()
|
|
{
|
|
return mode_auto.reached_destination();
|
|
}
|
|
|
|
bool Rover::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
verify_nav_wp(cmd);
|
|
return false;
|
|
}
|
|
|
|
// verify_loiter_time - check if we have loitered long enough
|
|
bool Rover::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
const bool result = verify_nav_wp(cmd);
|
|
if (result) {
|
|
gcs().send_text(MAV_SEVERITY_WARNING, "Finished active loiter\n");
|
|
}
|
|
return result;
|
|
}
|
|
|
|
// verify_yaw - return true if we have reached the desired heading
|
|
bool Rover::verify_nav_set_yaw_speed()
|
|
{
|
|
return mode_auto.reached_heading();
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
condition_start = millis();
|
|
condition_value = static_cast<int32_t>(cmd.content.delay.seconds * 1000); // convert seconds to milliseconds
|
|
}
|
|
|
|
void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
condition_value = cmd.content.distance.meters;
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Verify Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
bool Rover::verify_wait_delay()
|
|
{
|
|
if (static_cast<uint32_t>(millis() - condition_start) > static_cast<uint32_t>(condition_value)) {
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool Rover::verify_within_distance()
|
|
{
|
|
if (mode_auto.get_distance_to_destination() < condition_value) {
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
/********************************************************************************/
|
|
// Do (Now) commands
|
|
/********************************************************************************/
|
|
|
|
void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// set speed for active mode
|
|
if ((cmd.content.speed.target_ms >= 0.0f) && (cmd.content.speed.target_ms <= rover.control_mode->get_speed_default())) {
|
|
control_mode->set_desired_speed(cmd.content.speed.target_ms);
|
|
gcs().send_text(MAV_SEVERITY_INFO, "speed: %.1f m/s", static_cast<double>(cmd.content.speed.target_ms));
|
|
}
|
|
}
|
|
|
|
void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if (cmd.p1 == 1 && have_position) {
|
|
set_home_to_current_location(false);
|
|
} else {
|
|
set_home(cmd.content.location, false);
|
|
}
|
|
}
|
|
|
|
#if CAMERA == ENABLED
|
|
|
|
// do_digicam_configure Send Digicam Configure message with the camera library
|
|
void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
camera.configure(cmd.content.digicam_configure.shooting_mode,
|
|
cmd.content.digicam_configure.shutter_speed,
|
|
cmd.content.digicam_configure.aperture,
|
|
cmd.content.digicam_configure.ISO,
|
|
cmd.content.digicam_configure.exposure_type,
|
|
cmd.content.digicam_configure.cmd_id,
|
|
cmd.content.digicam_configure.engine_cutoff_time);
|
|
}
|
|
|
|
// do_digicam_control Send Digicam Control message with the camera library
|
|
void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
camera.control(cmd.content.digicam_control.session,
|
|
cmd.content.digicam_control.zoom_pos,
|
|
cmd.content.digicam_control.zoom_step,
|
|
cmd.content.digicam_control.focus_lock,
|
|
cmd.content.digicam_control.shooting_cmd,
|
|
cmd.content.digicam_control.cmd_id);
|
|
}
|
|
|
|
#endif
|
|
|
|
void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
mode_auto.set_reversed(cmd.p1 == 1);
|
|
set_reverse(cmd.p1 == 1);
|
|
}
|