mirror of https://github.com/ArduPilot/ardupilot
423 lines
15 KiB
C++
423 lines
15 KiB
C++
#include "Rover.h"
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// update mission including starting or stopping commands. called by scheduler at 10Hz
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void Rover::update_mission(void)
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{
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if (control_mode == &mode_auto) {
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if (ahrs.home_is_set() && mission.num_commands() > 1) {
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mission.update();
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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 Rover::start_command(const AP_Mission::Mission_Command& cmd)
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{
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// log when new commands start
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if (should_log(MASK_LOG_CMD)) {
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DataFlash.Log_Write_Mission_Cmd(mission, cmd);
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)",
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cmd.type(), cmd.id);
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp(cmd, false);
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break;
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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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do_nav_wp(cmd, true);
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break;
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case MAV_CMD_NAV_SET_YAW_SPEED:
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do_nav_set_yaw_speed(cmd);
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break;
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// Conditional commands
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay(cmd);
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance(cmd);
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break;
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// Do commands
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed(cmd);
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home(cmd);
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break;
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case MAV_CMD_DO_SET_SERVO:
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ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
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break;
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case MAV_CMD_DO_SET_RELAY:
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ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
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cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
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cmd.content.repeat_relay.cycle_time * 1000.0f);
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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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do_digicam_configure(cmd);
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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_digicam_control(cmd);
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break;
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
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break;
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#endif
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#if MOUNT == ENABLED
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// Sets the region of interest (ROI) for a sensor set or the
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// vehicle itself. This can then be used by the vehicles control
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// system to control the vehicle attitude and the attitude of various
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// devices such as cameras.
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// |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|
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case MAV_CMD_DO_SET_ROI:
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if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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// switch off the camera tracking if enabled
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if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
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camera_mount.set_mode_to_default();
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}
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} else {
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// send the command to the camera mount
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camera_mount.set_roi_target(cmd.content.location);
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}
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break;
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#endif
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case MAV_CMD_DO_SET_REVERSE:
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do_set_reverse(cmd);
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break;
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case MAV_CMD_DO_FENCE_ENABLE:
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if (cmd.p1 == 0) { //disable
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g2.fence.enable(false);
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gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
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} else { //enable fence
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g2.fence.enable(true);
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gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
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}
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break;
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default:
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// return false for unhandled commands
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return false;
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}
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// if we got this far we must have been successful
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return true;
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}
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// exit_mission - callback function called from ap-mission when the mission has completed
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void Rover::exit_mission()
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{
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gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
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set_mode(mode_hold, MODE_REASON_MISSION_END);
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}
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// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
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// 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
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bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd)
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{
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const bool cmd_complete = verify_command(cmd);
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// send message to GCS
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if (cmd_complete) {
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gcs().send_mission_item_reached_message(cmd.index);
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}
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return cmd_complete;
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}
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/*******************************************************************************
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Verify command Handlers
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Each type of mission element has a "verify" operation. The verify
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operation returns true when the mission element has completed and we
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should move onto the next mission element.
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Return true if we do not recognize the command so that we move on to the next command
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*******************************************************************************/
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bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
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{
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp(cmd);
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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case MAV_CMD_NAV_LOITER_UNLIM:
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return verify_loiter_unlimited(cmd);
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time(cmd);
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case MAV_CMD_CONDITION_DELAY:
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return verify_wait_delay();
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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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case MAV_CMD_NAV_SET_YAW_SPEED:
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return verify_nav_set_yaw_speed();
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// do commands (always return true)
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case MAV_CMD_DO_CHANGE_SPEED:
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case MAV_CMD_DO_SET_HOME:
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case MAV_CMD_DO_SET_SERVO:
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case MAV_CMD_DO_SET_RELAY:
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case MAV_CMD_DO_REPEAT_SERVO:
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case MAV_CMD_DO_REPEAT_RELAY:
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case MAV_CMD_DO_CONTROL_VIDEO:
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case MAV_CMD_DO_DIGICAM_CONFIGURE:
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case MAV_CMD_DO_DIGICAM_CONTROL:
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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case MAV_CMD_DO_SET_ROI:
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case MAV_CMD_DO_SET_REVERSE:
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case MAV_CMD_DO_FENCE_ENABLE:
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return true;
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default:
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// error message
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gcs().send_text(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
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// return true if we do not recognize the command so that we move on to the next command
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return true;
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}
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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void Rover::do_RTL(void)
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{
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// start rtl in auto mode
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mode_auto.start_RTL();
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}
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void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination)
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{
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// just starting so we haven't previously reached the waypoint
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previously_reached_wp = false;
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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_start_time = 0;
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// this is the delay, stored in seconds
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loiter_duration = cmd.p1;
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// get heading to following waypoint (auto mode reduces speed to allow corning without large overshoot)
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// in case of non-zero loiter duration, we provide heading-unknown to signal we should stop at the point
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float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN;
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if (!always_stop_at_destination && loiter_duration == 0) {
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next_leg_bearing_cd = mission.get_next_ground_course_cd(MODE_NEXT_HEADING_UNKNOWN);
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}
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// retrieve and sanitize target location
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Location cmdloc = cmd.content.location;
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location_sanitize(current_loc, cmdloc);
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mode_auto.set_desired_location(cmdloc, next_leg_bearing_cd);
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}
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// do_set_yaw_speed - turn to a specified heading and achieve and given speed
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void Rover::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
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{
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float desired_heading_cd;
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// get final angle, 1 = Relative, 0 = Absolute
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if (cmd.content.set_yaw_speed.relative_angle > 0) {
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// relative angle
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desired_heading_cd = wrap_180_cd(ahrs.yaw_sensor + cmd.content.set_yaw_speed.angle_deg * 100.0f);
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} else {
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// absolute angle
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desired_heading_cd = cmd.content.set_yaw_speed.angle_deg * 100.0f;
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}
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// set auto target
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const float speed_max = control_mode->get_speed_default();
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mode_auto.set_desired_heading_and_speed(desired_heading_cd, constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max));
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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// exit immediately if we haven't reached the destination
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if (!mode_auto.reached_destination()) {
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return false;
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}
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// Check if this is the first time we have noticed reaching the waypoint
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if (!previously_reached_wp) {
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previously_reached_wp = true;
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// check if we are loitering at this waypoint - the message sent to the GCS is different
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if (loiter_duration > 0) {
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// send message including loiter time
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gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds",
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static_cast<uint32_t>(cmd.index),
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static_cast<uint32_t>(loiter_duration));
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// record the current time i.e. start timer
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loiter_start_time = millis();
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} else {
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// send simpler message to GCS
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gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u", static_cast<uint32_t>(cmd.index));
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}
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}
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// Check if we have loitered long enough
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if (loiter_duration == 0) {
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return true;
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} else {
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return (((millis() - loiter_start_time) / 1000) >= loiter_duration);
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}
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}
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bool Rover::verify_RTL()
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{
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return mode_auto.reached_destination();
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}
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bool Rover::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
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{
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verify_nav_wp(cmd);
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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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bool Rover::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
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{
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const bool result = verify_nav_wp(cmd);
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if (result) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Finished active loiter");
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}
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return result;
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}
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// verify_yaw - return true if we have reached the desired heading
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bool Rover::verify_nav_set_yaw_speed()
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{
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return mode_auto.reached_heading();
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}
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/********************************************************************************/
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// Condition (May) commands
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/********************************************************************************/
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void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
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{
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condition_start = millis();
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condition_value = static_cast<int32_t>(cmd.content.delay.seconds * 1000); // convert seconds to milliseconds
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}
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void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
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{
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condition_value = cmd.content.distance.meters;
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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bool Rover::verify_wait_delay()
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{
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if (static_cast<uint32_t>(millis() - condition_start) > static_cast<uint32_t>(condition_value)) {
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condition_value = 0;
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return true;
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}
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return false;
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}
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bool Rover::verify_within_distance()
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{
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if (mode_auto.get_distance_to_destination() < condition_value) {
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condition_value = 0;
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return true;
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}
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return false;
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}
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/********************************************************************************/
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// Do (Now) commands
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/********************************************************************************/
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void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
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{
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// set speed for active mode
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if (control_mode->set_desired_speed(cmd.content.speed.target_ms)) {
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gcs().send_text(MAV_SEVERITY_INFO, "speed: %.1f m/s", static_cast<double>(cmd.content.speed.target_ms));
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}
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}
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void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
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{
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if (cmd.p1 == 1 && have_position) {
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set_home_to_current_location(false);
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} else {
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set_home(cmd.content.location, false);
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}
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}
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#if CAMERA == ENABLED
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// do_digicam_configure Send Digicam Configure message with the camera library
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void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
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{
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camera.configure(cmd.content.digicam_configure.shooting_mode,
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cmd.content.digicam_configure.shutter_speed,
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cmd.content.digicam_configure.aperture,
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cmd.content.digicam_configure.ISO,
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cmd.content.digicam_configure.exposure_type,
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cmd.content.digicam_configure.cmd_id,
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cmd.content.digicam_configure.engine_cutoff_time);
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}
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// do_digicam_control Send Digicam Control message with the camera library
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void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
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{
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camera.control(cmd.content.digicam_control.session,
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cmd.content.digicam_control.zoom_pos,
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cmd.content.digicam_control.zoom_step,
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cmd.content.digicam_control.focus_lock,
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cmd.content.digicam_control.shooting_cmd,
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cmd.content.digicam_control.cmd_id);
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}
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#endif
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void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
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{
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mode_auto.set_reversed(cmd.p1 == 1);
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}
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