mirror of https://github.com/ArduPilot/ardupilot
413 lines
11 KiB
Plaintext
413 lines
11 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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static void
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handle_process_nav_cmd()
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{
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// reset navigation integrators
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// -------------------------
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g.pidNavSteer.reset_I();
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nav_command.id);
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switch(next_nav_command.id){
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case MAV_CMD_NAV_TAKEOFF:
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do_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp();
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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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default:
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break;
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}
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}
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static void
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handle_process_condition_command()
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{
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id);
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switch(next_nonnav_command.id){
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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do_change_alt();
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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 handle_process_do_command()
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{
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id);
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switch(next_nonnav_command.id){
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case MAV_CMD_DO_JUMP:
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do_jump();
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break;
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed();
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home();
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break;
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case MAV_CMD_DO_SET_SERVO:
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_RELAY:
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do_set_relay();
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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do_repeat_relay();
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break;
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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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camera_mount.set_roi_cmd();
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break;
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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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}
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}
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static void handle_no_commands()
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{
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gcs_send_text_fmt(PSTR("No commands - setting HOLD"));
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set_mode(HOLD);
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}
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/********************************************************************************/
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// Verify command Handlers
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/********************************************************************************/
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static bool verify_nav_command() // Returns true if command complete
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{
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switch(nav_command_ID) {
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case MAV_CMD_NAV_TAKEOFF:
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return verify_takeoff();
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp();
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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default:
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd"));
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return false;
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}
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}
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static bool verify_condition_command() // Returns true if command complete
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{
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switch(non_nav_command_ID) {
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case NO_COMMAND:
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break;
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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 WAIT_COMMAND:
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return 0;
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break;
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default:
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Invalid or no current Condition cmd"));
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break;
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}
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return false;
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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static void do_RTL(void)
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{
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prev_WP = current_loc;
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control_mode = RTL;
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next_WP = home;
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}
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static void do_takeoff()
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{
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set_next_WP(&next_nav_command);
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}
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static void do_nav_wp()
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{
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set_next_WP(&next_nav_command);
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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static bool verify_takeoff()
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{ return true;
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}
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static bool verify_nav_wp()
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{
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update_crosstrack();
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
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gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
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(unsigned)nav_command_index,
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(unsigned)get_distance(¤t_loc, &next_WP));
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return true;
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}
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// have we gone past the waypoint?
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"),
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(unsigned)nav_command_index,
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(unsigned)get_distance(¤t_loc, &next_WP));
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return true;
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}
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return false;
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}
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static bool verify_RTL()
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{
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if (wp_distance <= g.waypoint_radius) {
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gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
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rtl_complete = true;
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return true;
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}
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// have we gone past the waypoint?
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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gcs_send_text_fmt(PSTR("Reached Home dist %um"),
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(unsigned)get_distance(¤t_loc, &next_WP));
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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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// Condition (May) commands
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/********************************************************************************/
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static void do_wait_delay()
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{
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condition_start = millis();
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condition_value = next_nonnav_command.lat * 1000; // convert to milliseconds
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}
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static void do_change_alt()
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{
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condition_rate = abs((int)next_nonnav_command.lat);
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condition_value = next_nonnav_command.alt;
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if(condition_value < current_loc.alt) condition_rate = -condition_rate;
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next_WP.alt = condition_value; // For future nav calculations
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}
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static void do_within_distance()
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{
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condition_value = next_nonnav_command.lat;
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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static bool verify_wait_delay()
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{
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if ((uint32_t)(millis() - condition_start) > (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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static bool verify_change_alt()
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{
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if( (condition_rate>=0 && current_loc.alt >= condition_value) || (condition_rate<=0 && current_loc.alt <= 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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static bool verify_within_distance()
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{
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if (wp_distance < 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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static void do_jump()
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{
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struct Location temp;
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gcs_send_text_fmt(PSTR("In jump. Jumps left: %i"),next_nonnav_command.lat);
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if(next_nonnav_command.lat > 0) {
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nav_command_ID = NO_COMMAND;
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next_nav_command.id = NO_COMMAND;
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non_nav_command_ID = NO_COMMAND;
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temp = get_cmd_with_index(g.command_index);
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temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter
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set_cmd_with_index(temp, g.command_index);
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gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1);
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g.command_index.set_and_save(next_nonnav_command.p1 - 1);
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nav_command_index = next_nonnav_command.p1 - 1;
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next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump
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process_next_command();
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} else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever
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nav_command_ID = NO_COMMAND;
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non_nav_command_ID = NO_COMMAND;
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gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1);
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g.command_index.set_and_save(next_nonnav_command.p1 - 1);
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nav_command_index = next_nonnav_command.p1 - 1;
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next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump
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process_next_command();
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}
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}
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static void do_change_speed()
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{
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switch (next_nonnav_command.p1)
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{
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case 0:
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if (next_nonnav_command.alt > 0)
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g.speed_cruise.set(next_nonnav_command.alt * 100);
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break;
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}
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if(next_nonnav_command.lat > 0)
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g.throttle_cruise.set(next_nonnav_command.lat);
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}
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static void do_set_home()
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{
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if(next_nonnav_command.p1 == 1 && have_position) {
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init_home();
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} else {
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home.id = MAV_CMD_NAV_WAYPOINT;
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home.lng = next_nonnav_command.lng; // Lon * 10**7
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home.lat = next_nonnav_command.lat; // Lat * 10**7
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home.alt = max(next_nonnav_command.alt, 0);
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home_is_set = true;
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}
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}
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static void do_set_servo()
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{
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hal.rcout->enable_ch(next_nonnav_command.p1 - 1);
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hal.rcout->write(next_nonnav_command.p1 - 1, next_nonnav_command.alt);
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}
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static void do_set_relay()
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{
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if (next_nonnav_command.p1 == 1) {
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relay.on();
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} else if (next_nonnav_command.p1 == 0) {
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relay.off();
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}else{
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relay.toggle();
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}
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}
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static void do_repeat_servo()
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{
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event_id = next_nonnav_command.p1 - 1;
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if(next_nonnav_command.p1 >= CH_5 + 1 && next_nonnav_command.p1 <= CH_8 + 1) {
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event_timer = 0;
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event_delay = next_nonnav_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
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event_repeat = next_nonnav_command.lat * 2;
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event_value = next_nonnav_command.alt;
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switch(next_nonnav_command.p1) {
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case CH_2:
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event_undo_value = g.rc_2.radio_trim;
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break;
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case CH_4:
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event_undo_value = g.rc_4.radio_trim;
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break;
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case CH_5:
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event_undo_value = g.rc_5.radio_trim;
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break;
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case CH_6:
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event_undo_value = g.rc_6.radio_trim;
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break;
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case CH_7:
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event_undo_value = g.rc_7.radio_trim;
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break;
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case CH_8:
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event_undo_value = g.rc_8.radio_trim;
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break;
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}
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update_events();
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}
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}
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static void do_repeat_relay()
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{
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event_id = RELAY_TOGGLE;
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event_timer = 0;
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event_delay = next_nonnav_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
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event_repeat = next_nonnav_command.alt * 2;
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update_events();
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}
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