Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/ArduCopter/mode_auto.cpp

2358 lines
79 KiB
C++
Raw Blame History

#include "Copter.h"
#if MODE_AUTO_ENABLED
/*
* Init and run calls for auto flight mode
*
* This file contains the implementation for Land, Waypoint navigation and Takeoff from Auto mode
* Command execution code (i.e. command_logic.pde) should:
* a) switch to Auto flight mode with set_mode() function. This will cause auto_init to be called
* b) call one of the three auto initialisation functions: auto_wp_start(), auto_takeoff_start(), auto_land_start()
* c) call one of the verify functions auto_wp_verify(), auto_takeoff_verify, auto_land_verify repeated to check if the command has completed
* The main loop (i.e. fast loop) will call update_flight_modes() which will in turn call auto_run() which, based upon the auto_mode variable will call
* correct auto_wp_run, auto_takeoff_run or auto_land_run to actually implement the feature
*/
/*
* While in the auto flight mode, navigation or do/now commands can be run.
* Code in this file implements the navigation commands
*/
// auto_init - initialise auto controller
bool ModeAuto::init(bool ignore_checks)
{
auto_RTL = false;
if (mission.num_commands() > 1 || ignore_checks) {
// reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce chance of flips)
if (motors->armed() && copter.ap.land_complete && !mission.starts_with_takeoff_cmd()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd");
return false;
}
_mode = SubMode::LOITER;
// stop ROI from carrying over from previous runs of the mission
// To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
if (auto_yaw.mode() == AutoYaw::Mode::ROI) {
auto_yaw.set_mode(AutoYaw::Mode::HOLD);
}
// initialise waypoint and spline controller
wp_nav->wp_and_spline_init();
// initialise desired speed overrides
desired_speed_override = {0, 0, 0};
// set flag to start mission
waiting_to_start = true;
// initialise mission change check (ignore results)
IGNORE_RETURN(mis_change_detector.check_for_mission_change());
// clear guided limits
copter.mode_guided.limit_clear();
// reset flag indicating if pilot has applied roll or pitch inputs during landing
copter.ap.land_repo_active = false;
#if AC_PRECLAND_ENABLED
// initialise precland state machine
copter.precland_statemachine.init();
#endif
return true;
} else {
return false;
}
}
// stop mission when we leave auto mode
void ModeAuto::exit()
{
if (copter.mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) {
copter.mode_auto.mission.stop();
}
#if HAL_MOUNT_ENABLED
copter.camera_mount.set_mode_to_default();
#endif // HAL_MOUNT_ENABLED
auto_RTL = false;
}
// auto_run - runs the auto controller
// should be called at 100hz or more
void ModeAuto::run()
{
// start or update mission
if (waiting_to_start) {
// don't start the mission until we have an origin
Location loc;
if (copter.ahrs.get_origin(loc)) {
// start/resume the mission (based on MIS_RESTART parameter)
mission.start_or_resume();
waiting_to_start = false;
// initialise mission change check (ignore results)
IGNORE_RETURN(mis_change_detector.check_for_mission_change());
}
} else {
// check for mission changes
if (mis_change_detector.check_for_mission_change()) {
// if mission is running restart the current command if it is a waypoint or spline command
if ((mission.state() == AP_Mission::MISSION_RUNNING) && (_mode == SubMode::WP)) {
if (mission.restart_current_nav_cmd()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto mission changed, restarted command");
} else {
// failed to restart mission for some reason
gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto mission changed but failed to restart command");
}
}
}
mission.update();
}
// call the correct auto controller
switch (_mode) {
case SubMode::TAKEOFF:
takeoff_run();
break;
case SubMode::WP:
case SubMode::CIRCLE_MOVE_TO_EDGE:
wp_run();
break;
case SubMode::LAND:
land_run();
break;
case SubMode::RTL:
rtl_run();
break;
case SubMode::CIRCLE:
circle_run();
break;
case SubMode::NAVGUIDED:
case SubMode::NAV_SCRIPT_TIME:
#if AC_NAV_GUIDED || AP_SCRIPTING_ENABLED
nav_guided_run();
#endif
break;
case SubMode::LOITER:
loiter_run();
break;
case SubMode::LOITER_TO_ALT:
loiter_to_alt_run();
break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
case SubMode::NAV_PAYLOAD_PLACE:
payload_place.run();
break;
#endif
case SubMode::NAV_ATTITUDE_TIME:
nav_attitude_time_run();
break;
}
// only pretend to be in auto RTL so long as mission still thinks its in a landing sequence or the mission has completed
const bool auto_rtl_active = mission.get_in_landing_sequence_flag() || mission.get_in_return_path_flag() || mission.state() == AP_Mission::mission_state::MISSION_COMPLETE;
if (auto_RTL && !auto_rtl_active) {
auto_RTL = false;
// log exit from Auto RTL
#if HAL_LOGGING_ENABLED
copter.logger.Write_Mode((uint8_t)copter.flightmode->mode_number(), ModeReason::AUTO_RTL_EXIT);
#endif
}
}
// return true if a position estimate is required
bool ModeAuto::requires_GPS() const
{
// position estimate is required in all sub modes except attitude control
return _mode != SubMode::NAV_ATTITUDE_TIME;
}
// set submode. This may re-trigger the vehicle's EKF failsafe if the new submode requires a position estimate
void ModeAuto::set_submode(SubMode new_submode)
{
// return immediately if the submode has not been changed
if (new_submode == _mode) {
return;
}
// backup old mode
SubMode old_submode = _mode;
// set mode
_mode = new_submode;
// if changing out of the nav-attitude-time submode, recheck the EKF failsafe
// this may trigger a flight mode change if the EKF failsafe is active
if (old_submode == SubMode::NAV_ATTITUDE_TIME) {
copter.failsafe_ekf_recheck();
}
}
bool ModeAuto::option_is_enabled(Option option) const
{
return ((copter.g2.auto_options & (uint32_t)option) != 0);
}
bool ModeAuto::allows_arming(AP_Arming::Method method) const
{
if (auto_RTL) {
return false;
}
return option_is_enabled(Option::AllowArming);
}
#if WEATHERVANE_ENABLED
bool ModeAuto::allows_weathervaning() const
{
return option_is_enabled(Option::AllowWeatherVaning);
}
#endif
// Go straight to landing sequence via DO_LAND_START, if succeeds pretend to be Auto RTL mode
bool ModeAuto::jump_to_landing_sequence_auto_RTL(ModeReason reason)
{
if (!mission.jump_to_landing_sequence(get_stopping_point())) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(Number::AUTO_RTL));
// make sad noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to AUTO RTL failed: No landing sequence found");
return false;
}
return enter_auto_rtl(reason);
}
// Join mission after DO_RETURN_PATH_START waypoint, if succeeds pretend to be Auto RTL mode
bool ModeAuto::return_path_start_auto_RTL(ModeReason reason)
{
if (!mission.jump_to_closest_mission_leg(get_stopping_point())) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(Number::AUTO_RTL));
// make sad noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to AUTO RTL failed: No return path found");
return false;
}
return enter_auto_rtl(reason);
}
// Try join return path else do land start
bool ModeAuto::return_path_or_jump_to_landing_sequence_auto_RTL(ModeReason reason)
{
const Location stopping_point = get_stopping_point();
if (!mission.jump_to_closest_mission_leg(stopping_point) && !mission.jump_to_landing_sequence(stopping_point)) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(Number::AUTO_RTL));
// make sad noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to AUTO RTL failed: No return path or landing sequence found");
return false;
}
return enter_auto_rtl(reason);
}
// Enter auto rtl pseudo mode
bool ModeAuto::enter_auto_rtl(ModeReason reason)
{
mission.set_force_resume(true);
// if not already in auto switch to auto
if ((copter.flightmode == this) || set_mode(Mode::Number::AUTO, reason)) {
auto_RTL = true;
#if HAL_LOGGING_ENABLED
// log entry into AUTO RTL
copter.logger.Write_Mode((uint8_t)copter.flightmode->mode_number(), reason);
#endif
// make happy noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
return true;
}
// mode change failed, revert force resume flag
mission.set_force_resume(false);
LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(Number::AUTO_RTL));
// make sad noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
return false;
}
// lua scripts use this to retrieve the contents of the active command
bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4)
{
#if AP_SCRIPTING_ENABLED
if (_mode == SubMode::NAV_SCRIPT_TIME) {
id = nav_scripting.id;
cmd = nav_scripting.command;
arg1 = nav_scripting.arg1;
arg2 = nav_scripting.arg2;
arg3 = nav_scripting.arg3;
arg4 = nav_scripting.arg4;
return true;
}
#endif
return false;
}
// lua scripts use this to indicate when they have complete the command
void ModeAuto::nav_script_time_done(uint16_t id)
{
#if AP_SCRIPTING_ENABLED
if ((_mode == SubMode::NAV_SCRIPT_TIME) && (id == nav_scripting.id)) {
nav_scripting.done = true;
}
#endif
}
// auto_loiter_start - initialises loitering in auto mode
// returns success/failure because this can be called by exit_mission
bool ModeAuto::loiter_start()
{
// return failure if GPS is bad
if (!copter.position_ok()) {
return false;
}
_mode = SubMode::LOITER;
// calculate stopping point
Vector3f stopping_point;
wp_nav->get_wp_stopping_point(stopping_point);
// initialise waypoint controller target to stopping point
wp_nav->set_wp_destination(stopping_point);
// hold yaw at current heading
auto_yaw.set_mode(AutoYaw::Mode::HOLD);
return true;
}
// auto_rtl_start - initialises RTL in AUTO flight mode
void ModeAuto::rtl_start()
{
// call regular rtl flight mode initialisation and ask it to ignore checks
if (copter.mode_rtl.init(true)) {
set_submode(SubMode::RTL);
} else {
// this should never happen because RTL never fails init if argument is true
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
// initialise waypoint controller to implement take-off
void ModeAuto::takeoff_start(const Location& dest_loc)
{
if (!copter.current_loc.initialised()) {
// this should never happen because mission commands are not executed until
// the AHRS/EKF origin is set by which time current_loc should also have been set
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return;
}
// calculate current and target altitudes
// by default current_alt_cm and alt_target_cm are alt-above-EKF-origin
int32_t alt_target_cm;
bool alt_target_terrain = false;
float current_alt_cm = inertial_nav.get_position_z_up_cm();
float terrain_offset; // terrain's altitude in cm above the ekf origin
if ((dest_loc.get_alt_frame() == Location::AltFrame::ABOVE_TERRAIN) && wp_nav->get_terrain_offset(terrain_offset)) {
// subtract terrain offset to convert vehicle's alt-above-ekf-origin to alt-above-terrain
current_alt_cm -= terrain_offset;
// specify alt_target_cm as alt-above-terrain
alt_target_cm = dest_loc.alt;
alt_target_terrain = true;
} else {
// set horizontal target
Location dest(dest_loc);
dest.lat = copter.current_loc.lat;
dest.lng = copter.current_loc.lng;
// get altitude target above EKF origin
if (!dest.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN, alt_target_cm)) {
// this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data
LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
// fall back to altitude above current altitude
alt_target_cm = current_alt_cm + dest.alt;
}
}
// sanity check target
int32_t alt_target_min_cm = current_alt_cm + (copter.ap.land_complete ? 100 : 0);
alt_target_cm = MAX(alt_target_cm, alt_target_min_cm);
// initialise yaw
auto_yaw.set_mode(AutoYaw::Mode::HOLD);
// clear i term when we're taking off
pos_control->init_z_controller();
// initialise alt for WP_NAVALT_MIN and set completion alt
auto_takeoff.start(alt_target_cm, alt_target_terrain);
// set submode
set_submode(SubMode::TAKEOFF);
}
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
bool ModeAuto::wp_start(const Location& dest_loc)
{
// init wpnav and set origin if transitioning from takeoff
if (!wp_nav->is_active()) {
Vector3f stopping_point;
if (_mode == SubMode::TAKEOFF) {
Vector3p takeoff_complete_pos;
if (auto_takeoff.get_completion_pos(takeoff_complete_pos)) {
stopping_point = takeoff_complete_pos.tofloat();
}
}
float des_speed_xy_cm = is_positive(desired_speed_override.xy) ? (desired_speed_override.xy * 100) : 0;
wp_nav->wp_and_spline_init(des_speed_xy_cm, stopping_point);
// override speeds up and down if necessary
if (is_positive(desired_speed_override.up)) {
wp_nav->set_speed_up(desired_speed_override.up * 100.0);
}
if (is_positive(desired_speed_override.down)) {
wp_nav->set_speed_down(desired_speed_override.down * 100.0);
}
}
if (!wp_nav->set_wp_destination_loc(dest_loc)) {
return false;
}
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) {
auto_yaw.set_mode_to_default(false);
}
// set submode
set_submode(SubMode::WP);
return true;
}
// auto_land_start - initialises controller to implement a landing
void ModeAuto::land_start()
{
// set horizontal speed and acceleration limits
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
// initialise the vertical position controller
if (!pos_control->is_active_xy()) {
pos_control->init_xy_controller();
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
// initialise the vertical position controller
if (!pos_control->is_active_z()) {
pos_control->init_z_controller();
}
// initialise yaw
auto_yaw.set_mode(AutoYaw::Mode::HOLD);
#if AP_LANDINGGEAR_ENABLED
// optionally deploy landing gear
copter.landinggear.deploy_for_landing();
#endif
// reset flag indicating if pilot has applied roll or pitch inputs during landing
copter.ap.land_repo_active = false;
// this will be set true if prec land is later active
copter.ap.prec_land_active = false;
// set submode
set_submode(SubMode::LAND);
}
// circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
// we assume the caller has performed all required GPS_ok checks
void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radius_m, bool ccw_turn)
{
// set circle center
copter.circle_nav->set_center(circle_center);
// set circle radius
if (!is_zero(radius_m)) {
copter.circle_nav->set_radius_cm(radius_m * 100.0f);
}
// set circle direction by using rate
float current_rate = copter.circle_nav->get_rate();
current_rate = ccw_turn ? -fabsf(current_rate) : fabsf(current_rate);
copter.circle_nav->set_rate(current_rate);
// check our distance from edge of circle
Vector3f circle_edge_neu;
float dist_to_edge;
copter.circle_nav->get_closest_point_on_circle(circle_edge_neu, dist_to_edge);
// if more than 3m then fly to edge
if (dist_to_edge > 300.0f) {
// convert circle_edge_neu to Location
Location circle_edge(circle_edge_neu, Location::AltFrame::ABOVE_ORIGIN);
// convert altitude to same as command
circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
// initialise wpnav to move to edge of circle
if (!wp_nav->set_wp_destination_loc(circle_edge)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
}
// if we are outside the circle, point at the edge, otherwise hold yaw
const float dist_to_center = get_horizontal_distance_cm(inertial_nav.get_position_xy_cm().topostype(), copter.circle_nav->get_center().xy());
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AutoYaw::Mode::ROI) {
if (dist_to_center > copter.circle_nav->get_radius() && dist_to_center > 500) {
auto_yaw.set_mode_to_default(false);
} else {
// vehicle is within circle so hold yaw to avoid spinning as we move to edge of circle
auto_yaw.set_mode(AutoYaw::Mode::HOLD);
}
}
// set the submode to move to the edge of the circle
set_submode(SubMode::CIRCLE_MOVE_TO_EDGE);
} else {
circle_start();
}
}
// auto_circle_start - initialises controller to fly a circle in AUTO flight mode
// assumes that circle_nav object has already been initialised with circle center and radius
void ModeAuto::circle_start()
{
// initialise circle controller
copter.circle_nav->init(copter.circle_nav->get_center(), copter.circle_nav->center_is_terrain_alt(), copter.circle_nav->get_rate());
if (auto_yaw.mode() != AutoYaw::Mode::ROI) {
auto_yaw.set_mode(AutoYaw::Mode::CIRCLE);
}
// set submode to circle
set_submode(SubMode::CIRCLE);
}
#if AC_NAV_GUIDED
// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode
void ModeAuto::nav_guided_start()
{
// call regular guided flight mode initialisation
if (!copter.mode_guided.init(true)) {
// this should never happen because guided mode never fails to init
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return;
}
// initialise guided start time and position as reference for limit checking
copter.mode_guided.limit_init_time_and_pos();
// set submode
set_submode(SubMode::NAVGUIDED);
}
#endif //AC_NAV_GUIDED
bool ModeAuto::is_landing() const
{
switch(_mode) {
case SubMode::LAND:
return true;
case SubMode::RTL:
return copter.mode_rtl.is_landing();
default:
return false;
}
return false;
}
bool ModeAuto::is_taking_off() const
{
return ((_mode == SubMode::TAKEOFF) && !auto_takeoff.complete);
}
#if AC_PAYLOAD_PLACE_ENABLED
// auto_payload_place_start - initialises controller to implement a placing
void PayloadPlace::start_descent()
{
auto *pos_control = copter.pos_control;
auto *wp_nav = copter.wp_nav;
// set horizontal speed and acceleration limits
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
// initialise the vertical position controller
if (!pos_control->is_active_xy()) {
pos_control->init_xy_controller();
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
// initialise the vertical position controller
if (!pos_control->is_active_z()) {
pos_control->init_z_controller();
}
// initialise yaw
copter.flightmode->auto_yaw.set_mode(Mode::AutoYaw::Mode::HOLD);
state = PayloadPlace::State::Descent_Start;
}
#endif
// returns true if pilot's yaw input should be used to adjust vehicle's heading
bool ModeAuto::use_pilot_yaw(void) const
{
const bool allow_yaw_option = !option_is_enabled(Option::IgnorePilotYaw);
const bool rtl_allow_yaw = (_mode == SubMode::RTL) && copter.mode_rtl.use_pilot_yaw();
const bool landing = _mode == SubMode::LAND;
return allow_yaw_option || rtl_allow_yaw || landing;
}
bool ModeAuto::set_speed_xy(float speed_xy_cms)
{
copter.wp_nav->set_speed_xy(speed_xy_cms);
desired_speed_override.xy = speed_xy_cms * 0.01;
return true;
}
bool ModeAuto::set_speed_up(float speed_up_cms)
{
copter.wp_nav->set_speed_up(speed_up_cms);
desired_speed_override.up = speed_up_cms * 0.01;
return true;
}
bool ModeAuto::set_speed_down(float speed_down_cms)
{
copter.wp_nav->set_speed_down(speed_down_cms);
desired_speed_override.down = speed_down_cms * 0.01;
return true;
}
// start_command - this function will be called when the ap_mission lib wishes to start a new command
bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
///
/// navigation commands
///
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF: // 22
do_takeoff(cmd);
break;
case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint
do_nav_wp(cmd);
break;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
do_land(cmd);
break;
case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely
do_loiter_unlimited(cmd);
break;
case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times
do_circle(cmd);
break;
case MAV_CMD_NAV_LOITER_TIME: // 19
do_loiter_time(cmd);
break;
case MAV_CMD_NAV_LOITER_TO_ALT:
do_loiter_to_alt(cmd);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20
do_RTL();
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // 82 Navigate to Waypoint using spline
do_spline_wp(cmd);
break;
#if AC_NAV_GUIDED
case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer
do_nav_guided_enable(cmd);
break;
#endif
case MAV_CMD_NAV_DELAY: // 93 Delay the next navigation command
do_nav_delay(cmd);
break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE: // 94 place at Waypoint
do_payload_place(cmd);
break;
#endif
#if AP_SCRIPTING_ENABLED
case MAV_CMD_NAV_SCRIPT_TIME:
do_nav_script_time(cmd);
break;
#endif
case MAV_CMD_NAV_ATTITUDE_TIME:
do_nav_attitude_time(cmd);
break;
//
// conditional commands
//
case MAV_CMD_CONDITION_DELAY: // 112
do_wait_delay(cmd);
break;
case MAV_CMD_CONDITION_DISTANCE: // 114
do_within_distance(cmd);
break;
case MAV_CMD_CONDITION_YAW: // 115
do_yaw(cmd);
break;
///
/// do commands
///
case MAV_CMD_DO_CHANGE_SPEED: // 178
do_change_speed(cmd);
break;
case MAV_CMD_DO_SET_HOME: // 179
do_set_home(cmd);
break;
case MAV_CMD_DO_SET_ROI: // 201
// point the copter and camera at a region of interest (ROI)
do_roi(cmd);
break;
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONTROL: // 205
// point the camera to a specified angle
do_mount_control(cmd);
break;
#endif
#if AC_NAV_GUIDED
case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
do_guided_limits(cmd);
break;
#endif
#if AP_WINCH_ENABLED
case MAV_CMD_DO_WINCH: // Mission command to control winch
do_winch(cmd);
break;
#endif
case MAV_CMD_DO_RETURN_PATH_START:
case MAV_CMD_DO_LAND_START:
break;
default:
// unable to use the command, allow the vehicle to try the next command
return false;
}
// always return success
return true;
}
// exit_mission - function that is called once the mission completes
void ModeAuto::exit_mission()
{
// play a tone
AP_Notify::events.mission_complete = 1;
// if we are not on the ground switch to loiter or land
if (!copter.ap.land_complete) {
// try to enter loiter but if that fails land
if (!loiter_start()) {
set_mode(Mode::Number::LAND, ModeReason::MISSION_END);
}
} else {
// if we've landed it's safe to disarm
copter.arming.disarm(AP_Arming::Method::MISSIONEXIT);
}
}
// do_guided - start guided mode
bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
{
// only process guided waypoint if we are in guided mode
if (!copter.flightmode->in_guided_mode()) {
return false;
}
// switch to handle different commands
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
{
// set wp_nav's destination
Location dest(cmd.content.location);
return copter.mode_guided.set_destination(dest);
}
case MAV_CMD_CONDITION_YAW:
do_yaw(cmd);
return true;
default:
// reject unrecognised command
return false;
}
return true;
}
uint32_t ModeAuto::wp_distance() const
{
switch (_mode) {
case SubMode::CIRCLE:
return copter.circle_nav->get_distance_to_target();
case SubMode::WP:
case SubMode::CIRCLE_MOVE_TO_EDGE:
default:
return wp_nav->get_wp_distance_to_destination();
}
}
int32_t ModeAuto::wp_bearing() const
{
switch (_mode) {
case SubMode::CIRCLE:
return copter.circle_nav->get_bearing_to_target();
case SubMode::WP:
case SubMode::CIRCLE_MOVE_TO_EDGE:
default:
return wp_nav->get_wp_bearing_to_destination();
}
}
bool ModeAuto::get_wp(Location& destination) const
{
switch (_mode) {
case SubMode::NAVGUIDED:
return copter.mode_guided.get_wp(destination);
case SubMode::WP:
return wp_nav->get_oa_wp_destination(destination);
case SubMode::RTL:
return copter.mode_rtl.get_wp(destination);
default:
return false;
}
}
/*******************************************************************************
Verify command Handlers
Each type of mission element has a "verify" operation. The verify
operation returns true when the mission element has completed and we
should move onto the next mission element.
Return true if we do not recognize the command so that we move on to the next command
*******************************************************************************/
// verify_command - callback function called from ap-mission at 10hz or higher when a command is being run
// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
{
if (copter.flightmode != &copter.mode_auto) {
return false;
}
bool cmd_complete = false;
switch (cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF:
cmd_complete = verify_takeoff();
break;
case MAV_CMD_NAV_WAYPOINT:
cmd_complete = verify_nav_wp(cmd);
break;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND:
cmd_complete = verify_land();
break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE:
cmd_complete = payload_place.verify();
break;
#endif
case MAV_CMD_NAV_LOITER_UNLIM:
cmd_complete = verify_loiter_unlimited();
break;
case MAV_CMD_NAV_LOITER_TURNS:
cmd_complete = verify_circle(cmd);
break;
case MAV_CMD_NAV_LOITER_TIME:
cmd_complete = verify_loiter_time(cmd);
break;
case MAV_CMD_NAV_LOITER_TO_ALT:
return verify_loiter_to_alt();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
cmd_complete = verify_RTL();
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT:
cmd_complete = verify_spline_wp(cmd);
break;
#if AC_NAV_GUIDED
case MAV_CMD_NAV_GUIDED_ENABLE:
cmd_complete = verify_nav_guided_enable(cmd);
break;
#endif
case MAV_CMD_NAV_DELAY:
cmd_complete = verify_nav_delay(cmd);
break;
#if AP_SCRIPTING_ENABLED
case MAV_CMD_NAV_SCRIPT_TIME:
cmd_complete = verify_nav_script_time();
break;
#endif
case MAV_CMD_NAV_ATTITUDE_TIME:
cmd_complete = verify_nav_attitude_time(cmd);
break;
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
cmd_complete = verify_wait_delay();
break;
case MAV_CMD_CONDITION_DISTANCE:
cmd_complete = verify_within_distance();
break;
case MAV_CMD_CONDITION_YAW:
cmd_complete = verify_yaw();
break;
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_ROI:
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
#endif
#if AC_NAV_GUIDED
case MAV_CMD_DO_GUIDED_LIMITS:
#endif
#if AP_FENCE_ENABLED
case MAV_CMD_DO_FENCE_ENABLE:
#endif
#if AP_WINCH_ENABLED
case MAV_CMD_DO_WINCH:
#endif
case MAV_CMD_DO_RETURN_PATH_START:
case MAV_CMD_DO_LAND_START:
cmd_complete = true;
break;
default:
// error message
gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
cmd_complete = true;
break;
}
// send message to GCS
if (cmd_complete) {
gcs().send_mission_item_reached_message(cmd.index);
}
return cmd_complete;
}
// takeoff_run - takeoff in auto mode
// called by auto_run at 100hz or more
void ModeAuto::takeoff_run()
{
// if the user doesn't want to raise the throttle we can set it automatically
// note that this can defeat the disarm check on takeoff
if (option_is_enabled(Option::AllowTakeOffWithoutRaisingThrottle)) {
copter.set_auto_armed(true);
}
auto_takeoff.run();
}
// auto_wp_run - runs the auto waypoint controller
// called by auto_run at 100hz or more
void ModeAuto::wp_run()
{
// if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) {
make_safe_ground_handling();
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run waypoint controller
copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
// WP_Nav has set the vertical position control targets
// run the vertical position controller and set output throttle
pos_control->update_z_controller();
// call attitude controller with auto yaw
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
}
// auto_land_run - lands in auto mode
// called by auto_run at 100hz or more
void ModeAuto::land_run()
{
// if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) {
make_safe_ground_handling();
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run normal landing or precision landing (if enabled)
land_run_normal_or_precland();
}
// auto_rtl_run - rtl in AUTO flight mode
// called by auto_run at 100hz or more
void ModeAuto::rtl_run()
{
// call regular rtl flight mode run function
copter.mode_rtl.run(false);
}
// auto_circle_run - circle in AUTO flight mode
// called by auto_run at 100hz or more
void ModeAuto::circle_run()
{
// call circle controller
copter.failsafe_terrain_set_status(copter.circle_nav->update());
// WP_Nav has set the vertical position control targets
// run the vertical position controller and set output throttle
pos_control->update_z_controller();
// call attitude controller with auto yaw
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
}
#if AC_NAV_GUIDED || AP_SCRIPTING_ENABLED
// auto_nav_guided_run - allows control by external navigation controller
// called by auto_run at 100hz or more
void ModeAuto::nav_guided_run()
{
// call regular guided flight mode run function
copter.mode_guided.run();
}
#endif // AC_NAV_GUIDED || AP_SCRIPTING_ENABLED
// auto_loiter_run - loiter in AUTO flight mode
// called by auto_run at 100hz or more
void ModeAuto::loiter_run()
{
// if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) {
make_safe_ground_handling();
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run waypoint and z-axis position controller
copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
pos_control->update_z_controller();
// call attitude controller with auto yaw
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
}
// auto_loiter_run - loiter to altitude in AUTO flight mode
// called by auto_run at 100hz or more
void ModeAuto::loiter_to_alt_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (is_disarmed_or_landed() || !motors->get_interlock()) {
make_safe_ground_handling();
return;
}
// possibly just run the waypoint controller:
if (!loiter_to_alt.reached_destination_xy) {
loiter_to_alt.reached_destination_xy = wp_nav->reached_wp_destination_xy();
if (!loiter_to_alt.reached_destination_xy) {
wp_run();
return;
}
}
if (!loiter_to_alt.loiter_start_done) {
// set horizontal speed and acceleration limits
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
if (!pos_control->is_active_xy()) {
pos_control->init_xy_controller();
}
loiter_to_alt.loiter_start_done = true;
}
const float alt_error_cm = copter.current_loc.alt - loiter_to_alt.alt;
if (fabsf(alt_error_cm) < 5.0) { // random numbers R US
loiter_to_alt.reached_alt = true;
} else if (alt_error_cm * loiter_to_alt.alt_error_cm < 0) {
// we were above and are now below, or vice-versa
loiter_to_alt.reached_alt = true;
}
loiter_to_alt.alt_error_cm = alt_error_cm;
// loiter...
land_run_horizontal_control();
// Compute a vertical velocity demand such that the vehicle
// approaches the desired altitude.
float target_climb_rate = sqrt_controller(
-alt_error_cm,
pos_control->get_pos_z_p().kP(),
pos_control->get_max_accel_z_cmss(),
G_Dt);
target_climb_rate = constrain_float(target_climb_rate, pos_control->get_max_speed_down_cms(), pos_control->get_max_speed_up_cms());
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
#if AP_RANGEFINDER_ENABLED
// update the vertical offset based on the surface measurement
copter.surface_tracking.update_surface_offset();
#endif
// Send the commanded climb rate to the position controller
pos_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);
pos_control->update_z_controller();
}
// maintain an attitude for a specified time
void ModeAuto::nav_attitude_time_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (is_disarmed_or_landed() || !motors->get_interlock()) {
make_safe_ground_handling();
return;
}
// constrain climb rate
float target_climb_rate_cms = constrain_float(nav_attitude_time.climb_rate * 100.0, pos_control->get_max_speed_down_cms(), pos_control->get_max_speed_up_cms());
// get avoidance adjusted climb rate
target_climb_rate_cms = get_avoidance_adjusted_climbrate(target_climb_rate_cms);
// limit and scale lean angles
const float angle_limit_cd = MAX(1000.0f, MIN(copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd()));
Vector2f target_rp_cd(nav_attitude_time.roll_deg * 100, nav_attitude_time.pitch_deg * 100);
target_rp_cd.limit_length(angle_limit_cd);
// send targets to attitude controller
attitude_control->input_euler_angle_roll_pitch_yaw(target_rp_cd.x, target_rp_cd.y, nav_attitude_time.yaw_deg * 100, true);
// Send the commanded climb rate to the position controller
pos_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate_cms);
pos_control->update_z_controller();
}
#if AC_PAYLOAD_PLACE_ENABLED
// auto_payload_place_run - places an object in auto mode
// called by auto_run at 100hz or more
void PayloadPlace::run()
{
const char* prefix_str = "PayloadPlace:";
if (copter.flightmode->is_disarmed_or_landed()) {
copter.flightmode->make_safe_ground_handling();
return;
}
// set motors to full range
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
const uint32_t descent_thrust_cal_duration_ms = 2000; // milliseconds
const uint32_t placed_check_duration_ms = 500; // how long we have to be below a throttle threshold before considering placed
auto &g2 = copter.g2;
const auto &g = copter.g;
auto *attitude_control = copter.attitude_control;
const auto &pos_control = copter.pos_control;
const auto &wp_nav = copter.wp_nav;
// Vertical thrust is taken from the attitude controller before angle boost is added
const float thrust_level = attitude_control->get_throttle_in();
const uint32_t now_ms = AP_HAL::millis();
// relax position target if we might be landed
// if we discover we've landed then immediately release the load:
if (copter.ap.land_complete || copter.ap.land_complete_maybe) {
pos_control->soften_for_landing_xy();
switch (state) {
case State::FlyToLocation:
// this is handled in wp_run()
break;
case State::Descent_Start:
// do nothing on this loop
break;
case State::Descent:
gcs().send_text(MAV_SEVERITY_INFO, "%s landed", prefix_str);
state = State::Release;
break;
case State::Release:
case State::Releasing:
case State::Delay:
case State::Ascent_Start:
case State::Ascent:
case State::Done:
break;
}
}
#if AP_GRIPPER_ENABLED
// if pilot releases load manually:
if (AP::gripper().valid() && AP::gripper().released()) {
switch (state) {
case State::FlyToLocation:
case State::Descent_Start:
gcs().send_text(MAV_SEVERITY_INFO, "%s Abort: Gripper Open", prefix_str);
// Descent_Start has not run so we must also initalise descent_start_altitude_cm
descent_start_altitude_cm = pos_control->get_pos_desired_z_cm();
state = State::Done;
break;
case State::Descent:
gcs().send_text(MAV_SEVERITY_INFO, "%s Manual release", prefix_str);
state = State::Release;
break;
case State::Release:
case State::Releasing:
case State::Delay:
case State::Ascent_Start:
case State::Ascent:
case State::Done:
break;
}
}
#endif
switch (state) {
case State::FlyToLocation:
if (copter.wp_nav->reached_wp_destination()) {
start_descent();
}
break;
case State::Descent_Start:
descent_established_time_ms = now_ms;
descent_start_altitude_cm = pos_control->get_pos_desired_z_cm();
// limiting the decent rate to the limit set in wp_nav is not necessary but done for safety
descent_speed_cms = MIN((is_positive(g2.pldp_descent_speed_ms)) ? g2.pldp_descent_speed_ms * 100.0 : abs(g.land_speed), wp_nav->get_default_speed_down());
descent_thrust_level = 1.0;
state = State::Descent;
FALLTHROUGH;
case State::Descent:
// check maximum decent distance
if (!is_zero(descent_max_cm) &&
descent_start_altitude_cm - pos_control->get_pos_desired_z_cm() > descent_max_cm) {
state = State::Ascent_Start;
gcs().send_text(MAV_SEVERITY_WARNING, "%s Reached maximum descent", prefix_str);
break;
}
// calibrate the decent thrust after aircraft has reached constant decent rate and release if threshold is reached
if (pos_control->get_vel_desired_cms().z > -0.95 * descent_speed_cms) {
// decent rate has not reached descent_speed_cms
descent_established_time_ms = now_ms;
break;
} else if (now_ms - descent_established_time_ms < descent_thrust_cal_duration_ms) {
// record minimum thrust for descent_thrust_cal_duration_ms
descent_thrust_level = MIN(descent_thrust_level, thrust_level);
place_start_time_ms = now_ms;
break;
} else if (thrust_level > g2.pldp_thrust_placed_fraction * descent_thrust_level) {
// thrust is above minimum threshold
place_start_time_ms = now_ms;
break;
} else if (is_positive(g2.pldp_range_finder_maximum_m)) {
if (!copter.rangefinder_state.enabled) {
// abort payload place because rangefinder is not enabled
state = State::Ascent_Start;
gcs().send_text(MAV_SEVERITY_WARNING, "%s PLDP_RNG_MAX set and rangefinder not enabled", prefix_str);
break;
} else if (copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0) && (copter.rangefinder_state.alt_cm > g2.pldp_range_finder_maximum_m * 100.0)) {
// range finder altitude is above maximum
place_start_time_ms = now_ms;
break;
}
}
// If we get here:
// 1. we have reached decent velocity
// 2. measured the thrust level required for decent
// 3. detected that our thrust requirements have reduced
// 4. rangefinder range has dropped below minimum if set
// 5. place_start_time_ms has been initialised
// payload touchdown must be detected for 0.5 seconds
if (now_ms - place_start_time_ms > placed_check_duration_ms) {
state = State::Release;
gcs().send_text(MAV_SEVERITY_INFO, "%s payload release thrust threshold: %f", prefix_str, static_cast<double>(g2.pldp_thrust_placed_fraction * descent_thrust_level));
}
break;
case State::Release:
// Reinitialise vertical position controller to remove discontinuity due to touch down of payload
pos_control->init_z_controller_no_descent();
#if AP_GRIPPER_ENABLED
if (AP::gripper().valid()) {
gcs().send_text(MAV_SEVERITY_INFO, "%s Releasing the gripper", prefix_str);
AP::gripper().release();
state = State::Releasing;
} else {
state = State::Delay;
}
#else
state = State::Delay;
#endif
break;
case State::Releasing:
#if AP_GRIPPER_ENABLED
if (AP::gripper().valid() && !AP::gripper().released()) {
break;
}
#endif
state = State::Delay;
FALLTHROUGH;
case State::Delay:
// If we get here we have finished releasing the gripper
if (now_ms - place_start_time_ms < placed_check_duration_ms + g2.pldp_delay_s * 1000.0) {
break;
}
FALLTHROUGH;
case State::Ascent_Start:
state = State::Ascent;
FALLTHROUGH;
case State::Ascent: {
// Ascent complete when we are less than 10% of the stopping
// distance from the target altitude stopping distance from
// vel_threshold_fraction * max velocity
const float vel_threshold_fraction = 0.1;
const float stop_distance = 0.5 * sq(vel_threshold_fraction * copter.pos_control->get_max_speed_up_cms()) / copter.pos_control->get_max_accel_z_cmss();
bool reached_altitude = pos_control->get_pos_desired_z_cm() >= descent_start_altitude_cm - stop_distance;
if (reached_altitude) {
state = State::Done;
}
break;
}
case State::Done:
break;
default:
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
break;
}
switch (state) {
case State::FlyToLocation:
// this should never happen
return copter.mode_auto.wp_run();
case State::Descent_Start:
case State::Descent:
copter.flightmode->land_run_horizontal_control();
// update altitude target and call position controller
pos_control->land_at_climb_rate_cm(-descent_speed_cms, true);
break;
case State::Release:
case State::Releasing:
case State::Delay:
case State::Ascent_Start:
copter.flightmode->land_run_horizontal_control();
// update altitude target and call position controller
pos_control->land_at_climb_rate_cm(0.0, false);
break;
case State::Ascent:
case State::Done:
float vel = 0.0;
copter.flightmode->land_run_horizontal_control();
pos_control->input_pos_vel_accel_z(descent_start_altitude_cm, vel, 0.0);
break;
}
pos_control->update_z_controller();
}
#endif
// sets the target_loc's alt to the vehicle's current alt but does not change target_loc's frame
// in the case of terrain altitudes either the terrain database or the rangefinder may be used
// returns true on success, false on failure
bool ModeAuto::shift_alt_to_current_alt(Location& target_loc) const
{
// if terrain alt using rangefinder is being used then set alt to current rangefinder altitude
if ((target_loc.get_alt_frame() == Location::AltFrame::ABOVE_TERRAIN) &&
(wp_nav->get_terrain_source() == AC_WPNav::TerrainSource::TERRAIN_FROM_RANGEFINDER)) {
int32_t curr_rngfnd_alt_cm;
if (copter.get_rangefinder_height_interpolated_cm(curr_rngfnd_alt_cm)) {
// subtract position offset (if any)
curr_rngfnd_alt_cm -= pos_control->get_pos_offset_z_cm();
// wp_nav is using rangefinder so use current rangefinder alt
target_loc.set_alt_cm(MAX(curr_rngfnd_alt_cm, 200), Location::AltFrame::ABOVE_TERRAIN);
return true;
}
return false;
}
// take copy of current location and change frame to match target
Location currloc = copter.current_loc;
if (!currloc.change_alt_frame(target_loc.get_alt_frame())) {
// this could fail due missing terrain database alt
return false;
}
// set target_loc's alt minus position offset (if any)
target_loc.set_alt_cm(currloc.alt - pos_control->get_pos_offset_z_cm(), currloc.get_alt_frame());
return true;
}
// subtract position controller offsets from target location
// should be used when the location will be used as a target for the position controller
void ModeAuto::subtract_pos_offsets(Location& target_loc) const
{
// subtract position controller offsets from target location
const Vector3p& pos_ofs_neu_cm = pos_control->get_pos_offset_cm();
Vector3p pos_ofs_ned_m = Vector3p{pos_ofs_neu_cm.x * 0.01, pos_ofs_neu_cm.y * 0.01, -pos_ofs_neu_cm.z * 0.01};
target_loc.offset(-pos_ofs_ned_m);
}
/********************************************************************************/
// Nav (Must) commands
/********************************************************************************/
// do_takeoff - initiate takeoff navigation command
void ModeAuto::do_takeoff(const AP_Mission::Mission_Command& cmd)
{
// Set wp navigation target to safe altitude above current position
takeoff_start(cmd.content.location);
}
// return the Location portion of a command. If the command's lat and lon and/or alt are zero the default_loc's lat,lon and/or alt are returned instead
Location ModeAuto::loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const
{
Location ret(cmd.content.location);
// use current lat, lon if zero
if (ret.lat == 0 && ret.lng == 0) {
ret.lat = default_loc.lat;
ret.lng = default_loc.lng;
}
// use default altitude if not provided in cmd
if (ret.alt == 0) {
// set to default_loc's altitude but in command's alt frame
// note that this may use the terrain database
int32_t default_alt;
if (default_loc.get_alt_cm(ret.get_alt_frame(), default_alt)) {
ret.set_alt_cm(default_alt, ret.get_alt_frame());
} else {
// default to default_loc's altitude and frame
ret.set_alt_cm(default_loc.alt, default_loc.get_alt_frame());
}
}
return ret;
}
// do_nav_wp - initiate move to next waypoint
void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
{
// calculate default location used when lat, lon or alt is zero
Location default_loc = copter.current_loc;
// subtract position offsets
subtract_pos_offsets(default_loc);
if (wp_nav->is_active() && wp_nav->reached_wp_destination()) {
if (!wp_nav->get_wp_destination_loc(default_loc)) {
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
// get waypoint's location from command and send to wp_nav
const Location target_loc = loc_from_cmd(cmd, default_loc);
if (!wp_start(target_loc)) {
// failure to set next destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds
loiter_time_max = cmd.p1;
// set next destination if necessary
if (!set_next_wp(cmd, target_loc)) {
// failure to set next destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
}
// checks the next mission command and adds it as a destination if necessary
// supports both straight line and spline waypoints
// cmd should be the current command
// default_loc should be the destination from the current_cmd but corrected for cases where user set lat, lon or alt to zero
// returns true on success, false on failure which should only happen due to a failure to retrieve terrain data
bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const Location &default_loc)
{
// do not add next wp if current command has a delay meaning the vehicle will stop at the destination
if (current_cmd.p1 > 0) {
return true;
}
// do not add next wp if there are no more navigation commands
AP_Mission::Mission_Command next_cmd;
if (!mission.get_next_nav_cmd(current_cmd.index+1, next_cmd)) {
return true;
}
// whether vehicle should stop at the target position depends upon the next command
switch (next_cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LOITER_UNLIM:
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE:
#endif
case MAV_CMD_NAV_LOITER_TIME: {
const Location dest_loc = loc_from_cmd(current_cmd, default_loc);
const Location next_dest_loc = loc_from_cmd(next_cmd, dest_loc);
return wp_nav->set_wp_destination_next_loc(next_dest_loc);
}
case MAV_CMD_NAV_SPLINE_WAYPOINT: {
// get spline's location and next location from command and send to wp_nav
Location next_dest_loc, next_next_dest_loc;
bool next_next_dest_loc_is_spline;
get_spline_from_cmd(next_cmd, default_loc, next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
return wp_nav->set_spline_destination_next_loc(next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
}
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND:
// stop because we may change between rel,abs and terrain alt types
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF:
// always stop for RTL and takeoff commands
default:
// for unsupported commands it is safer to stop
break;
}
return true;
}
// do_land - initiate landing procedure
void ModeAuto::do_land(const AP_Mission::Mission_Command& cmd)
{
// To-Do: check if we have already landed
// if location provided we fly to that location at current altitude
if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
// set state to fly to location
state = State::FlyToLocation;
// convert cmd to location class
Location target_loc(cmd.content.location);
if (!shift_alt_to_current_alt(target_loc)) {
// this can only fail due to missing terrain database alt or rangefinder alt
// use current alt-above-home and report error
target_loc.set_alt_cm(copter.current_loc.alt, Location::AltFrame::ABOVE_HOME);
LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Land: no terrain data, using alt-above-home");
}
if (!wp_start(target_loc)) {
// failure to set next destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
} else {
// set landing state
state = State::Descending;
// initialise landing controller
land_start();
}
}
// do_loiter_unlimited - start loitering with no end conditions
// note: caller should set yaw_mode
void ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
// calculate default location used when lat, lon or alt is zero
Location default_loc = copter.current_loc;
// subtract position offsets
subtract_pos_offsets(default_loc);
// use previous waypoint destination as default if available
if (wp_nav->is_active() && wp_nav->reached_wp_destination()) {
if (!wp_nav->get_wp_destination_loc(default_loc)) {
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
// get waypoint's location from command and send to wp_nav
const Location target_loc = loc_from_cmd(cmd, default_loc);
// start way point navigator and provide it the desired location
if (!wp_start(target_loc)) {
// failure to set next destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
}
// do_circle - initiate moving in a circle
void ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
{
// calculate default location used when lat, lon or alt is zero
Location default_loc = copter.current_loc;
// subtract position offsets
subtract_pos_offsets(default_loc);
const Location circle_center = loc_from_cmd(cmd, default_loc);
// calculate radius
uint16_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
if (cmd.id == MAV_CMD_NAV_LOITER_TURNS &&
cmd.type_specific_bits & (1U << 0)) {
// special storage handling allows for larger radii
circle_radius_m *= 10;
}
// true if circle should be ccw
const bool circle_direction_ccw = cmd.content.location.loiter_ccw;
// move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
circle_movetoedge_start(circle_center, circle_radius_m, circle_direction_ccw);
}
// do_loiter_time - initiate loitering at a point for a given time period
// note: caller should set yaw_mode
void ModeAuto::do_loiter_time(const AP_Mission::Mission_Command& cmd)
{
// re-use loiter unlimited
do_loiter_unlimited(cmd);
// setup loiter timer
loiter_time = 0;
loiter_time_max = cmd.p1; // units are (seconds)
}
// do_loiter_alt - initiate loitering at a point until a given altitude is reached
// note: caller should set yaw_mode
void ModeAuto::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
{
// re-use loiter unlimited
do_loiter_unlimited(cmd);
// if we aren't navigating to a location then we have to adjust
// altitude for current location
Location target_loc(cmd.content.location);
if (target_loc.lat == 0 && target_loc.lng == 0) {
target_loc.lat = copter.current_loc.lat;
target_loc.lng = copter.current_loc.lng;
}
if (!target_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, loiter_to_alt.alt)) {
loiter_to_alt.reached_destination_xy = true;
loiter_to_alt.reached_alt = true;
gcs().send_text(MAV_SEVERITY_INFO, "bad do_loiter_to_alt");
return;
}
loiter_to_alt.reached_destination_xy = false;
loiter_to_alt.loiter_start_done = false;
loiter_to_alt.reached_alt = false;
loiter_to_alt.alt_error_cm = 0;
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
// set submode
set_submode(SubMode::LOITER_TO_ALT);
}
// do_spline_wp - initiate move to next waypoint
void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd)
{
// calculate default location used when lat, lon or alt is zero
Location default_loc = copter.current_loc;
// subtract position offsets
subtract_pos_offsets(default_loc);
if (wp_nav->is_active() && wp_nav->reached_wp_destination()) {
if (!wp_nav->get_wp_destination_loc(default_loc)) {
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
// get spline's location and next location from command and send to wp_nav
Location dest_loc, next_dest_loc;
bool next_dest_loc_is_spline;
get_spline_from_cmd(cmd, default_loc, dest_loc, next_dest_loc, next_dest_loc_is_spline);
if (!wp_nav->set_spline_destination_loc(dest_loc, next_dest_loc, next_dest_loc_is_spline)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds
loiter_time_max = cmd.p1;
// set next destination if necessary
if (!set_next_wp(cmd, dest_loc)) {
// failure to set next destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) {
auto_yaw.set_mode_to_default(false);
}
// set submode
set_submode(SubMode::WP);
}
// calculate locations required to build a spline curve from a mission command
// dest_loc is populated from cmd's location using default_loc in cases where the lat and lon or altitude is zero
// next_dest_loc and nest_dest_loc_is_spline is filled in with the following navigation command's location if it exists. If it does not exist it is set to the dest_loc and false
void ModeAuto::get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline)
{
dest_loc = loc_from_cmd(cmd, default_loc);
// if there is no delay at the end of this segment get next nav command
AP_Mission::Mission_Command temp_cmd;
if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) {
next_dest_loc = loc_from_cmd(temp_cmd, dest_loc);
next_dest_loc_is_spline = temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT;
} else {
next_dest_loc = dest_loc;
next_dest_loc_is_spline = false;
}
}
#if AC_NAV_GUIDED
// do_nav_guided_enable - initiate accepting commands from external nav computer
void ModeAuto::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{
if (cmd.p1 > 0) {
// start guided within auto
nav_guided_start();
}
}
// do_guided_limits - pass guided limits to guided controller
void ModeAuto::do_guided_limits(const AP_Mission::Mission_Command& cmd)
{
copter.mode_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 // AC_NAV_GUIDED
// do_nav_delay - Delay the next navigation command
void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{
nav_delay_time_start_ms = millis();
if (cmd.content.nav_delay.seconds > 0) {
// relative delay
nav_delay_time_max_ms = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
} else {
// absolute delay to utc time
#if AP_RTC_ENABLED
nav_delay_time_max_ms = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
#else
nav_delay_time_max_ms = 0;
#endif
}
gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec", (unsigned)(nav_delay_time_max_ms/1000));
}
#if AP_SCRIPTING_ENABLED
// start accepting position, velocity and acceleration targets from lua scripts
void ModeAuto::do_nav_script_time(const AP_Mission::Mission_Command& cmd)
{
// call regular guided flight mode initialisation
if (copter.mode_guided.init(true)) {
nav_scripting.done = false;
nav_scripting.id++;
nav_scripting.start_ms = millis();
nav_scripting.command = cmd.content.nav_script_time.command;
nav_scripting.timeout_s = cmd.content.nav_script_time.timeout_s;
nav_scripting.arg1 = cmd.content.nav_script_time.arg1.get();
nav_scripting.arg2 = cmd.content.nav_script_time.arg2.get();
nav_scripting.arg3 = cmd.content.nav_script_time.arg3;
nav_scripting.arg4 = cmd.content.nav_script_time.arg4;
set_submode(SubMode::NAV_SCRIPT_TIME);
} else {
// for safety we set nav_scripting to done to protect against the mission getting stuck
nav_scripting.done = true;
}
}
#endif
// start maintaining an attitude for a specified time
void ModeAuto::do_nav_attitude_time(const AP_Mission::Mission_Command& cmd)
{
// copy command arguments into local structure
nav_attitude_time.roll_deg = cmd.content.nav_attitude_time.roll_deg;
nav_attitude_time.pitch_deg = cmd.content.nav_attitude_time.pitch_deg;
nav_attitude_time.yaw_deg = cmd.content.nav_attitude_time.yaw_deg;
nav_attitude_time.climb_rate = cmd.content.nav_attitude_time.climb_rate;
nav_attitude_time.start_ms = AP_HAL::millis();
set_submode(SubMode::NAV_ATTITUDE_TIME);
}
/********************************************************************************/
// Condition (May) commands
/********************************************************************************/
void ModeAuto::do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
condition_start = millis();
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
}
void ModeAuto::do_within_distance(const AP_Mission::Mission_Command& cmd)
{
condition_value = cmd.content.distance.meters * 100;
}
void ModeAuto::do_yaw(const AP_Mission::Mission_Command& cmd)
{
auto_yaw.set_fixed_yaw(
cmd.content.yaw.angle_deg,
cmd.content.yaw.turn_rate_dps,
cmd.content.yaw.direction,
cmd.content.yaw.relative_angle > 0);
}
/********************************************************************************/
// Do (Now) commands
/********************************************************************************/
void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
switch (cmd.content.speed.speed_type) {
case SPEED_TYPE_CLIMB_SPEED:
copter.wp_nav->set_speed_up(cmd.content.speed.target_ms * 100.0f);
desired_speed_override.up = cmd.content.speed.target_ms;
break;
case SPEED_TYPE_DESCENT_SPEED:
copter.wp_nav->set_speed_down(cmd.content.speed.target_ms * 100.0f);
desired_speed_override.down = cmd.content.speed.target_ms;
break;
case SPEED_TYPE_AIRSPEED:
case SPEED_TYPE_GROUNDSPEED:
copter.wp_nav->set_speed_xy(cmd.content.speed.target_ms * 100.0f);
desired_speed_override.xy = cmd.content.speed.target_ms;
break;
}
}
}
void ModeAuto::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)) {
if (!copter.set_home_to_current_location(false)) {
// ignore failure
}
} else {
if (!copter.set_home(cmd.content.location, false)) {
// ignore failure
}
}
}
// do_roi - starts actions required by MAV_CMD_DO_SET_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 ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
{
auto_yaw.set_roi(cmd.content.location);
}
#if HAL_MOUNT_ENABLED
// point the camera to a specified angle
void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
{
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != AP_Mount::Type::None) &&
!copter.camera_mount.has_pan_control()) {
// Per the handler in AP_Mount, DO_MOUNT_CONTROL yaw angle is in body frame, which is
// equivalent to an offset to the current yaw demand.
auto_yaw.set_yaw_angle_offset(cmd.content.mount_control.yaw);
}
// pass the target angles to the camera mount
copter.camera_mount.set_angle_target(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw, false);
}
#endif // HAL_MOUNT_ENABLED
#if AP_WINCH_ENABLED
// control winch based on mission command
void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
{
// Note: we ignore the gripper num parameter because we only support one gripper
switch (cmd.content.winch.action) {
case WINCH_RELAXED:
g2.winch.relax();
break;
case WINCH_RELATIVE_LENGTH_CONTROL:
g2.winch.release_length(cmd.content.winch.release_length);
break;
case WINCH_RATE_CONTROL:
g2.winch.set_desired_rate(cmd.content.winch.release_rate);
break;
default:
// do nothing
break;
}
}
#endif
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
// do_payload_place - initiate placing procedure
void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
{
// if location provided we fly to that location at current altitude
if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
// set state to fly to location
payload_place.state = PayloadPlace::State::FlyToLocation;
// convert cmd to location class
Location target_loc(cmd.content.location);
if (!shift_alt_to_current_alt(target_loc)) {
// this can only fail due to missing terrain database alt or rangefinder alt
// use current alt-above-home and report error
target_loc.set_alt_cm(copter.current_loc.alt, Location::AltFrame::ABOVE_HOME);
LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
gcs().send_text(MAV_SEVERITY_CRITICAL, "PayloadPlace: no terrain data, using alt-above-home");
}
if (!wp_start(target_loc)) {
// failure to set next destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
} else {
// initialise placing controller
payload_place.start_descent();
}
payload_place.descent_max_cm = cmd.p1;
// set submode
set_submode(SubMode::NAV_PAYLOAD_PLACE);
}
#endif // AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
// do_RTL - start Return-to-Launch
void ModeAuto::do_RTL(void)
{
// start rtl in auto flight mode
rtl_start();
}
/********************************************************************************/
// Verify Nav (Must) commands
/********************************************************************************/
// verify_takeoff - check if we have completed the takeoff
bool ModeAuto::verify_takeoff()
{
#if AP_LANDINGGEAR_ENABLED
// if we have reached our destination
if (auto_takeoff.complete) {
// retract the landing gear
copter.landinggear.retract_after_takeoff();
}
#endif
return auto_takeoff.complete;
}
// verify_land - returns true if landing has been completed
bool ModeAuto::verify_land()
{
bool retval = false;
switch (state) {
case State::FlyToLocation:
// check if we've reached the location
if (copter.wp_nav->reached_wp_destination()) {
// initialise landing controller
land_start();
// advance to next state
state = State::Descending;
}
break;
case State::Descending:
// rely on THROTTLE_LAND mode to correctly update landing status
retval = copter.ap.land_complete && (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE);
if (retval && !mission.continue_after_land_check_for_takeoff() && copter.motors->armed()) {
/*
we want to stop mission processing on land
completion. Disarm now, then return false. This
leaves mission state machine in the current NAV_LAND
mission item. After disarming the mission will reset
*/
copter.arming.disarm(AP_Arming::Method::LANDED);
retval = false;
}
break;
default:
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
retval = true;
break;
}
// true is returned if we've successfully landed
return retval;
}
#if AC_PAYLOAD_PLACE_ENABLED
// verify_payload_place - returns true if placing has been completed
bool PayloadPlace::verify()
{
switch (state) {
case State::FlyToLocation:
case State::Descent_Start:
case State::Descent:
case State::Release:
case State::Releasing:
case State::Delay:
case State::Ascent_Start:
case State::Ascent:
return false;
case State::Done:
return true;
}
// should never get here
return true;
}
#endif
bool ModeAuto::verify_loiter_unlimited()
{
return false;
}
// verify_loiter_time - check if we have loitered long enough
bool ModeAuto::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
{
// return immediately if we haven't reached our destination
if (!copter.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
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}
return false;
}
// verify_loiter_to_alt - check if we have reached both destination
// (roughly) and altitude (precisely)
bool ModeAuto::verify_loiter_to_alt() const
{
if (loiter_to_alt.reached_destination_xy &&
loiter_to_alt.reached_alt) {
return true;
}
return false;
}
// 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 ModeAuto::verify_RTL()
{
return (copter.mode_rtl.state_complete() &&
(copter.mode_rtl.state() == ModeRTL::SubMode::FINAL_DESCENT || copter.mode_rtl.state() == ModeRTL::SubMode::LAND) &&
(motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE));
}
/********************************************************************************/
// Verify Condition (May) commands
/********************************************************************************/
bool ModeAuto::verify_wait_delay()
{
if (millis() - condition_start > (uint32_t)MAX(condition_value,0)) {
condition_value = 0;
return true;
}
return false;
}
bool ModeAuto::verify_within_distance()
{
if (wp_distance() < (uint32_t)MAX(condition_value,0)) {
condition_value = 0;
return true;
}
return false;
}
// verify_yaw - return true if we have reached the desired heading
bool ModeAuto::verify_yaw()
{
// make sure still in fixed yaw mode, the waypoint controller often retakes control of yaw as it executes a new waypoint command
auto_yaw.set_mode(AutoYaw::Mode::FIXED);
// check if we have reached the target heading
return auto_yaw.reached_fixed_yaw_target();
}
// verify_nav_wp - check if we have reached the next way point
bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
{
// check if we have reached the waypoint
if ( !copter.wp_nav->reached_wp_destination() ) {
return false;
}
// start timer if necessary
if (loiter_time == 0) {
loiter_time = millis();
if (loiter_time_max > 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
}
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
if (loiter_time_max == 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}
return false;
}
// verify_circle - check if we have circled the point enough
bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
{
// check if we've reached the edge
if (_mode == SubMode::CIRCLE_MOVE_TO_EDGE) {
if (copter.wp_nav->reached_wp_destination()) {
// start circling
circle_start();
}
return false;
}
const float turns = cmd.get_loiter_turns();
// check if we have completed circling
return fabsf(copter.circle_nav->get_angle_total()/float(M_2PI)) >= turns;
}
// verify_spline_wp - check if we have reached the next way point using spline
bool ModeAuto::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
{
// check if we have reached the waypoint
if ( !copter.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(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}
return false;
}
#if AC_NAV_GUIDED
// verify_nav_guided - check if we have breached any limits
bool ModeAuto::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 copter.mode_guided.limit_check();
}
#endif // AC_NAV_GUIDED
// verify_nav_delay - check if we have waited long enough
bool ModeAuto::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{
if (millis() - nav_delay_time_start_ms > nav_delay_time_max_ms) {
nav_delay_time_max_ms = 0;
return true;
}
return false;
}
#if AP_SCRIPTING_ENABLED
// check if verify_nav_script_time command has completed
bool ModeAuto::verify_nav_script_time()
{
// if done or timeout then return true
if (nav_scripting.done ||
((nav_scripting.timeout_s > 0) &&
(AP_HAL::millis() - nav_scripting.start_ms) > (nav_scripting.timeout_s * 1000))) {
return true;
}
return false;
}
#endif
// check if nav_attitude_time command has completed
bool ModeAuto::verify_nav_attitude_time(const AP_Mission::Mission_Command& cmd)
{
return ((AP_HAL::millis() - nav_attitude_time.start_ms) > (cmd.content.nav_attitude_time.time_sec * 1000));
}
// pause - Prevent aircraft from progressing along the track
bool ModeAuto::pause()
{
// do not pause if not in the WP sub mode or already reached to the destination
if (_mode != SubMode::WP || wp_nav->reached_wp_destination()) {
return false;
}
wp_nav->set_pause();
return true;
}
// resume - Allow aircraft to progress along the track
bool ModeAuto::resume()
{
wp_nav->set_resume();
return true;
}
bool ModeAuto::paused() const
{
return (wp_nav != nullptr) && wp_nav->paused();
}
#endif
Reference in New Issue View Git Blame Copy Permalink