mirror of https://github.com/ArduPilot/ardupilot
1060 lines
32 KiB
C++
1060 lines
32 KiB
C++
#include "Rover.h"
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#define AUTO_GUIDED_SEND_TARGET_MS 1000
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bool ModeAuto::_enter()
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{
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// fail to enter auto if no mission commands
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if (mission.num_commands() <= 1) {
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gcs().send_text(MAV_SEVERITY_NOTICE, "No Mission. Can't set AUTO.");
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return false;
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}
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// initialise waypoint navigation library
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g2.wp_nav.init();
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// other initialisation
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auto_triggered = false;
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// clear guided limits
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rover.mode_guided.limit_clear();
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// initialise submode to stop or loiter
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if (rover.is_boat()) {
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if (!start_loiter()) {
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start_stop();
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}
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} else {
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start_stop();
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}
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// set flag to start mission
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waiting_to_start = true;
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return true;
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}
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void ModeAuto::_exit()
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{
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// stop running the mission
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if (mission.state() == AP_Mission::MISSION_RUNNING) {
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mission.stop();
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}
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}
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void ModeAuto::update()
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{
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// check if mission exists (due to being cleared while disarmed in AUTO,
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// if no mission, then stop...needs mode change out of AUTO, mission load,
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// and change back to AUTO to run a mission at this point
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if (!hal.util->get_soft_armed() && mission.num_commands() <= 1) {
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start_stop();
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}
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// start or update mission
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if (waiting_to_start) {
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// don't start the mission until we have an origin
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Location loc;
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if (ahrs.get_origin(loc)) {
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// start/resume the mission (based on MIS_RESTART parameter)
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mission.start_or_resume();
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waiting_to_start = false;
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// initialise mission change check
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IGNORE_RETURN(mis_change_detector.check_for_mission_change());
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}
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} else {
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// check for mission changes
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if (mis_change_detector.check_for_mission_change()) {
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// if mission is running restart the current command if it is a waypoint command
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if ((mission.state() == AP_Mission::MISSION_RUNNING) && (_submode == SubMode::WP)) {
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if (mission.restart_current_nav_cmd()) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto mission changed, restarted command");
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} else {
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// failed to restart mission for some reason
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto mission changed but failed to restart command");
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}
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}
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}
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mission.update();
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}
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switch (_submode) {
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case SubMode::WP:
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{
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// boats loiter once the waypoint is reached
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bool keep_navigating = true;
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if (rover.is_boat() && g2.wp_nav.reached_destination() && !g2.wp_nav.is_fast_waypoint()) {
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keep_navigating = !start_loiter();
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}
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// update navigation controller
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if (keep_navigating) {
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navigate_to_waypoint();
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}
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break;
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}
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case SubMode::HeadingAndSpeed:
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{
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if (!_reached_heading) {
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// run steering and throttle controllers
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calc_steering_to_heading(_desired_yaw_cd);
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calc_throttle(calc_speed_nudge(_desired_speed, is_negative(_desired_speed)), true);
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// check if we have reached within 5 degrees of target
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_reached_heading = (fabsf(_desired_yaw_cd - ahrs.yaw_sensor) < 500);
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} else {
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// we have reached the destination so stay here
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if (rover.is_boat()) {
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if (!start_loiter()) {
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stop_vehicle();
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}
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} else {
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stop_vehicle();
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}
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}
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break;
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}
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case SubMode::RTL:
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rover.mode_rtl.update();
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break;
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case SubMode::Loiter:
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rover.mode_loiter.update();
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break;
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case SubMode::Guided:
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{
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// send location target to offboard navigation system
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send_guided_position_target();
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rover.mode_guided.update();
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break;
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}
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case SubMode::Stop:
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stop_vehicle();
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break;
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case SubMode::NavScriptTime:
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rover.mode_guided.update();
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break;
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case SubMode::Circle:
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g2.mode_circle.update();
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break;
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}
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}
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void ModeAuto::calc_throttle(float target_speed, bool avoidance_enabled)
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{
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// If not autostarting set the throttle to minimum
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if (!check_trigger()) {
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stop_vehicle();
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return;
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}
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Mode::calc_throttle(target_speed, avoidance_enabled);
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}
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// return heading (in degrees) to target destination (aka waypoint)
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float ModeAuto::wp_bearing() const
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{
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switch (_submode) {
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case SubMode::WP:
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return g2.wp_nav.wp_bearing_cd() * 0.01f;
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case SubMode::HeadingAndSpeed:
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case SubMode::Stop:
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return 0.0f;
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case SubMode::RTL:
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return rover.mode_rtl.wp_bearing();
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case SubMode::Loiter:
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return rover.mode_loiter.wp_bearing();
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.wp_bearing();
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case SubMode::Circle:
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return g2.mode_circle.wp_bearing();
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}
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// this line should never be reached
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return 0.0f;
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}
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// return short-term target heading in degrees (i.e. target heading back to line between waypoints)
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float ModeAuto::nav_bearing() const
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{
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switch (_submode) {
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case SubMode::WP:
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return g2.wp_nav.nav_bearing_cd() * 0.01f;
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case SubMode::HeadingAndSpeed:
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case SubMode::Stop:
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return 0.0f;
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case SubMode::RTL:
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return rover.mode_rtl.nav_bearing();
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case SubMode::Loiter:
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return rover.mode_loiter.nav_bearing();
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.nav_bearing();
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case SubMode::Circle:
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return g2.mode_circle.nav_bearing();
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}
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// this line should never be reached
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return 0.0f;
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}
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// return cross track error (i.e. vehicle's distance from the line between waypoints)
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float ModeAuto::crosstrack_error() const
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{
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switch (_submode) {
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case SubMode::WP:
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return g2.wp_nav.crosstrack_error();
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case SubMode::HeadingAndSpeed:
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case SubMode::Stop:
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return 0.0f;
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case SubMode::RTL:
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return rover.mode_rtl.crosstrack_error();
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case SubMode::Loiter:
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return rover.mode_loiter.crosstrack_error();
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.crosstrack_error();
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case SubMode::Circle:
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return g2.mode_circle.crosstrack_error();
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}
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// this line should never be reached
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return 0.0f;
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}
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// return desired lateral acceleration
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float ModeAuto::get_desired_lat_accel() const
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{
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switch (_submode) {
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case SubMode::WP:
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return g2.wp_nav.get_lat_accel();
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case SubMode::HeadingAndSpeed:
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case SubMode::Stop:
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return 0.0f;
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case SubMode::RTL:
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return rover.mode_rtl.get_desired_lat_accel();
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case SubMode::Loiter:
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return rover.mode_loiter.get_desired_lat_accel();
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.get_desired_lat_accel();
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case SubMode::Circle:
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return g2.mode_circle.get_desired_lat_accel();
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}
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// this line should never be reached
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return 0.0f;
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}
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// return distance (in meters) to destination
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float ModeAuto::get_distance_to_destination() const
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{
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switch (_submode) {
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case SubMode::WP:
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return _distance_to_destination;
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case SubMode::HeadingAndSpeed:
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case SubMode::Stop:
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// no valid distance so return zero
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return 0.0f;
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case SubMode::RTL:
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return rover.mode_rtl.get_distance_to_destination();
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case SubMode::Loiter:
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return rover.mode_loiter.get_distance_to_destination();
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.get_distance_to_destination();
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case SubMode::Circle:
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return g2.mode_circle.get_distance_to_destination();
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}
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// this line should never be reached
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return 0.0f;
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}
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// get desired location
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bool ModeAuto::get_desired_location(Location& destination) const
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{
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switch (_submode) {
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case SubMode::WP:
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if (g2.wp_nav.is_destination_valid()) {
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destination = g2.wp_nav.get_oa_destination();
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return true;
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}
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return false;
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case SubMode::HeadingAndSpeed:
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case SubMode::Stop:
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// no desired location for this submode
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return false;
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case SubMode::RTL:
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return rover.mode_rtl.get_desired_location(destination);
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case SubMode::Loiter:
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return rover.mode_loiter.get_desired_location(destination);
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.get_desired_location(destination);
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case SubMode::Circle:
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return g2.mode_circle.get_desired_location(destination);
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}
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// we should never reach here but just in case
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return false;
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}
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// set desired location to drive to
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bool ModeAuto::set_desired_location(const Location &destination, Location next_destination)
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{
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// call parent
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if (!Mode::set_desired_location(destination, next_destination)) {
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return false;
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}
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_submode = SubMode::WP;
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return true;
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}
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// return true if vehicle has reached or even passed destination
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bool ModeAuto::reached_destination() const
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{
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switch (_submode) {
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case SubMode::WP:
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return g2.wp_nav.reached_destination();
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break;
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case SubMode::HeadingAndSpeed:
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case SubMode::Stop:
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// always return true because this is the safer option to allow missions to continue
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return true;
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break;
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case SubMode::RTL:
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return rover.mode_rtl.reached_destination();
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break;
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case SubMode::Loiter:
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return rover.mode_loiter.reached_destination();
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break;
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.reached_destination();
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case SubMode::Circle:
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return g2.mode_circle.reached_destination();
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}
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// we should never reach here but just in case, return true to allow missions to continue
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return true;
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}
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// set desired speed in m/s
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bool ModeAuto::set_desired_speed(float speed)
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{
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switch (_submode) {
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case SubMode::WP:
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case SubMode::Stop:
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return g2.wp_nav.set_speed_max(speed);
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case SubMode::HeadingAndSpeed:
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_desired_speed = speed;
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return true;
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case SubMode::RTL:
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return rover.mode_rtl.set_desired_speed(speed);
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case SubMode::Loiter:
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return rover.mode_loiter.set_desired_speed(speed);
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case SubMode::Guided:
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case SubMode::NavScriptTime:
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return rover.mode_guided.set_desired_speed(speed);
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case SubMode::Circle:
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return g2.mode_circle.set_desired_speed(speed);
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}
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return false;
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}
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// start RTL (within auto)
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void ModeAuto::start_RTL()
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{
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if (rover.mode_rtl.enter()) {
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_submode = SubMode::RTL;
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}
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}
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// lua scripts use this to retrieve the contents of the active command
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bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4)
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{
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#if AP_SCRIPTING_ENABLED
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if (_submode == SubMode::NavScriptTime) {
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id = nav_scripting.id;
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cmd = nav_scripting.command;
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arg1 = nav_scripting.arg1;
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arg2 = nav_scripting.arg2;
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arg3 = nav_scripting.arg3;
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arg4 = nav_scripting.arg4;
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return true;
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}
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#endif
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return false;
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}
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// lua scripts use this to indicate when they have complete the command
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void ModeAuto::nav_script_time_done(uint16_t id)
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{
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#if AP_SCRIPTING_ENABLED
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if ((_submode == SubMode::NavScriptTime) && (id == nav_scripting.id)) {
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nav_scripting.done = true;
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}
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#endif
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}
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// check for triggering of start of auto mode
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bool ModeAuto::check_trigger(void)
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{
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// check for user pressing the auto trigger to off
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if (auto_triggered && g.auto_trigger_pin != -1 && rover.check_digital_pin(g.auto_trigger_pin) == 1) {
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gcs().send_text(MAV_SEVERITY_WARNING, "AUTO triggered off");
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auto_triggered = false;
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return false;
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}
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// if already triggered, then return true, so you don't
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// need to hold the switch down
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if (auto_triggered) {
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return true;
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}
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// return true if auto trigger and kickstart are disabled
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if (g.auto_trigger_pin == -1 && is_zero(g.auto_kickstart)) {
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// no trigger configured - let's go!
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auto_triggered = true;
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return true;
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}
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// check if trigger pin has been pushed
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if (g.auto_trigger_pin != -1 && rover.check_digital_pin(g.auto_trigger_pin) == 0) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Triggered AUTO with pin");
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auto_triggered = true;
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return true;
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}
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// check if mission is started by giving vehicle a kick with acceleration > AUTO_KICKSTART
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if (!is_zero(g.auto_kickstart)) {
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const float xaccel = rover.ins.get_accel().x;
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if (xaccel >= g.auto_kickstart) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", static_cast<double>(xaccel));
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auto_triggered = true;
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return true;
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}
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}
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return false;
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}
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bool ModeAuto::start_loiter()
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{
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if (rover.mode_loiter.enter()) {
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_submode = SubMode::Loiter;
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return true;
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}
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return false;
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}
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// hand over control to external navigation controller in AUTO mode
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void ModeAuto::start_guided(const Location& loc)
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{
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if (rover.mode_guided.enter()) {
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_submode = SubMode::Guided;
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// initialise guided start time and position as reference for limit checking
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rover.mode_guided.limit_init_time_and_location();
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// sanity check target location
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if ((loc.lat != 0) || (loc.lng != 0)) {
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guided_target.loc = loc;
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guided_target.loc.sanitize(rover.current_loc);
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guided_target.valid = true;
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} else {
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guided_target.valid = false;
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}
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}
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}
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// start stopping vehicle as quickly as possible
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void ModeAuto::start_stop()
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{
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_submode = SubMode::Stop;
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}
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// send latest position target to offboard navigation system
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void ModeAuto::send_guided_position_target()
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{
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if (!guided_target.valid) {
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return;
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}
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// send at maximum of 1hz
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const uint32_t now_ms = AP_HAL::millis();
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if ((guided_target.last_sent_ms == 0) || (now_ms - guided_target.last_sent_ms > AUTO_GUIDED_SEND_TARGET_MS)) {
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guided_target.last_sent_ms = now_ms;
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// get system id and component id of offboard navigation system
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uint8_t sysid;
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uint8_t compid;
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mavlink_channel_t chan;
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if (GCS_MAVLINK::find_by_mavtype(MAV_TYPE_ONBOARD_CONTROLLER, sysid, compid, chan)) {
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gcs().chan(chan-MAVLINK_COMM_0)->send_set_position_target_global_int(sysid, compid, guided_target.loc);
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}
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}
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}
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
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{
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#if HAL_LOGGING_ENABLED
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// log when new commands start
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if (rover.should_log(MASK_LOG_CMD)) {
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rover.logger.Write_Mission_Cmd(mission, cmd);
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}
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#endif
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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return do_nav_wp(cmd, false);
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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do_RTL();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
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case MAV_CMD_NAV_LOITER_TIME: // Loiter for specified time
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return do_nav_wp(cmd, true);
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case MAV_CMD_NAV_LOITER_TURNS:
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return do_circle(cmd);
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|
|
case MAV_CMD_NAV_GUIDED_ENABLE: // accept navigation commands from external nav computer
|
|
do_nav_guided_enable(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_NAV_SET_YAW_SPEED:
|
|
do_nav_set_yaw_speed(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_NAV_DELAY: // 93 Delay the next navigation command
|
|
do_nav_delay(cmd);
|
|
break;
|
|
|
|
#if AP_SCRIPTING_ENABLED
|
|
case MAV_CMD_NAV_SCRIPT_TIME:
|
|
do_nav_script_time(cmd);
|
|
break;
|
|
#endif
|
|
|
|
// 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;
|
|
|
|
#if HAL_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 (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
|
|
rover.camera_mount.set_mode_to_default();
|
|
}
|
|
} else {
|
|
// send the command to the camera mount
|
|
rover.camera_mount.set_roi_target(cmd.content.location);
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
case MAV_CMD_DO_SET_REVERSE:
|
|
do_set_reverse(cmd);
|
|
break;
|
|
|
|
case MAV_CMD_DO_GUIDED_LIMITS:
|
|
do_guided_limits(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 ModeAuto::exit_mission()
|
|
{
|
|
// play a tone
|
|
AP_Notify::events.mission_complete = 1;
|
|
// send message
|
|
gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
|
|
|
|
switch ((DoneBehaviour)g2.mis_done_behave) {
|
|
case DoneBehaviour::HOLD:
|
|
// the default "start_stop" behaviour is used
|
|
break;
|
|
case DoneBehaviour::LOITER:
|
|
if (start_loiter()) {
|
|
return;
|
|
}
|
|
break;
|
|
case DoneBehaviour::ACRO:
|
|
if (rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) {
|
|
return;
|
|
}
|
|
break;
|
|
case DoneBehaviour::MANUAL:
|
|
if (rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
|
|
return;
|
|
}
|
|
break;
|
|
}
|
|
|
|
start_stop();
|
|
}
|
|
|
|
// 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 ModeAuto::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 ModeAuto::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_TURNS:
|
|
return verify_circle(cmd);
|
|
|
|
case MAV_CMD_NAV_LOITER_TIME:
|
|
return verify_loiter_time(cmd);
|
|
|
|
case MAV_CMD_NAV_GUIDED_ENABLE:
|
|
return verify_nav_guided_enable(cmd);
|
|
|
|
case MAV_CMD_NAV_DELAY:
|
|
return verify_nav_delay(cmd);
|
|
|
|
#if AP_SCRIPTING_ENABLED
|
|
case MAV_CMD_NAV_SCRIPT_TIME:
|
|
return verify_nav_script_time();
|
|
#endif
|
|
|
|
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_CAM_TRIGG_DIST:
|
|
case MAV_CMD_DO_SET_ROI:
|
|
case MAV_CMD_DO_SET_REVERSE:
|
|
case MAV_CMD_DO_FENCE_ENABLE:
|
|
case MAV_CMD_DO_GUIDED_LIMITS:
|
|
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 ModeAuto::do_RTL(void)
|
|
{
|
|
// start rtl in auto mode
|
|
start_RTL();
|
|
}
|
|
|
|
bool ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination)
|
|
{
|
|
// retrieve and sanitize target location
|
|
Location cmdloc = cmd.content.location;
|
|
cmdloc.sanitize(rover.current_loc);
|
|
|
|
// delayed stored in p1 in seconds
|
|
loiter_duration = ((int16_t) cmd.p1 < 0) ? 0 : cmd.p1;
|
|
loiter_start_time = 0;
|
|
if (loiter_duration > 0) {
|
|
always_stop_at_destination = true;
|
|
}
|
|
|
|
// do not add next wp if there are no more navigation commands
|
|
AP_Mission::Mission_Command next_cmd;
|
|
if (always_stop_at_destination || !mission.get_next_nav_cmd(cmd.index+1, next_cmd)) {
|
|
// single destination
|
|
if (!set_desired_location(cmdloc)) {
|
|
return false;
|
|
}
|
|
} else {
|
|
// retrieve and sanitize next destination location
|
|
Location next_cmdloc = next_cmd.content.location;
|
|
next_cmdloc.sanitize(cmdloc);
|
|
if (!set_desired_location(cmdloc, next_cmdloc)) {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// just starting so we haven't previously reached the waypoint
|
|
previously_reached_wp = false;
|
|
|
|
return true;
|
|
}
|
|
|
|
// do_nav_delay - Delay the next navigation command
|
|
void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
nav_delay_time_start_ms = millis();
|
|
|
|
// boats loiter, cars and balancebots stop
|
|
if (rover.is_boat()) {
|
|
if (!start_loiter()) {
|
|
start_stop();
|
|
}
|
|
} else {
|
|
start_stop();
|
|
}
|
|
|
|
if (cmd.content.nav_delay.seconds > 0) {
|
|
// relative delay
|
|
nav_delay_time_max_ms = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
|
|
} else {
|
|
// absolute delay to utc time
|
|
#if AP_RTC_ENABLED
|
|
nav_delay_time_max_ms = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
|
|
#else
|
|
nav_delay_time_max_ms = 0;
|
|
#endif
|
|
}
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec", (unsigned)(nav_delay_time_max_ms/1000));
|
|
}
|
|
|
|
// start guided within auto to allow external navigation system to control vehicle
|
|
void ModeAuto::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if (cmd.p1 > 0) {
|
|
start_guided(cmd.content.location);
|
|
}
|
|
}
|
|
|
|
// do_set_yaw_speed - turn to a specified heading and achieve a given speed
|
|
void ModeAuto::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 targets
|
|
const float speed_max = g2.wp_nav.get_default_speed();
|
|
_desired_speed = constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max);
|
|
_desired_yaw_cd = desired_heading_cd;
|
|
_reached_heading = false;
|
|
_submode = SubMode::HeadingAndSpeed;
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Verify Nav (Must) commands
|
|
/********************************************************************************/
|
|
bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// exit immediately if we haven't reached the destination
|
|
if (!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",
|
|
(unsigned int)cmd.index,
|
|
(unsigned int)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", (unsigned int)cmd.index);
|
|
}
|
|
}
|
|
|
|
// Check if we have loitered long enough
|
|
if (loiter_duration == 0) {
|
|
return true;
|
|
} else {
|
|
return (((millis() - loiter_start_time) / 1000) >= loiter_duration);
|
|
}
|
|
}
|
|
|
|
// verify_nav_delay - check if we have waited long enough
|
|
bool ModeAuto::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if (millis() - nav_delay_time_start_ms > nav_delay_time_max_ms) {
|
|
nav_delay_time_max_ms = 0;
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool ModeAuto::verify_RTL() const
|
|
{
|
|
return reached_destination();
|
|
}
|
|
|
|
bool ModeAuto::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 ModeAuto::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");
|
|
}
|
|
return result;
|
|
}
|
|
|
|
// check if guided has completed
|
|
bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// if we failed to enter guided or this command disables guided
|
|
// return true so we move to next command
|
|
if (_submode != SubMode::Guided || cmd.p1 == 0) {
|
|
return true;
|
|
}
|
|
|
|
// if a location target was set, return true once vehicle is close
|
|
if (guided_target.valid) {
|
|
if (rover.current_loc.get_distance(guided_target.loc) <= g2.wp_nav.get_radius()) {
|
|
return true;
|
|
}
|
|
}
|
|
|
|
// guided command complete once a limit is breached
|
|
return rover.mode_guided.limit_breached();
|
|
}
|
|
|
|
// verify_yaw - return true if we have reached the desired heading
|
|
bool ModeAuto::verify_nav_set_yaw_speed()
|
|
{
|
|
if (_submode == SubMode::HeadingAndSpeed) {
|
|
return _reached_heading;
|
|
}
|
|
// we should never reach here but just in case, return true to allow missions to continue
|
|
return true;
|
|
}
|
|
|
|
bool ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// retrieve and sanitize target location
|
|
Location circle_center = cmd.content.location;
|
|
circle_center.sanitize(rover.current_loc);
|
|
|
|
// calculate radius
|
|
uint16_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
|
|
if (cmd.id == MAV_CMD_NAV_LOITER_TURNS &&
|
|
cmd.type_specific_bits & (1U << 0)) {
|
|
// special storage handling allows for larger radii
|
|
circle_radius_m *= 10;
|
|
}
|
|
|
|
// initialise circle mode
|
|
if (g2.mode_circle.set_center(circle_center, circle_radius_m, cmd.content.location.loiter_ccw)) {
|
|
_submode = SubMode::Circle;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
const float turns = cmd.get_loiter_turns();
|
|
// check if we have completed circling
|
|
return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= turns);
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
void ModeAuto::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 ModeAuto::do_within_distance(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
condition_value = cmd.content.distance.meters;
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Verify Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
bool ModeAuto::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 ModeAuto::verify_within_distance()
|
|
{
|
|
if (get_distance_to_destination() < condition_value) {
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
/********************************************************************************/
|
|
// Do (Now) commands
|
|
/********************************************************************************/
|
|
|
|
void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// set speed for active mode
|
|
if (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 ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if (cmd.p1 == 1 && rover.have_position) {
|
|
if (!rover.set_home_to_current_location(false)) {
|
|
// ignored...
|
|
}
|
|
} else {
|
|
if (!rover.set_home(cmd.content.location, false)) {
|
|
// ignored...
|
|
}
|
|
}
|
|
}
|
|
|
|
void ModeAuto::do_set_reverse(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
set_reversed(cmd.p1 == 1);
|
|
}
|
|
|
|
// set timeout and position limits for guided within auto
|
|
void ModeAuto::do_guided_limits(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
rover.mode_guided.limit_set(
|
|
cmd.p1 * 1000, // convert seconds to ms
|
|
cmd.content.guided_limits.horiz_max);
|
|
}
|
|
|
|
#if AP_SCRIPTING_ENABLED
|
|
// start accepting position, velocity and acceleration targets from lua scripts
|
|
void ModeAuto::do_nav_script_time(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// call regular guided flight mode initialisation
|
|
if (rover.mode_guided.enter()) {
|
|
_submode = SubMode::NavScriptTime;
|
|
nav_scripting.done = false;
|
|
nav_scripting.id++;
|
|
nav_scripting.start_ms = millis();
|
|
nav_scripting.command = cmd.content.nav_script_time.command;
|
|
nav_scripting.timeout_s = cmd.content.nav_script_time.timeout_s;
|
|
nav_scripting.arg1 = cmd.content.nav_script_time.arg1.get();
|
|
nav_scripting.arg2 = cmd.content.nav_script_time.arg2.get();
|
|
nav_scripting.arg3 = cmd.content.nav_script_time.arg3;
|
|
nav_scripting.arg4 = cmd.content.nav_script_time.arg4;
|
|
} else {
|
|
// for safety we set nav_scripting to done to protect against the mission getting stuck
|
|
nav_scripting.done = true;
|
|
}
|
|
}
|
|
|
|
// check if verify_nav_script_time command has completed
|
|
bool ModeAuto::verify_nav_script_time()
|
|
{
|
|
// if done or timeout then return true
|
|
if (nav_scripting.done ||
|
|
((nav_scripting.timeout_s > 0) &&
|
|
(AP_HAL::millis() - nav_scripting.start_ms) > (nav_scripting.timeout_s * 1000))) {
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
#endif
|