mirror of https://github.com/ArduPilot/ardupilot
900 lines
28 KiB
C++
900 lines
28 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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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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bool Copter::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 (should_log(MASK_LOG_CMD)) {
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DataFlash.Log_Write_Mission_Cmd(mission, 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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case MAV_CMD_NAV_SPLINE_WAYPOINT: // 82 Navigate to Waypoint using spline
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do_spline_wp(cmd);
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break;
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#if NAV_GUIDED == ENABLED
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case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer
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do_nav_guided_enable(cmd);
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break;
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#endif
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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.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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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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case MAV_CMD_DO_MOUNT_CONTROL: // 205
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// point the camera to a specified angle
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do_mount_control(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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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 PARACHUTE == ENABLED
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case MAV_CMD_DO_PARACHUTE: // Mission command to configure or release parachute
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do_parachute(cmd);
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break;
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#endif
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#if EPM_ENABLED == ENABLED
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case MAV_CMD_DO_GRIPPER: // Mission command to control EPM gripper
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do_gripper(cmd);
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break;
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#endif
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#if NAV_GUIDED == ENABLED
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case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
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do_guided_limits(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_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 Copter::verify_command_callback(const AP_Mission::Mission_Command& cmd)
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{
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if (control_mode == AUTO) {
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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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return false;
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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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bool Copter::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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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp(cmd);
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case MAV_CMD_NAV_LAND:
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return verify_land();
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case MAV_CMD_NAV_LOITER_UNLIM:
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return verify_loiter_unlimited();
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case MAV_CMD_NAV_LOITER_TURNS:
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return verify_circle(cmd);
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time();
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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_SPLINE_WAYPOINT:
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return verify_spline_wp(cmd);
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#if NAV_GUIDED == ENABLED
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case MAV_CMD_NAV_GUIDED_ENABLE:
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return verify_nav_guided_enable(cmd);
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#endif
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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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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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case MAV_CMD_CONDITION_CHANGE_ALT:
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return verify_change_alt();
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case MAV_CMD_CONDITION_YAW:
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return verify_yaw();
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case MAV_CMD_DO_PARACHUTE:
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// assume parachute was released successfully
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return true;
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default:
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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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// exit_mission - function that is called once the mission completes
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void Copter::exit_mission()
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{
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// play a tone
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AP_Notify::events.mission_complete = 1;
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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(!auto_loiter_start()) {
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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 (ap.throttle_zero || 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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void Copter::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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void Copter::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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void Copter::do_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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const Vector3f &curr_pos = inertial_nav.get_position();
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const Vector3f local_pos = pv_location_to_vector_with_default(cmd.content.location, curr_pos);
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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
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loiter_time_max = abs(cmd.p1);
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// Set wp navigation target
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auto_wp_start(local_pos);
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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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void Copter::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 = inertial_nav.get_altitude();
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auto_wp_start(pos);
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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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void Copter::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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void Copter::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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uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
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bool move_to_edge_required = false;
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// set target altitude if not provided
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if (cmd.content.location.alt == 0) {
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circle_center.z = curr_pos.z;
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} else {
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move_to_edge_required = true;
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}
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// set lat/lon position if not provided
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// To-Do: use previous command's destination if it was a straight line or spline waypoint command
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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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} else {
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move_to_edge_required = true;
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}
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// set circle controller's center
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circle_nav.set_center(circle_center);
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// set circle radius
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if (circle_radius_m != 0) {
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circle_nav.set_radius((float)circle_radius_m * 100.0f);
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}
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// check if we need to move to edge of circle
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if (move_to_edge_required) {
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// move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
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auto_circle_movetoedge_start();
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} else {
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// start circling
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auto_circle_start();
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}
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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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void Copter::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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// do_spline_wp - initiate move to next waypoint
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void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd)
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{
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const Vector3f& curr_pos = inertial_nav.get_position();
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Vector3f local_pos = pv_location_to_vector_with_default(cmd.content.location, curr_pos);
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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
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loiter_time_max = abs(cmd.p1);
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// determine segment start and end type
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bool stopped_at_start = true;
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AC_WPNav::spline_segment_end_type seg_end_type = AC_WPNav::SEGMENT_END_STOP;
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AP_Mission::Mission_Command temp_cmd;
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Vector3f next_destination; // end of next segment
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// if previous command was a wp_nav command with no delay set stopped_at_start to false
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// To-Do: move processing of delay into wp-nav controller to allow it to determine the stopped_at_start value itself?
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uint16_t prev_cmd_idx = mission.get_prev_nav_cmd_index();
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if (prev_cmd_idx != AP_MISSION_CMD_INDEX_NONE) {
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if (mission.read_cmd_from_storage(prev_cmd_idx, temp_cmd)) {
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if ((temp_cmd.id == MAV_CMD_NAV_WAYPOINT || temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) && temp_cmd.p1 == 0) {
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stopped_at_start = false;
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}
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}
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}
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// if there is no delay at the end of this segment get next nav command
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if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) {
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// if the next nav command is a waypoint set end type to spline or straight
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if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT) {
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seg_end_type = AC_WPNav::SEGMENT_END_STRAIGHT;
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next_destination = pv_location_to_vector_with_default(temp_cmd.content.location, local_pos);
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}else if (temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) {
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seg_end_type = AC_WPNav::SEGMENT_END_SPLINE;
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next_destination = pv_location_to_vector_with_default(temp_cmd.content.location, local_pos);
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}
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}
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// set spline navigation target
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auto_spline_start(local_pos, stopped_at_start, seg_end_type, next_destination);
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}
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#if NAV_GUIDED == ENABLED
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// do_nav_guided_enable - initiate accepting commands from external nav computer
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void Copter::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
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{
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if (cmd.p1 > 0) {
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// initialise guided limits
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guided_limit_init_time_and_pos();
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// set spline navigation target
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auto_nav_guided_start();
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}
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}
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#endif // NAV_GUIDED
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#if PARACHUTE == ENABLED
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// do_parachute - configure or release parachute
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void Copter::do_parachute(const AP_Mission::Mission_Command& cmd)
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{
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switch (cmd.p1) {
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case PARACHUTE_DISABLE:
|
|
parachute.enabled(false);
|
|
Log_Write_Event(DATA_PARACHUTE_DISABLED);
|
|
break;
|
|
case PARACHUTE_ENABLE:
|
|
parachute.enabled(true);
|
|
Log_Write_Event(DATA_PARACHUTE_ENABLED);
|
|
break;
|
|
case PARACHUTE_RELEASE:
|
|
parachute_release();
|
|
break;
|
|
default:
|
|
// do nothing
|
|
break;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if EPM_ENABLED == ENABLED
|
|
// do_gripper - control EPM gripper
|
|
void Copter::do_gripper(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// Note: we ignore the gripper num parameter because we only support one gripper
|
|
switch (cmd.content.gripper.action) {
|
|
case GRIPPER_ACTION_RELEASE:
|
|
epm.release();
|
|
Log_Write_Event(DATA_EPM_RELEASE);
|
|
break;
|
|
case GRIPPER_ACTION_GRAB:
|
|
epm.grab();
|
|
Log_Write_Event(DATA_EPM_GRAB);
|
|
break;
|
|
default:
|
|
// do nothing
|
|
break;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if NAV_GUIDED == ENABLED
|
|
// do_guided_limits - pass guided limits to guided controller
|
|
void Copter::do_guided_limits(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
guided_limit_set(cmd.p1 * 1000, // convert seconds to ms
|
|
cmd.content.guided_limits.alt_min * 100.0f, // convert meters to cm
|
|
cmd.content.guided_limits.alt_max * 100.0f, // convert meters to cm
|
|
cmd.content.guided_limits.horiz_max * 100.0f); // convert meters to cm
|
|
}
|
|
#endif
|
|
|
|
/********************************************************************************/
|
|
// Verify Nav (Must) commands
|
|
/********************************************************************************/
|
|
|
|
// verify_takeoff - check if we have completed the takeoff
|
|
bool Copter::verify_takeoff()
|
|
{
|
|
// have we reached our target altitude?
|
|
return wp_nav.reached_wp_destination();
|
|
}
|
|
|
|
// verify_land - returns true if landing has been completed
|
|
bool Copter::verify_land()
|
|
{
|
|
bool retval = false;
|
|
|
|
switch( land_state ) {
|
|
case LAND_STATE_FLY_TO_LOCATION:
|
|
// check if we've reached the location
|
|
if (wp_nav.reached_wp_destination()) {
|
|
// get destination so we can use it for loiter target
|
|
Vector3f dest = wp_nav.get_wp_destination();
|
|
|
|
// initialise landing controller
|
|
auto_land_start(dest);
|
|
|
|
// advance to next state
|
|
land_state = LAND_STATE_DESCENDING;
|
|
}
|
|
break;
|
|
|
|
case LAND_STATE_DESCENDING:
|
|
// rely on THROTTLE_LAND mode to correctly update landing status
|
|
retval = ap.land_complete;
|
|
break;
|
|
|
|
default:
|
|
// this should never happen
|
|
// TO-DO: log an error
|
|
retval = true;
|
|
break;
|
|
}
|
|
|
|
// true is returned if we've successfully landed
|
|
return retval;
|
|
}
|
|
|
|
// verify_nav_wp - check if we have reached the next way point
|
|
bool Copter::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// check if we have reached the waypoint
|
|
if( !wp_nav.reached_wp_destination() ) {
|
|
return false;
|
|
}
|
|
|
|
// play a tone
|
|
AP_Notify::events.waypoint_complete = 1;
|
|
|
|
// start timer if necessary
|
|
if(loiter_time == 0) {
|
|
loiter_time = millis();
|
|
}
|
|
|
|
// check if timer has run out
|
|
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
|
|
gcs_send_text_fmt(PSTR("Reached Command #%i"),cmd.index);
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Copter::verify_loiter_unlimited()
|
|
{
|
|
return false;
|
|
}
|
|
|
|
// verify_loiter_time - check if we have loitered long enough
|
|
bool Copter::verify_loiter_time()
|
|
{
|
|
// return immediately if we haven't reached our destination
|
|
if (!wp_nav.reached_wp_destination()) {
|
|
return false;
|
|
}
|
|
|
|
// start our loiter timer
|
|
if( loiter_time == 0 ) {
|
|
loiter_time = millis();
|
|
}
|
|
|
|
// check if loiter timer has run out
|
|
return (((millis() - loiter_time) / 1000) >= loiter_time_max);
|
|
}
|
|
|
|
// verify_circle - check if we have circled the point enough
|
|
bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// check if we've reached the edge
|
|
if (auto_mode == Auto_CircleMoveToEdge) {
|
|
if (wp_nav.reached_wp_destination()) {
|
|
Vector3f curr_pos = inertial_nav.get_position();
|
|
Vector3f circle_center = pv_location_to_vector(cmd.content.location);
|
|
|
|
// set target altitude if not provided
|
|
if (is_zero(circle_center.z)) {
|
|
circle_center.z = curr_pos.z;
|
|
}
|
|
|
|
// set lat/lon position if not provided
|
|
if (cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
|
|
circle_center.x = curr_pos.x;
|
|
circle_center.y = curr_pos.y;
|
|
}
|
|
|
|
// start circling
|
|
auto_circle_start();
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// check if we have completed circling
|
|
return fabsf(circle_nav.get_angle_total()/M_2PI_F) >= LOWBYTE(cmd.p1);
|
|
}
|
|
|
|
// verify_RTL - handles any state changes required to implement RTL
|
|
// do_RTL should have been called once first to initialise all variables
|
|
// returns true with RTL has completed successfully
|
|
bool Copter::verify_RTL()
|
|
{
|
|
return (rtl_state_complete && (rtl_state == RTL_FinalDescent || rtl_state == RTL_Land));
|
|
}
|
|
|
|
// verify_spline_wp - check if we have reached the next way point using spline
|
|
bool Copter::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// check if we have reached the waypoint
|
|
if( !wp_nav.reached_wp_destination() ) {
|
|
return false;
|
|
}
|
|
|
|
// start timer if necessary
|
|
if(loiter_time == 0) {
|
|
loiter_time = millis();
|
|
}
|
|
|
|
// check if timer has run out
|
|
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
|
|
gcs_send_text_fmt(PSTR("Reached Command #%i"),cmd.index);
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
#if NAV_GUIDED == ENABLED
|
|
// verify_nav_guided - check if we have breached any limits
|
|
bool Copter::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// if disabling guided mode then immediately return true so we move to next command
|
|
if (cmd.p1 == 0) {
|
|
return true;
|
|
}
|
|
|
|
// check time and position limits
|
|
return guided_limit_check();
|
|
}
|
|
#endif // NAV_GUIDED
|
|
|
|
|
|
/********************************************************************************/
|
|
// Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
void Copter::do_wait_delay(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
condition_start = millis();
|
|
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
|
|
}
|
|
|
|
void Copter::do_change_alt(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
// To-Do: store desired altitude in a variable so that it can be verified later
|
|
}
|
|
|
|
void Copter::do_within_distance(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
condition_value = cmd.content.distance.meters * 100;
|
|
}
|
|
|
|
void Copter::do_yaw(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
set_auto_yaw_look_at_heading(
|
|
cmd.content.yaw.angle_deg,
|
|
cmd.content.yaw.turn_rate_dps,
|
|
cmd.content.yaw.direction,
|
|
cmd.content.yaw.relative_angle);
|
|
}
|
|
|
|
|
|
/********************************************************************************/
|
|
// Verify Condition (May) commands
|
|
/********************************************************************************/
|
|
|
|
bool Copter::verify_wait_delay()
|
|
{
|
|
if (millis() - condition_start > (uint32_t)max(condition_value,0)) {
|
|
condition_value = 0;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool Copter::verify_change_alt()
|
|
{
|
|
// To-Do: use recorded target altitude to verify we have reached the target
|
|
return true;
|
|
}
|
|
|
|
bool Copter::verify_within_distance()
|
|
{
|
|
// update distance calculation
|
|
calc_wp_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
|
|
bool Copter::verify_yaw()
|
|
{
|
|
// set yaw mode if it has been changed (the waypoint controller often retakes control of yaw as it executes a new waypoint command)
|
|
if (auto_yaw_mode != AUTO_YAW_LOOK_AT_HEADING) {
|
|
set_auto_yaw_mode(AUTO_YAW_LOOK_AT_HEADING);
|
|
}
|
|
|
|
// check if we are within 2 degrees of the target heading
|
|
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
|
|
bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
Vector3f pos_or_vel; // target location or velocity
|
|
|
|
// only process guided waypoint if we are in guided mode
|
|
if (control_mode != GUIDED && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
|
|
return false;
|
|
}
|
|
|
|
// switch to handle different commands
|
|
switch (cmd.id) {
|
|
|
|
case MAV_CMD_NAV_WAYPOINT:
|
|
// set wp_nav's destination
|
|
pos_or_vel = pv_location_to_vector(cmd.content.location);
|
|
guided_set_destination(pos_or_vel);
|
|
return true;
|
|
break;
|
|
|
|
case MAV_CMD_CONDITION_YAW:
|
|
do_yaw(cmd);
|
|
return true;
|
|
break;
|
|
|
|
default:
|
|
// reject unrecognised command
|
|
return false;
|
|
break;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
void Copter::do_change_speed(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if (cmd.content.speed.target_ms > 0) {
|
|
wp_nav.set_speed_xy(cmd.content.speed.target_ms * 100.0f);
|
|
}
|
|
}
|
|
|
|
void Copter::do_set_home(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
if(cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) {
|
|
set_home_to_current_location();
|
|
} else {
|
|
if (!far_from_EKF_origin(cmd.content.location)) {
|
|
set_home(cmd.content.location);
|
|
}
|
|
}
|
|
}
|
|
|
|
// 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
|
|
// TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint
|
|
void Copter::do_roi(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
set_auto_yaw_roi(cmd.content.location);
|
|
}
|
|
|
|
// do_digicam_configure Send Digicam Configure message with the camera library
|
|
void Copter::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
#if CAMERA == ENABLED
|
|
camera.configure_cmd(cmd);
|
|
#endif
|
|
}
|
|
|
|
// do_digicam_control Send Digicam Control message with the camera library
|
|
void Copter::do_digicam_control(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
#if CAMERA == ENABLED
|
|
camera.control_cmd(cmd);
|
|
log_picture();
|
|
#endif
|
|
}
|
|
|
|
// do_take_picture - take a picture with the camera library
|
|
void Copter::do_take_picture()
|
|
{
|
|
#if CAMERA == ENABLED
|
|
camera.trigger_pic(true);
|
|
log_picture();
|
|
#endif
|
|
}
|
|
|
|
// log_picture - log picture taken and send feedback to GCS
|
|
void Copter::log_picture()
|
|
{
|
|
gcs_send_message(MSG_CAMERA_FEEDBACK);
|
|
if (should_log(MASK_LOG_CAMERA)) {
|
|
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
|
|
}
|
|
}
|
|
|
|
// point the camera to a specified angle
|
|
void Copter::do_mount_control(const AP_Mission::Mission_Command& cmd)
|
|
{
|
|
#if MOUNT == ENABLED
|
|
camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
|
|
#endif
|
|
}
|