mirror of https://github.com/ArduPilot/ardupilot
635 lines
13 KiB
Plaintext
635 lines
13 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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void handle_process_must()
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{
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// reset navigation integrators
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// -------------------------
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reset_I();
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switch(next_command.id){
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case MAV_CMD_NAV_TAKEOFF:
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do_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp();
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break;
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case MAV_CMD_NAV_LAND: // LAND to Waypoint
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do_land();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
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do_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
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//do_loiter_turns();
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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do_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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do_RTL();
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break;
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default:
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break;
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}
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}
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void handle_process_may()
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{
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switch(next_command.id){
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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do_change_alt();
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break;
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case MAV_CMD_CONDITION_YAW:
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do_yaw();
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break;
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default:
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break;
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}
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}
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void handle_process_now()
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{
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switch(next_command.id){
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case MAV_CMD_DO_JUMP:
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do_jump();
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break;
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case MAV_CMD_DO_CHANGE_SPEED:
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//do_change_speed();
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home();
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break;
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case MAV_CMD_DO_SET_SERVO:
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_RELAY:
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do_set_relay();
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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do_repeat_relay();
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break;
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case MAV_CMD_NAV_ORIENTATION_TARGET:
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do_target_yaw();
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}
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}
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bool handle_no_commands()
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{
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if (command_must_ID)
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return false;
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switch (control_mode){
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default:
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//set_mode(RTL);
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break;
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}
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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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bool verify_must()
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{
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Serial.printf("vmust ::%d", nav_throttle);
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switch(command_must_ID) {
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case MAV_CMD_NAV_TAKEOFF:
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return verify_takeoff();
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break;
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case MAV_CMD_NAV_LAND:
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return verify_land();
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break;
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM:
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return false;
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break;
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case MAV_CMD_NAV_LOITER_TURNS:
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return true;
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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break;
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default:
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//gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current Must commands"));
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return false;
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break;
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}
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}
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bool verify_may()
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{
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switch(command_may_ID) {
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case MAV_CMD_CONDITION_DELAY:
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return verify_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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return verify_change_alt();
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break;
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case MAV_CMD_CONDITION_YAW:
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return verify_yaw();
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break;
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default:
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//gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current May commands"));
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return false;
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break;
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}
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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void do_RTL(void)
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{
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control_mode = LOITER;
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Location temp = home;
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temp.alt = read_alt_to_hold();
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//so we know where we are navigating from
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next_WP = current_loc;
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// Loads WP from Memory
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// --------------------
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set_next_WP(&temp);
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// output control mode to the ground station
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gcs.send_message(MSG_HEARTBEAT);
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//if (g.log_bitmask & MASK_LOG_MODE)
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// Log_Write_Mode(control_mode);
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}
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void do_takeoff()
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{
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Location temp = current_loc;
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temp.alt += next_command.alt;
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takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
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Serial.print("dt ");
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Serial.println(temp.alt,DEC);
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set_next_WP(&temp);
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}
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void do_nav_wp()
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{
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set_next_WP(&next_command);
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}
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void do_land()
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{
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Serial.println("dlnd ");
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land_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
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velocity_land = 2000;
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Location temp = current_loc;
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//temp.alt = home.alt;
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// just go down far
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temp.alt = -100000;
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set_next_WP(&temp);
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}
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void do_loiter_unlimited()
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{
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Serial.println("dloi ");
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if(next_command.lat == 0)
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set_next_WP(¤t_loc);
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else
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set_next_WP(&next_command);
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}
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void do_loiter_turns()
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{
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if(next_command.lat == 0)
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set_next_WP(¤t_loc);
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else
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set_next_WP(&next_command);
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loiter_total = next_command.p1 * 360;
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}
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void do_loiter_time()
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{
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if(next_command.lat == 0)
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set_next_WP(¤t_loc);
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else
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set_next_WP(&next_command);
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loiter_time = millis();
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loiter_time_max = next_command.p1 * 1000; // units are (seconds)
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Serial.printf("dlt %ld, max %ld\n",loiter_time, loiter_time_max);
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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bool verify_takeoff()
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{
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Serial.print("vt ");
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// wait until we are ready!
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if(g.rc_3.control_in == 0)
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return false;
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if (current_loc.alt > next_WP.alt){
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Serial.println("Y");
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takeoff_complete = true;
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return true;
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}else{
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Serial.println("N");
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return false;
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}
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}
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bool verify_land()
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{
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//Serial.print("vlnd ");
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velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8);
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old_alt = current_loc.alt;
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if(g.sonar_enabled){
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// decide which sensor we're usings
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if(sonar_alt < 40){
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land_complete = true;
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Serial.println("Y");
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return true;
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}
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}
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if(velocity_land <= 0){
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land_complete = true;
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return true;
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}
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Serial.printf("N, %d\n", velocity_land);
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//update_crosstrack();
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return false;
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}
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bool verify_nav_wp()
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{
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bool alt = true;
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update_crosstrack();
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if (next_WP.options & WP_OPTION_ALT_REQUIRED){
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alt = (current_loc.alt > next_WP.alt);
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}
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
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//SendDebug("MSG <verify_must: MAV_CMD_NAV_WAYPOINT> REACHED_WAYPOINT #");
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//SendDebugln(command_must_index,DEC);
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if (alt == true){
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char message[30];
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sprintf(message,"Reached Waypoint #%i",command_must_index);
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gcs.send_text(SEVERITY_LOW,message);
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return true;
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}else{
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return false;
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}
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}
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// Have we passed the WP?
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if(alt && (loiter_sum > 90)){
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gcs.send_text_P(SEVERITY_MEDIUM,PSTR("Missed WP"));
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return true;
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}else{
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return false;
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}
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}
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bool verify_loiter_unlim()
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{
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return false;
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}
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bool verify_loiter_time()
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{
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//Serial.printf("vlt %ld\n",(millis() - loiter_time));
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if ((millis() - loiter_time) > loiter_time_max) { // scale loiter_time_max from (sec*10) to milliseconds
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gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
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//Serial.println("vlt done");
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return true;
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}
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return false;
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}
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bool verify_RTL()
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{
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if (wp_distance <= g.waypoint_radius) {
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gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home"));
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return true;
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}else{
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return false;
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}
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}
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/********************************************************************************/
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// Condition (May) commands
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/********************************************************************************/
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void do_wait_delay()
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{
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Serial.print("dwd ");
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condition_start = millis();
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condition_value = next_command.lat * 1000; // convert to milliseconds
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Serial.println(condition_value,DEC);
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}
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void do_change_alt()
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{
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Location temp = next_WP;
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condition_start = current_loc.alt;
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condition_value = next_command.alt + home.alt;
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temp.alt = condition_value;
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set_next_WP(&temp);
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}
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void do_within_distance()
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{
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condition_value = next_command.lat;
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}
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void do_yaw()
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{
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Serial.println("dyaw ");
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yaw_tracking = TRACK_NONE;
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// target angle in degrees
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command_yaw_start = nav_yaw; // current position
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command_yaw_start_time = millis();
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command_yaw_dir = next_command.p1; // 1 = clockwise, 0 = counterclockwise
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command_yaw_relative = next_command.lng; // 1 = Relative, 0 = Absolute
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command_yaw_speed = next_command.lat * 100; // ms * 100
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// if unspecified go 60° a second
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if(command_yaw_speed == 0)
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command_yaw_speed = 6000;
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// if unspecified go counterclockwise
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if(command_yaw_dir == 0)
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command_yaw_dir = -1;
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if (command_yaw_relative){
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// relative
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//command_yaw_dir = (command_yaw_end > 0) ? 1 : -1;
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//command_yaw_end += nav_yaw;
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//command_yaw_end = wrap_360(command_yaw_end);
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command_yaw_delta = next_command.alt * 100;
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}else{
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// absolute
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command_yaw_end = next_command.alt * 100;
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// calculate the delta travel in deg * 100
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if(command_yaw_dir == 1){
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if(command_yaw_start >= command_yaw_end){
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command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end);
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}else{
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command_yaw_delta = command_yaw_end - command_yaw_start;
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}
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}else{
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if(command_yaw_start > command_yaw_end){
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command_yaw_delta = command_yaw_start - command_yaw_end;
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}else{
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command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end);
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}
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}
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command_yaw_delta = wrap_360(command_yaw_delta);
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}
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// rate to turn deg per second - default is ten
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command_yaw_time = (command_yaw_delta / command_yaw_speed) * 1000;
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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bool verify_wait_delay()
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{
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Serial.print("vwd");
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if ((millis() - condition_start) > condition_value){
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Serial.println("y");
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condition_value = 0;
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return true;
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}
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Serial.println("n");
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return false;
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}
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bool verify_change_alt()
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{
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if (condition_start < next_WP.alt){
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// we are going higer
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if(current_loc.alt > next_WP.alt){
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condition_value = 0;
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return true;
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}
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}else{
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// we are going lower
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if(current_loc.alt < next_WP.alt){
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condition_value = 0;
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return true;
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}
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}
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return false;
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}
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bool verify_within_distance()
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{
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if (wp_distance < condition_value){
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condition_value = 0;
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return true;
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}
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return false;
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}
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bool verify_yaw()
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{
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Serial.print("vyaw ");
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if((millis() - command_yaw_start_time) > command_yaw_time){
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// time out
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// make sure we hold at the final desired yaw angle
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nav_yaw = command_yaw_end;
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Serial.println("Y");
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return true;
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}else{
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// else we need to be at a certain place
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// power is a ratio of the time : .5 = half done
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float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
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nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
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nav_yaw = wrap_360(nav_yaw);
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Serial.printf("ny %ld\n",nav_yaw);
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return false;
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}
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}
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/********************************************************************************/
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// Do (Now) commands
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/********************************************************************************/
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void do_target_yaw()
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{
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yaw_tracking = next_command.p1;
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if(yaw_tracking & TRACK_TARGET_WP){
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target_WP = next_command;
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}
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}
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void do_loiter_at_location()
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{
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next_WP = current_loc;
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}
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void do_jump()
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{
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struct Location temp;
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if(next_command.lat > 0) {
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command_must_index = 0;
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command_may_index = 0;
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temp = get_wp_with_index(g.waypoint_index);
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temp.lat = next_command.lat - 1; // Decrement repeat counter
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set_wp_with_index(temp, g.waypoint_index);
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g.waypoint_index.set_and_save(next_command.p1 - 1);
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}
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}
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void do_set_home()
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{
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if(next_command.p1 == 1) {
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init_home();
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} else {
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home.id = MAV_CMD_NAV_WAYPOINT;
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home.lng = next_command.lng; // Lon * 10**7
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home.lat = next_command.lat; // Lat * 10**7
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home.alt = max(next_command.alt, 0);
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home_is_set = true;
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}
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}
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void do_set_servo()
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{
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APM_RC.OutputCh(next_command.p1 - 1, next_command.alt);
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}
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void do_set_relay()
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{
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if (next_command.p1 == 1) {
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relay_on();
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} else if (next_command.p1 == 0) {
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relay_off();
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}else{
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relay_toggle();
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}
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}
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void do_repeat_servo()
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{
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event_id = next_command.p1 - 1;
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if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) {
|
|
|
|
event_timer = 0;
|
|
event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
|
|
event_repeat = next_command.lat * 2;
|
|
event_value = next_command.alt;
|
|
|
|
switch(next_command.p1) {
|
|
case CH_5:
|
|
event_undo_value = g.rc_5.radio_trim;
|
|
break;
|
|
case CH_6:
|
|
event_undo_value = g.rc_6.radio_trim;
|
|
break;
|
|
case CH_7:
|
|
event_undo_value = g.rc_7.radio_trim;
|
|
break;
|
|
case CH_8:
|
|
event_undo_value = g.rc_8.radio_trim;
|
|
break;
|
|
}
|
|
update_events();
|
|
}
|
|
}
|
|
|
|
void do_repeat_relay()
|
|
{
|
|
event_id = RELAY_TOGGLE;
|
|
event_timer = 0;
|
|
event_delay = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
|
|
event_repeat = next_command.alt * 2;
|
|
update_events();
|
|
}
|