mirror of https://github.com/ArduPilot/ardupilot
896 lines
27 KiB
Plaintext
896 lines
27 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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// process_nav_command - main switch statement to initiate the next nav command in the command_nav_queue
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static void process_nav_command()
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{
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switch(command_nav_queue.id) {
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case MAV_CMD_NAV_TAKEOFF: // 22
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do_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint
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do_nav_wp();
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break;
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case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
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do_land();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely
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do_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS: //18 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: // 19
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do_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20
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do_RTL();
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break;
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// point the copter and camera at a region of interest (ROI)
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case MAV_CMD_NAV_ROI: // 80
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do_nav_roi();
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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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static void process_cond_command()
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{
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switch(command_cond_queue.id) {
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case MAV_CMD_CONDITION_DELAY: // 112
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE: // 114
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT: // 113
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do_change_alt();
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break;
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case MAV_CMD_CONDITION_YAW: // 115
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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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static void process_now_command()
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{
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switch(command_cond_queue.id) {
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case MAV_CMD_DO_JUMP: // 177
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do_jump();
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break;
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case MAV_CMD_DO_CHANGE_SPEED: // 178
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do_change_speed();
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break;
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case MAV_CMD_DO_SET_HOME: // 179
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do_set_home();
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break;
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case MAV_CMD_DO_SET_SERVO: // 183
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_RELAY: // 181
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do_set_relay();
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break;
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case MAV_CMD_DO_REPEAT_SERVO: // 184
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_RELAY: // 182
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do_repeat_relay();
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break;
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#if CAMERA == ENABLED
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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|
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break;
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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)|
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break;
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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|
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do_take_picture();
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break;
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#endif
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#if MOUNT == ENABLED
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case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
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camera_mount.configure_cmd();
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break;
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case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
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camera_mount.control_cmd();
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break;
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#endif
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default:
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// do nothing with unrecognized MAVLink messages
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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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// verify_must - switch statement to ensure the active navigation command is progressing
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// returns true once the active navigation command completes successfully
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static bool verify_must()
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{
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switch(command_nav_queue.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_WAYPOINT:
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return verify_nav_wp();
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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_LOITER_UNLIM:
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return verify_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS:
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return verify_loiter_turns();
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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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case MAV_CMD_NAV_ROI: // 80
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return verify_nav_roi();
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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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// verify_may - switch statement to ensure the active conditional command is progressing
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// returns true once the active conditional command completes successfully
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static bool verify_may()
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{
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switch(command_cond_queue.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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//
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/********************************************************************************/
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// do_RTL - start Return-to-Launch
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static void do_RTL(void)
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{
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// set rtl state
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rtl_state = RTL_STATE_INITIAL_CLIMB;
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// set roll, pitch and yaw modes
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set_roll_pitch_mode(RTL_RP);
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set_yaw_mode(YAW_HOLD); // first stage of RTL is the initial climb so just hold current yaw
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set_throttle_mode(RTL_THR);
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// set navigation mode
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set_nav_mode(NAV_LOITER);
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// initial climb starts at current location
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set_next_WP(¤t_loc);
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// override altitude to RTL altitude
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set_new_altitude(get_RTL_alt());
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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// do_takeoff - initiate takeoff navigation command
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static void do_takeoff()
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{
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set_nav_mode(NAV_LOITER);
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// Start with current location
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Location temp = current_loc;
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// alt is always relative
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temp.alt = command_nav_queue.alt;
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// Set our waypoint
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set_next_WP(&temp);
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// set our yaw mode
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set_yaw_mode(YAW_HOLD);
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// prevent flips
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reset_I_all();
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}
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// do_nav_wp - initiate move to next waypoint
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static void do_nav_wp()
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{
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set_nav_mode(NAV_WP);
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set_next_WP(&command_nav_queue);
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// this is our bitmask to verify we have met all conditions to move on
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wp_verify_byte = 0;
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// if no alt requirement in the waypoint, set the altitude achieved bit of wp_verify_byte
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if((next_WP.options & WP_OPTION_ALT_REQUIRED) == false) {
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wp_verify_byte |= NAV_ALTITUDE;
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}
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// this will be used to remember the time in millis after we reach or pass the WP.
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loiter_time = 0;
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// this is the delay, stored in seconds and expanded to millis
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loiter_time_max = command_nav_queue.p1 * 1000;
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// reset control of yaw to default
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if( g.yaw_override_behaviour == YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT ) {
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set_yaw_mode(AUTO_YAW);
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}
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}
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// do_land - initiate landing procedure
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static void do_land()
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{
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// hold at our current location
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set_next_WP(¤t_loc);
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set_nav_mode(NAV_LOITER);
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// hold current heading
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set_yaw_mode(YAW_HOLD);
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set_throttle_mode(THROTTLE_LAND);
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}
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static void do_loiter_unlimited()
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{
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set_nav_mode(NAV_LOITER);
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//cliSerial->println("dloi ");
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if(command_nav_queue.lat == 0) {
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set_next_WP(¤t_loc);
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set_nav_mode(NAV_LOITER);
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}else{
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set_next_WP(&command_nav_queue);
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set_nav_mode(NAV_WP);
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}
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}
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// do_loiter_turns - initiate moving in a circle
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static void do_loiter_turns()
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{
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set_nav_mode(NAV_CIRCLE);
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if(command_nav_queue.lat == 0) {
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// allow user to specify just the altitude
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if(command_nav_queue.alt > 0) {
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current_loc.alt = command_nav_queue.alt;
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}
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set_next_WP(¤t_loc);
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}else{
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set_next_WP(&command_nav_queue);
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}
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circle_WP = next_WP;
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loiter_total = command_nav_queue.p1 * 360;
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loiter_sum = 0;
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old_wp_bearing = wp_bearing;
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circle_angle = wp_bearing + 18000;
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circle_angle = wrap_360(circle_angle);
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circle_angle *= RADX100;
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}
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// do_loiter_time - initiate loitering at a point for a given time period
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static void do_loiter_time()
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{
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if(command_nav_queue.lat == 0) {
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set_nav_mode(NAV_LOITER);
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loiter_time = millis();
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set_next_WP(¤t_loc);
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}else{
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set_nav_mode(NAV_WP);
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set_next_WP(&command_nav_queue);
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}
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loiter_time_max = command_nav_queue.p1 * 1000; // units are (seconds)
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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// verify_takeoff - check if we have completed the takeoff
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static bool verify_takeoff()
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{
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// wait until we are ready!
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if(g.rc_3.control_in == 0) {
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return false;
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}
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// are we above our target altitude?
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return (alt_change_flag == REACHED_ALT);
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}
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// verify_land - returns true if landing has been completed
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static bool verify_land()
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{
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// rely on THROTTLE_LAND mode to correctly update landing status
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return ap.land_complete;
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}
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// verify_nav_wp - check if we have reached the next way point
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static bool verify_nav_wp()
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{
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// Altitude checking
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if(next_WP.options & WP_OPTION_ALT_REQUIRED) {
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// we desire a certain minimum altitude
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if(alt_change_flag == REACHED_ALT) {
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// we have reached that altitude
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wp_verify_byte |= NAV_ALTITUDE;
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}
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}
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// Did we pass the WP? // Distance checking
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if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()) {
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// if we have a distance calc error, wp_distance may be less than 0
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if(wp_distance > 0) {
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wp_verify_byte |= NAV_LOCATION;
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if(loiter_time == 0) {
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loiter_time = millis();
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}
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}
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}
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// Hold at Waypoint checking, we cant move on until this is OK
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if(wp_verify_byte & NAV_LOCATION) {
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// we have reached our goal
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// loiter at the WP
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set_nav_mode(NAV_LOITER);
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if ((millis() - loiter_time) > loiter_time_max) {
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wp_verify_byte |= NAV_DELAY;
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//gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
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//cliSerial->println("vlt done");
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}
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}
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if( wp_verify_byte == (NAV_LOCATION | NAV_ALTITUDE | NAV_DELAY) ) {
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gcs_send_text_fmt(PSTR("Reached Command #%i"),command_nav_index);
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wp_verify_byte = 0;
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copter_leds_nav_blink = 15; // Cause the CopterLEDs to blink three times to indicate waypoint reached
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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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static bool verify_loiter_unlimited()
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{
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if(nav_mode == NAV_WP && wp_distance <= (g.waypoint_radius * 100)) {
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// switch to position hold
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set_nav_mode(NAV_LOITER);
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}
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return false;
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}
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// verify_loiter_time - check if we have loitered long enough
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static bool verify_loiter_time()
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{
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if(nav_mode == NAV_LOITER) {
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if ((millis() - loiter_time) > loiter_time_max) {
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return true;
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}
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}
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if(nav_mode == NAV_WP && wp_distance <= (g.waypoint_radius * 100)) {
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// reset our loiter time
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loiter_time = millis();
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// switch to position hold
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set_nav_mode(NAV_LOITER);
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}
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return false;
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}
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// verify_loiter_turns - check if we have circled the point enough
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static bool verify_loiter_turns()
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{
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//cliSerial->printf("loiter_sum: %d \n", loiter_sum);
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// have we rotated around the center enough times?
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// -----------------------------------------------
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if(abs(loiter_sum) > loiter_total) {
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loiter_total = 0;
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loiter_sum = 0;
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//gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete"));
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// clear the command queue;
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return true;
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}
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return false;
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}
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// verify_RTL - handles any state changes required to implement RTL
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// do_RTL should have been called once first to initialise all variables
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// returns true with RTL has completed successfully
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static bool verify_RTL()
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{
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bool retval = false;
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switch( rtl_state ) {
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case RTL_STATE_INITIAL_CLIMB:
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// rely on verify_altitude function to update alt_change_flag when we've reached the target
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if(alt_change_flag == REACHED_ALT || alt_change_flag == DESCENDING) {
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// Set navigation target to home
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set_next_WP(&home);
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// override target altitude to RTL altitude
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set_new_altitude(get_RTL_alt());
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// set navigation mode
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set_nav_mode(NAV_WP);
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// set yaw mode
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set_yaw_mode(RTL_YAW);
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// advance to next rtl state
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rtl_state = RTL_STATE_RETURNING_HOME;
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}
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break;
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case RTL_STATE_RETURNING_HOME:
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// if we've reached home initiate loiter
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if (wp_distance <= g.waypoint_radius * 100 || check_missed_wp()) {
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rtl_state = RTL_STATE_LOITERING_AT_HOME;
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set_nav_mode(NAV_LOITER);
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// set loiter timer
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rtl_loiter_start_time = millis();
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// give pilot back control of yaw
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set_yaw_mode(YAW_HOLD);
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}
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break;
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case RTL_STATE_LOITERING_AT_HOME:
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// check if we've loitered long enough
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if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) {
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// initiate landing or descent
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if(g.rtl_alt_final == 0 || ap.failsafe) {
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// land
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do_land();
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// override landing location (do_land defaults to current location)
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next_WP.lat = home.lat;
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next_WP.lng = home.lng;
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// update RTL state
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rtl_state = RTL_STATE_LAND;
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}else{
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// descend
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if(current_loc.alt > g.rtl_alt_final) {
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set_new_altitude(g.rtl_alt_final);
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}
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// update RTL state
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rtl_state = RTL_STATE_FINAL_DESCENT;
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}
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}
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break;
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case RTL_STATE_FINAL_DESCENT:
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// rely on altitude check to confirm we have reached final altitude
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if(current_loc.alt <= g.rtl_alt_final || alt_change_flag == REACHED_ALT) {
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// switch to regular loiter mode
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|
set_mode(LOITER);
|
|
// override location and altitude
|
|
set_next_WP(&home);
|
|
// override altitude to RTL altitude
|
|
set_new_altitude(g.rtl_alt_final);
|
|
retval = true;
|
|
}
|
|
break;
|
|
|
|
case RTL_STATE_LAND:
|
|
// rely on verify_land to return correct status
|
|
retval = verify_land();
|
|
break;
|
|
|
|
default:
|
|
// this should never happen
|
|
// TO-DO: log an error
|
|
retval = true;
|
|
break;
|
|
}
|
|
|
|
// true is returned if we've successfully completed RTL
|
|
return retval;
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
static void do_wait_delay()
|
|
{
|
|
//cliSerial->print("dwd ");
|
|
condition_start = millis();
|
|
condition_value = command_cond_queue.lat * 1000; // convert to milliseconds
|
|
//cliSerial->println(condition_value,DEC);
|
|
}
|
|
|
|
static void do_change_alt()
|
|
{
|
|
Location temp = next_WP;
|
|
condition_start = current_loc.alt;
|
|
//condition_value = command_cond_queue.alt;
|
|
temp.alt = command_cond_queue.alt;
|
|
set_next_WP(&temp);
|
|
}
|
|
|
|
static void do_within_distance()
|
|
{
|
|
condition_value = command_cond_queue.lat * 100;
|
|
}
|
|
|
|
static void do_yaw()
|
|
{
|
|
// get final angle, 1 = Relative, 0 = Absolute
|
|
if( command_cond_queue.lng == 0 ) {
|
|
// absolute angle
|
|
yaw_look_at_heading = wrap_360(command_cond_queue.alt * 100);
|
|
}else{
|
|
// relative angle
|
|
yaw_look_at_heading = wrap_360(nav_yaw + command_cond_queue.alt * 100);
|
|
}
|
|
|
|
// get turn speed
|
|
if( command_cond_queue.lat == 0 ) {
|
|
// default to regular auto slew rate
|
|
yaw_look_at_heading_slew = AUTO_YAW_SLEW_RATE;
|
|
}else{
|
|
int32_t turn_rate = (wrap_180(yaw_look_at_heading - nav_yaw) / 100) / command_cond_queue.lat;
|
|
yaw_look_at_heading_slew = constrain(turn_rate, 1, 360); // deg / sec
|
|
}
|
|
|
|
// set yaw mode
|
|
set_yaw_mode(YAW_LOOK_AT_HEADING);
|
|
|
|
// TO-DO: restore support for clockwise / counter clockwise rotation held in command_cond_queue.p1
|
|
// command_cond_queue.p1; // 0 = undefined, 1 = clockwise, -1 = counterclockwise
|
|
}
|
|
|
|
|
|
/********************************************************************************/
|
|
// Verify Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
static bool verify_wait_delay()
|
|
{
|
|
//cliSerial->print("vwd");
|
|
if ((unsigned)(millis() - condition_start) > (unsigned)condition_value) {
|
|
//cliSerial->println("y");
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
//cliSerial->println("n");
|
|
return false;
|
|
}
|
|
|
|
static bool verify_change_alt()
|
|
{
|
|
//cliSerial->printf("change_alt, ca:%d, na:%d\n", (int)current_loc.alt, (int)next_WP.alt);
|
|
if ((int32_t)condition_start < next_WP.alt) {
|
|
// we are going higer
|
|
if(current_loc.alt > next_WP.alt) {
|
|
return true;
|
|
}
|
|
}else{
|
|
// we are going lower
|
|
if(current_loc.alt < next_WP.alt) {
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
static bool verify_within_distance()
|
|
{
|
|
//cliSerial->printf("cond dist :%d\n", (int)condition_value);
|
|
if (wp_distance < condition_value) {
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// verify_yaw - return true if we have reached the desired heading
|
|
static bool verify_yaw()
|
|
{
|
|
if( labs(wrap_180(ahrs.yaw_sensor-yaw_look_at_heading)) <= 200 ) {
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// verify_nav_roi - verifies that actions required by MAV_CMD_NAV_ROI have completed
|
|
// we assume the camera command has been successfully implemented by the do_nav_roi command
|
|
// so all we need to check is whether we needed to yaw the copter (due to the mount type) and
|
|
// whether that yaw has completed
|
|
// TO-DO: add support for other features of MAV_NAV_ROI including pointing at a given waypoint
|
|
static bool verify_nav_roi()
|
|
{
|
|
#if MOUNT == ENABLED
|
|
// check if mount type requires us to rotate the quad
|
|
if( camera_mount.get_mount_type() != AP_Mount::k_pan_tilt && camera_mount.get_mount_type() != AP_Mount::k_pan_tilt_roll ) {
|
|
// ensure yaw has gotten to within 2 degrees of the target
|
|
if( labs(wrap_180(ahrs.yaw_sensor-yaw_look_at_WP_bearing)) <= 200 ) {
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}else{
|
|
// if no rotation required, assume the camera instruction was implemented immediately
|
|
return true;
|
|
}
|
|
#else
|
|
// if we have no camera mount simply check we've reached the desired yaw
|
|
// ensure yaw has gotten to within 2 degrees of the target
|
|
if( labs(wrap_180(ahrs.yaw_sensor-yaw_look_at_WP_bearing)) <= 200 ) {
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Do (Now) commands
|
|
/********************************************************************************/
|
|
|
|
static void do_change_speed()
|
|
{
|
|
g.waypoint_speed_max = command_cond_queue.p1 * 100;
|
|
}
|
|
|
|
static void do_jump()
|
|
{
|
|
// Used to track the state of the jump command in Mission scripting
|
|
// -10 is a value that means the register is unused
|
|
// when in use, it contains the current remaining jumps
|
|
static int8_t jump = -10; // used to track loops in jump command
|
|
|
|
//cliSerial->printf("do Jump: %d\n", jump);
|
|
|
|
if(jump == -10) {
|
|
//cliSerial->printf("Fresh Jump\n");
|
|
// we use a locally stored index for jump
|
|
jump = command_cond_queue.lat;
|
|
}
|
|
//cliSerial->printf("Jumps left: %d\n",jump);
|
|
|
|
if(jump > 0) {
|
|
//cliSerial->printf("Do Jump to %d\n",command_cond_queue.p1);
|
|
jump--;
|
|
change_command(command_cond_queue.p1);
|
|
|
|
} else if (jump == 0) {
|
|
//cliSerial->printf("Did last jump\n");
|
|
// we're done, move along
|
|
jump = -11;
|
|
|
|
} else if (jump == -1) {
|
|
//cliSerial->printf("jumpForever\n");
|
|
// repeat forever
|
|
change_command(command_cond_queue.p1);
|
|
}
|
|
}
|
|
|
|
static void do_set_home()
|
|
{
|
|
if(command_cond_queue.p1 == 1) {
|
|
init_home();
|
|
} else {
|
|
home.id = MAV_CMD_NAV_WAYPOINT;
|
|
home.lng = command_cond_queue.lng; // Lon * 10**7
|
|
home.lat = command_cond_queue.lat; // Lat * 10**7
|
|
home.alt = 0;
|
|
//home_is_set = true;
|
|
set_home_is_set(true);
|
|
}
|
|
}
|
|
|
|
static void do_set_servo()
|
|
{
|
|
uint8_t channel_num = 0xff;
|
|
|
|
switch( command_cond_queue.p1 ) {
|
|
case 1:
|
|
channel_num = CH_1;
|
|
break;
|
|
case 2:
|
|
channel_num = CH_2;
|
|
break;
|
|
case 3:
|
|
channel_num = CH_3;
|
|
break;
|
|
case 4:
|
|
channel_num = CH_4;
|
|
break;
|
|
case 5:
|
|
channel_num = CH_5;
|
|
break;
|
|
case 6:
|
|
channel_num = CH_6;
|
|
break;
|
|
case 7:
|
|
channel_num = CH_7;
|
|
break;
|
|
case 8:
|
|
channel_num = CH_8;
|
|
break;
|
|
case 9:
|
|
// not used
|
|
break;
|
|
case 10:
|
|
channel_num = CH_10;
|
|
break;
|
|
case 11:
|
|
channel_num = CH_11;
|
|
break;
|
|
}
|
|
|
|
// send output to channel
|
|
if (channel_num != 0xff) {
|
|
hal.rcout->enable_ch(channel_num);
|
|
hal.rcout->write(channel_num, command_cond_queue.alt);
|
|
}
|
|
}
|
|
|
|
static void do_set_relay()
|
|
{
|
|
if (command_cond_queue.p1 == 1) {
|
|
relay.on();
|
|
} else if (command_cond_queue.p1 == 0) {
|
|
relay.off();
|
|
}else{
|
|
relay.toggle();
|
|
}
|
|
}
|
|
|
|
static void do_repeat_servo()
|
|
{
|
|
event_id = command_cond_queue.p1 - 1;
|
|
|
|
if(command_cond_queue.p1 >= CH_5 + 1 && command_cond_queue.p1 <= CH_8 + 1) {
|
|
|
|
event_timer = 0;
|
|
event_value = command_cond_queue.alt;
|
|
event_repeat = command_cond_queue.lat * 2;
|
|
event_delay = command_cond_queue.lng * 500.0f; // /2 (half cycle time) * 1000 (convert to milliseconds)
|
|
|
|
switch(command_cond_queue.p1) {
|
|
case CH_5:
|
|
event_undo_value = g.rc_5.radio_trim;
|
|
break;
|
|
case CH_6:
|
|
event_undo_value = g.rc_6.radio_trim;
|
|
break;
|
|
case CH_7:
|
|
event_undo_value = g.rc_7.radio_trim;
|
|
break;
|
|
case CH_8:
|
|
event_undo_value = g.rc_8.radio_trim;
|
|
break;
|
|
}
|
|
update_events();
|
|
}
|
|
}
|
|
|
|
static void do_repeat_relay()
|
|
{
|
|
event_id = RELAY_TOGGLE;
|
|
event_timer = 0;
|
|
event_delay = command_cond_queue.lat * 500.0f; // /2 (half cycle time) * 1000 (convert to milliseconds)
|
|
event_repeat = command_cond_queue.alt * 2;
|
|
update_events();
|
|
}
|
|
|
|
// do_nav_roi - starts actions required by MAV_CMD_NAV_ROI
|
|
// this involves either moving the camera to point at the ROI (region of interest)
|
|
// and possibly rotating the copter to point at the ROI if our mount type does not support a yaw feature
|
|
// Note: the ROI should already be in the command_nav_queue global variable
|
|
// TO-DO: add support for other features of MAV_NAV_ROI including pointing at a given waypoint
|
|
static void do_nav_roi()
|
|
{
|
|
#if MOUNT == ENABLED
|
|
|
|
// check if mount type requires us to rotate the quad
|
|
if( camera_mount.get_mount_type() != AP_Mount::k_pan_tilt && camera_mount.get_mount_type() != AP_Mount::k_pan_tilt_roll ) {
|
|
yaw_look_at_WP = command_nav_queue;
|
|
set_yaw_mode(YAW_LOOK_AT_LOCATION);
|
|
}
|
|
// send the command to the camera mount
|
|
camera_mount.set_roi_cmd(&command_nav_queue);
|
|
|
|
// TO-DO: expand handling of the do_nav_roi to support all modes of the MAVLink. Currently we only handle mode 4 (see below)
|
|
// 0: do nothing
|
|
// 1: point at next waypoint
|
|
// 2: point at a waypoint taken from WP# parameter (2nd parameter?)
|
|
// 3: point at a location given by alt, lon, lat parameters
|
|
// 4: point at a target given a target id (can't be implmented)
|
|
#else
|
|
// if we have no camera mount aim the quad at the location
|
|
yaw_look_at_WP = command_nav_queue;
|
|
set_yaw_mode(YAW_LOOK_AT_LOCATION);
|
|
#endif
|
|
}
|
|
|
|
// do_take_picture - take a picture with the camera library
|
|
static void do_take_picture()
|
|
{
|
|
#if CAMERA == ENABLED
|
|
camera.trigger_pic();
|
|
if (g.log_bitmask & MASK_LOG_CAMERA) {
|
|
Log_Write_Camera();
|
|
}
|
|
#endif
|
|
}
|