mirror of https://github.com/ArduPilot/ardupilot
702 lines
23 KiB
Plaintext
702 lines
23 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// forward declarations to make compiler happy
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static void do_takeoff(const AP_Mission::Mission_Command& cmd);
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static void do_nav_wp(const AP_Mission::Mission_Command& cmd);
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static void do_land(const AP_Mission::Mission_Command& cmd);
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static void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
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static void do_circle(const AP_Mission::Mission_Command& cmd);
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static void do_loiter_time(const AP_Mission::Mission_Command& cmd);
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static void do_wait_delay(const AP_Mission::Mission_Command& cmd);
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static void do_within_distance(const AP_Mission::Mission_Command& cmd);
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static void do_change_alt(const AP_Mission::Mission_Command& cmd);
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static void do_yaw(const AP_Mission::Mission_Command& cmd);
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static void do_change_speed(const AP_Mission::Mission_Command& cmd);
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static void do_set_home(const AP_Mission::Mission_Command& cmd);
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static void do_roi(const AP_Mission::Mission_Command& cmd);
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static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
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// start_command - this function will be called when the ap_mission lib wishes to start a new command
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static bool start_command(const AP_Mission::Mission_Command& cmd)
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{
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// To-Do: logging when new commands start/end
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if (g.log_bitmask & MASK_LOG_CMD) {
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Log_Write_Cmd(cmd);
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}
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switch(cmd.id) {
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///
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/// navigation commands
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///
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case MAV_CMD_NAV_TAKEOFF: // 22
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do_takeoff(cmd);
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break;
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case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint
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do_nav_wp(cmd);
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break;
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case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
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do_land(cmd);
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely
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do_loiter_unlimited(cmd);
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break;
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case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times
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do_circle(cmd);
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break;
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case MAV_CMD_NAV_LOITER_TIME: // 19
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do_loiter_time(cmd);
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20
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do_RTL();
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break;
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//
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// conditional commands
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//
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case MAV_CMD_CONDITION_DELAY: // 112
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do_wait_delay(cmd);
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break;
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case MAV_CMD_CONDITION_DISTANCE: // 114
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do_within_distance(cmd);
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT: // 113
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do_change_alt(cmd);
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break;
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case MAV_CMD_CONDITION_YAW: // 115
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do_yaw(cmd);
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break;
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///
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/// do commands
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///
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case MAV_CMD_DO_CHANGE_SPEED: // 178
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do_change_speed(cmd);
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break;
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case MAV_CMD_DO_SET_HOME: // 179
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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.p1, cmd.content.location.alt);
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break;
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case MAV_CMD_DO_SET_RELAY:
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ServoRelayEvents.do_set_relay(cmd.p1, cmd.content.location.alt);
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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ServoRelayEvents.do_repeat_servo(cmd.p1, cmd.content.location.alt,
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cmd.content.location.lat, cmd.content.location.lng);
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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ServoRelayEvents.do_repeat_relay(cmd.p1, cmd.content.location.alt,
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cmd.content.location.lat);
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break;
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case MAV_CMD_DO_SET_ROI: // 201
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// point the copter and camera at a region of interest (ROI)
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do_roi(cmd);
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break;
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#if CAMERA == ENABLED
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case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
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break;
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case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
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break;
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case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
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do_take_picture();
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break;
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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camera.set_trigger_distance(cmd.content.location.alt);
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break;
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#endif
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#if MOUNT == ENABLED
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case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
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camera_mount.configure_cmd();
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break;
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case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
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camera_mount.control_cmd();
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break;
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#endif
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default:
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// do nothing with unrecognized MAVLink messages
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break;
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}
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// always return success
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return true;
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}
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/********************************************************************************/
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// Verify command Handlers
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/********************************************************************************/
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// verify_command - this will be called repeatedly by ap_mission lib to ensure the active commands are progressing
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// should return true once the active navigation command completes successfully
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// called at 10hz or higher
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static bool verify_command(const AP_Mission::Mission_Command& cmd)
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{
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switch(cmd.id) {
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//
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// navigation commands
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//
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case MAV_CMD_NAV_TAKEOFF:
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return verify_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp(cmd);
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break;
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case MAV_CMD_NAV_LAND:
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return verify_land();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM:
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return verify_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS:
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return verify_circle();
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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break;
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///
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/// conditional commands
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///
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case MAV_CMD_CONDITION_DELAY:
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return verify_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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return verify_change_alt();
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break;
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case MAV_CMD_CONDITION_YAW:
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return verify_yaw();
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break;
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default:
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// return true if we do not recognise the command so that we move on to the next command
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return true;
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break;
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}
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}
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// exit_mission - function that is called once the mission completes
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static void exit_mission()
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{
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// if we are not on the ground switch to loiter or land
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if(!ap.land_complete) {
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// try to enter loiter but if that fails land
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if (!set_mode(LOITER)) {
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set_mode(LAND);
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}
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}else{
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#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
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// disarm when the landing detector says we've landed and throttle is at minimum
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if (g.rc_3.control_in == 0 || failsafe.radio) {
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init_disarm_motors();
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}
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#else
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// if we've landed it's safe to disarm
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init_disarm_motors();
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#endif
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}
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}
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/********************************************************************************/
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//
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/********************************************************************************/
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// do_RTL - start Return-to-Launch
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static void do_RTL(void)
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{
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// start rtl in auto flight mode
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auto_rtl_start();
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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// do_takeoff - initiate takeoff navigation command
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static void do_takeoff(const AP_Mission::Mission_Command& cmd)
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{
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// Set wp navigation target to safe altitude above current position
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float takeoff_alt = cmd.content.location.alt;
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takeoff_alt = max(takeoff_alt,current_loc.alt);
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takeoff_alt = max(takeoff_alt,100.0f);
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auto_takeoff_start(takeoff_alt);
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}
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// do_nav_wp - initiate move to next waypoint
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static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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Vector3f local_pos = pv_location_to_vector(cmd.content.location);
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// Set wp navigation target
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auto_wp_start(local_pos);
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// initialise original_wp_bearing which is used to check if we have missed the waypoint
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wp_bearing = wp_nav.get_wp_bearing_to_destination();
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original_wp_bearing = wp_bearing;
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// this will be used to remember the time in millis after we reach or pass the WP.
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loiter_time = 0;
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// this is the delay, stored in seconds and expanded to millis
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loiter_time_max = cmd.p1;
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// if no delay set the waypoint as "fast"
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if (loiter_time_max == 0 ) {
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wp_nav.set_fast_waypoint(true);
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}
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}
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// do_land - initiate landing procedure
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static void do_land(const AP_Mission::Mission_Command& cmd)
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{
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// To-Do: check if we have already landed
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// if location provided we fly to that location at current altitude
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if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
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// set state to fly to location
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land_state = LAND_STATE_FLY_TO_LOCATION;
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// calculate and set desired location above landing target
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Vector3f pos = pv_location_to_vector(cmd.content.location);
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pos.z = min(current_loc.alt, RTL_ALT_MAX);
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auto_wp_start(pos);
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// initialise original_wp_bearing which is used to check if we have missed the waypoint
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wp_bearing = wp_nav.get_wp_bearing_to_destination();
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original_wp_bearing = wp_bearing;
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}else{
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// set landing state
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land_state = LAND_STATE_DESCENDING;
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// initialise landing controller
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auto_land_start();
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}
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}
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// do_loiter_unlimited - start loitering with no end conditions
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// note: caller should set yaw_mode
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static void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
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{
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Vector3f target_pos;
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// get current position
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Vector3f curr_pos = inertial_nav.get_position();
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// default to use position provided
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target_pos = pv_location_to_vector(cmd.content.location);
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// use current location if not provided
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if(cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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wp_nav.get_wp_stopping_point_xy(target_pos);
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}
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// use current altitude if not provided
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// To-Do: use z-axis stopping point instead of current alt
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if( cmd.content.location.alt == 0 ) {
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target_pos.z = curr_pos.z;
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}
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// start way point navigator and provide it the desired location
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auto_wp_start(target_pos);
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}
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// do_circle - initiate moving in a circle
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static void do_circle(const AP_Mission::Mission_Command& cmd)
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{
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Vector3f curr_pos = inertial_nav.get_position();
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Vector3f circle_center = pv_location_to_vector(cmd.content.location);
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// set target altitude if not provided
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if (circle_center.z == 0) {
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circle_center.z = curr_pos.z;
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}
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// set lat/lon position if not provided
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// To-Do: use stopping point instead of current location
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if (cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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circle_center.x = curr_pos.x;
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circle_center.y = curr_pos.y;
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}
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// start auto_circle
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auto_circle_start(circle_center);
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// record number of desired rotations from mission command
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circle_desired_rotations = cmd.p1;
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}
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// do_loiter_time - initiate loitering at a point for a given time period
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// note: caller should set yaw_mode
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static void do_loiter_time(const AP_Mission::Mission_Command& cmd)
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{
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Vector3f target_pos;
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// get current position
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Vector3f curr_pos = inertial_nav.get_position();
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// default to use position provided
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target_pos = pv_location_to_vector(cmd.content.location);
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// use current location if not provided
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if(cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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wp_nav.get_wp_stopping_point_xy(target_pos);
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}
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// use current altitude if not provided
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if( cmd.content.location.alt == 0 ) {
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target_pos.z = curr_pos.z;
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}
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// start way point navigator and provide it the desired location
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auto_wp_start(target_pos);
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// setup loiter timer
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loiter_time = 0;
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loiter_time_max = cmd.p1; // units are (seconds)
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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// verify_takeoff - check if we have completed the takeoff
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static bool verify_takeoff()
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{
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// have we reached our target altitude?
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return wp_nav.reached_wp_destination();
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}
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// verify_land - returns true if landing has been completed
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static bool verify_land()
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{
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bool retval = false;
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switch( land_state ) {
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case LAND_STATE_FLY_TO_LOCATION:
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// check if we've reached the location
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if (wp_nav.reached_wp_destination()) {
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// get destination so we can use it for loiter target
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Vector3f dest = wp_nav.get_wp_destination();
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// initialise landing controller
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auto_land_start(dest);
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// advance to next state
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land_state = LAND_STATE_DESCENDING;
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}
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break;
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case LAND_STATE_DESCENDING:
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// rely on THROTTLE_LAND mode to correctly update landing status
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retval = ap.land_complete;
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break;
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default:
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// this should never happen
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// TO-DO: log an error
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retval = true;
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break;
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}
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// true is returned if we've successfully landed
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return retval;
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}
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// verify_nav_wp - check if we have reached the next way point
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static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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// check if we have reached the waypoint
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if( !wp_nav.reached_wp_destination() ) {
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return false;
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}
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// start timer if necessary
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if(loiter_time == 0) {
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loiter_time = millis();
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}
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// check if timer has run out
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if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
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gcs_send_text_fmt(PSTR("Reached Command #%i"),cmd.index);
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return true;
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}else{
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return false;
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}
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}
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static bool verify_loiter_unlimited()
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{
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return false;
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}
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// verify_loiter_time - check if we have loitered long enough
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static bool verify_loiter_time()
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{
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// return immediately if we haven't reached our destination
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if (!wp_nav.reached_wp_destination()) {
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return false;
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}
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// start our loiter timer
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if( loiter_time == 0 ) {
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loiter_time = millis();
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}
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// check if loiter timer has run out
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return (((millis() - loiter_time) / 1000) >= loiter_time_max);
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}
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// verify_circle - check if we have circled the point enough
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static bool verify_circle()
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{
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// have we rotated around the center enough times?
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return fabsf(circle_nav.get_angle_total()/(2*M_PI)) >= circle_desired_rotations;
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}
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// externs to remove compiler warning
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extern bool rtl_state_complete;
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// verify_RTL - handles any state changes required to implement RTL
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// do_RTL should have been called once first to initialise all variables
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// returns true with RTL has completed successfully
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static bool verify_RTL()
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{
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return (rtl_state_complete && (rtl_state == FinalDescent || rtl_state == Land));
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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(const AP_Mission::Mission_Command& cmd)
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{
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//cliSerial->print("dwd ");
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condition_start = millis();
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condition_value = cmd.content.location.lat * 1000; // convert to milliseconds
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//cliSerial->println(condition_value,DEC);
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}
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static void do_change_alt(const AP_Mission::Mission_Command& cmd)
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{
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// adjust target appropriately for each nav mode
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if (control_mode == AUTO) {
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switch (auto_mode) {
|
|
case Auto_TakeOff:
|
|
// To-Do: adjust waypoint target altitude to new provided altitude
|
|
break;
|
|
case Auto_WP:
|
|
// To-Do; reset origin to current location + stopping distance at new altitude
|
|
break;
|
|
case Auto_Land:
|
|
case Auto_RTL:
|
|
// ignore altitude
|
|
break;
|
|
case Auto_Circle:
|
|
// move circle altitude up to target (we will need to store this target in circle class)
|
|
break;
|
|
}
|
|
}
|
|
// To-Do: store desired altitude in a variable so that it can be verified later
|
|
}
|
|
|
|
static void do_within_distance(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// To-Do: define another union of Mission_Command instead of using location's lat
|
|
condition_value = cmd.content.location.lat * 100;
|
|
}
|
|
|
|
static void do_yaw(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// get current yaw target
|
|
int32_t curr_yaw_target = attitude_control.angle_ef_targets().z;
|
|
|
|
// get final angle, 1 = Relative, 0 = Absolute
|
|
if( cmd.content.location.lng == 0 ) {
|
|
// absolute angle
|
|
yaw_look_at_heading = wrap_360_cd(cmd.content.location.alt * 100);
|
|
}else{
|
|
// relative angle
|
|
yaw_look_at_heading = wrap_360_cd(curr_yaw_target + cmd.content.location.alt * 100);
|
|
}
|
|
|
|
// get turn speed
|
|
if (cmd.content.location.lat == 0 ) {
|
|
// default to regular auto slew rate
|
|
yaw_look_at_heading_slew = AUTO_YAW_SLEW_RATE;
|
|
}else{
|
|
int32_t turn_rate = (wrap_180_cd(yaw_look_at_heading - curr_yaw_target) / 100) / cmd.content.location.lat;
|
|
yaw_look_at_heading_slew = constrain_int32(turn_rate, 1, 360); // deg / sec
|
|
}
|
|
|
|
// set yaw mode
|
|
set_auto_yaw_mode(AUTO_YAW_LOOK_AT_HEADING);
|
|
|
|
// TO-DO: restore support for clockwise / counter clockwise rotation held in command_cond_queue.p1
|
|
// command_cond_queue.p1; // 0 = undefined, 1 = clockwise, -1 = counterclockwise
|
|
}
|
|
|
|
|
|
/********************************************************************************/
|
|
// Verify Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
static bool verify_wait_delay()
|
|
{
|
|
//cliSerial->print("vwd");
|
|
if (millis() - condition_start > (uint32_t)max(condition_value,0)) {
|
|
//cliSerial->println("y");
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
//cliSerial->println("n");
|
|
return false;
|
|
}
|
|
|
|
static bool verify_change_alt()
|
|
{
|
|
// To-Do: use recorded target altitude to verify we have reached the target
|
|
return true;
|
|
}
|
|
|
|
static bool verify_within_distance()
|
|
{
|
|
if (wp_distance < max(condition_value,0)) {
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// verify_yaw - return true if we have reached the desired heading
|
|
static bool verify_yaw()
|
|
{
|
|
if( labs(wrap_180_cd(ahrs.yaw_sensor-yaw_look_at_heading)) <= 200 ) {
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/********************************************************************************/
|
|
// Do (Now) commands
|
|
/********************************************************************************/
|
|
|
|
// do_guided - start guided mode
|
|
static bool do_guided(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// switch to guided mode if we're not already in guided mode
|
|
if (control_mode != GUIDED) {
|
|
if (!set_mode(GUIDED)) {
|
|
// if we failed to enter guided mode return immediately
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// set wp_nav's destination
|
|
Vector3f pos = pv_location_to_vector(cmd.content.location);
|
|
guided_set_destination(pos);
|
|
return true;
|
|
}
|
|
|
|
static void do_change_speed(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
wp_nav.set_horizontal_velocity(cmd.p1 * 100);
|
|
}
|
|
|
|
static void do_set_home(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if(cmd.p1 == 1) {
|
|
init_home();
|
|
} else {
|
|
ahrs.set_home(cmd.content.location.lat, cmd.content.location.lng, 0);
|
|
set_home_is_set(true);
|
|
}
|
|
}
|
|
|
|
// do_roi - starts actions required by MAV_CMD_NAV_ROI
|
|
// this involves either moving the camera to point at the ROI (region of interest)
|
|
// and possibly rotating the copter to point at the ROI if our mount type does not support a yaw feature
|
|
// Note: the ROI should already be in the command_nav_queue global variable
|
|
// TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint
|
|
static void do_roi(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// if location is zero lat, lon and altitude turn off ROI
|
|
if (auto_yaw_mode == AUTO_YAW_ROI && (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0)) {
|
|
// set auto yaw mode back to default assuming the active command is a waypoint command. A more sophisticated method is required to ensure we return to the proper yaw control for the active command
|
|
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
|
|
#if MOUNT == ENABLED
|
|
// switch off the camera tracking if enabled
|
|
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
|
|
camera_mount.set_mode_to_default();
|
|
}
|
|
#endif // MOUNT == ENABLED
|
|
}else{
|
|
#if MOUNT == ENABLED
|
|
// check if mount type requires us to rotate the quad
|
|
if(camera_mount.get_mount_type() != AP_Mount::k_pan_tilt && camera_mount.get_mount_type() != AP_Mount::k_pan_tilt_roll) {
|
|
roi_WP = pv_location_to_vector(cmd.content.location);
|
|
set_auto_yaw_mode(AUTO_YAW_ROI);
|
|
}
|
|
// send the command to the camera mount
|
|
camera_mount.set_roi_cmd(&cmd.content.location);
|
|
|
|
// TO-DO: expand handling of the do_nav_roi to support all modes of the MAVLink. Currently we only handle mode 4 (see below)
|
|
// 0: do nothing
|
|
// 1: point at next waypoint
|
|
// 2: point at a waypoint taken from WP# parameter (2nd parameter?)
|
|
// 3: point at a location given by alt, lon, lat parameters
|
|
// 4: point at a target given a target id (can't be implemented)
|
|
#else
|
|
// if we have no camera mount aim the quad at the location
|
|
roi_WP = pv_location_to_vector(cmd.content.location);
|
|
set_auto_yaw_mode(AUTO_YAW_ROI);
|
|
#endif // MOUNT == ENABLED
|
|
}
|
|
}
|
|
|
|
// do_take_picture - take a picture with the camera library
|
|
static void do_take_picture()
|
|
{
|
|
#if CAMERA == ENABLED
|
|
camera.trigger_pic();
|
|
if (g.log_bitmask & MASK_LOG_CAMERA) {
|
|
Log_Write_Camera();
|
|
}
|
|
#endif
|
|
}
|