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Plane: handle command_long in GCS base class

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This commit is contained in:
Peter Barker 2018-07-04 13:08:22 +10:00 committed by Peter Barker
parent 2d1ed75592
commit d76e7d210b
2 changed files with 249 additions and 291 deletions
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539
ArduPlane/GCS_Mavlink.cpp
View File

@ -758,6 +758,254 @@ bool GCS_MAVLINK_Plane::should_disable_overrides_on_reboot() const
return (plane.quadplane.enable != 0);
}
MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_CHANGE_SPEED:
// if we're in failsafe modes (e.g., RTL, LOITER) or in pilot
// controlled modes (e.g., MANUAL, TRAINING)
// this command should be ignored since it comes in from GCS
// or a companion computer:
if (plane.control_mode != GUIDED && plane.control_mode != AUTO && plane.control_mode != AVOID_ADSB) {
// failed
return MAV_RESULT_FAILED;
}
AP_Mission::Mission_Command cmd;
if (AP_Mission::mavlink_cmd_long_to_mission_cmd(packet, cmd) == MAV_MISSION_ACCEPTED) {
plane.do_change_speed(cmd);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_NAV_LOITER_UNLIM:
plane.set_mode(LOITER, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
plane.set_mode(RTL, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_TAKEOFF: {
// user takeoff only works with quadplane code for now
// param7 : altitude [metres]
float takeoff_alt = packet.param7;
if (plane.quadplane.available() && plane.quadplane.do_user_takeoff(takeoff_alt)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
return MAV_RESULT_FAILED;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (plane.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
plane.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
plane.camera_mount.set_roi_target(roi_loc);
}
return MAV_RESULT_ACCEPTED;
#endif
#if MOUNT == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
plane.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
return MAV_RESULT_ACCEPTED;
#endif
case MAV_CMD_MISSION_START:
plane.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (plane.arm_motors(AP_Arming::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
} else if (is_zero(packet.param1)) {
if (plane.disarm_motors()) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {
plane.set_mode(AUTO, MODE_REASON_UNKNOWN);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_GO_AROUND:
if (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
// Initiate an aborted landing. This will trigger a pitch-up and
// climb-out to a safe altitude holding heading then one of the
// following actions will occur, check for in this order:
// - If MAV_CMD_CONTINUE_AND_CHANGE_ALT is next command in mission,
// increment mission index to execute it
// - else if DO_LAND_START is available, jump to it
// - else decrement the mission index to repeat the landing approach
if (!is_zero(packet.param1)) {
plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
}
if (plane.landing.request_go_around()) {
plane.auto_state.next_wp_crosstrack = false;
return MAV_RESULT_ACCEPTED;
}
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_FENCE_ENABLE:
if (!plane.geofence_present()) {
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
return MAV_RESULT_FAILED;
}
switch((uint16_t)packet.param1) {
case 0:
if (! plane.geofence_set_enabled(false, GCS_TOGGLED)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case 1:
if (! plane.geofence_set_enabled(true, GCS_TOGGLED)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case 2: //disable fence floor only
if (! plane.geofence_set_floor_enabled(false)) {
return MAV_RESULT_FAILED;
}
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled");
return MAV_RESULT_ACCEPTED;
default:
break;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_SET_HOME: {
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude (absolute)
if (is_equal(packet.param1,1.0f)) {
plane.set_home_persistently(AP::gps().location());
AP::ahrs().lock_home();
return MAV_RESULT_ACCEPTED;
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
// don't allow the 0,0 position
return MAV_RESULT_FAILED;
}
// sanity check location
if (!check_latlng(packet.param5,packet.param6)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {};
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
plane.set_home(new_home_loc);
AP::ahrs().lock_home();
return MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_AUTOTUNE_ENABLE:
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED;
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
plane.parachute.enabled(false);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_ENABLE:
plane.parachute.enabled(true);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
if (plane.parachute.released()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute already released");
return MAV_RESULT_FAILED;
}
if (!plane.parachute.enabled()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute not enabled");
return MAV_RESULT_FAILED;
}
if (!plane.parachute_manual_release()) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
break;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
// param5 : motor count (number of motors to test in sequence)
return plane.quadplane.mavlink_motor_test_start(chan,
(uint8_t)packet.param1,
(uint8_t)packet.param2,
(uint16_t)packet.param3,
packet.param4,
(uint8_t)packet.param5);
case MAV_CMD_DO_VTOL_TRANSITION:
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_ENGINE_CONTROL:
if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_ACCELCAL_VEHICLE_POS:
if (!plane.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
}
}
void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
@ -889,297 +1137,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
// do command
switch(packet.command) {
case MAV_CMD_DO_CHANGE_SPEED:
// if we're in failsafe modes (e.g., RTL, LOITER) or in pilot
// controlled modes (e.g., MANUAL, TRAINING)
// this command should be ignored since it comes in from GCS
// or a companion computer:
result = MAV_RESULT_FAILED;
if (plane.control_mode != GUIDED && plane.control_mode != AUTO && plane.control_mode != AVOID_ADSB) {
// failed
break;
}
AP_Mission::Mission_Command cmd;
if (AP_Mission::mavlink_cmd_long_to_mission_cmd(packet, cmd)
== MAV_MISSION_ACCEPTED) {
plane.do_change_speed(cmd);
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_NAV_LOITER_UNLIM:
plane.set_mode(LOITER, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
plane.set_mode(RTL, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_NAV_TAKEOFF: {
// user takeoff only works with quadplane code for now
// param7 : altitude [metres]
float takeoff_alt = packet.param7;
if (plane.quadplane.available() && plane.quadplane.do_user_takeoff(takeoff_alt)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
break;
}
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (plane.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
plane.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
plane.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
#endif
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
plane.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
result = MAV_RESULT_ACCEPTED;
#endif
break;
case MAV_CMD_MISSION_START:
plane.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (plane.arm_motors(AP_Arming::MAVLINK, do_arming_checks)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_zero(packet.param1)) {
if (plane.disarm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_LAND_START:
result = MAV_RESULT_FAILED;
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {
plane.set_mode(AUTO, MODE_REASON_UNKNOWN);
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_GO_AROUND:
result = MAV_RESULT_FAILED;
if (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
// Initiate an aborted landing. This will trigger a pitch-up and
// climb-out to a safe altitude holding heading then one of the
// following actions will occur, check for in this order:
// - If MAV_CMD_CONTINUE_AND_CHANGE_ALT is next command in mission,
// increment mission index to execute it
// - else if DO_LAND_START is available, jump to it
// - else decrement the mission index to repeat the landing approach
if (!is_zero(packet.param1)) {
plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
}
if (plane.landing.request_go_around()) {
plane.auto_state.next_wp_crosstrack = false;
result = MAV_RESULT_ACCEPTED;
}
}
break;
case MAV_CMD_DO_FENCE_ENABLE:
result = MAV_RESULT_ACCEPTED;
if (!plane.geofence_present()) {
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
result = MAV_RESULT_FAILED;
} else {
switch((uint16_t)packet.param1) {
case 0:
if (! plane.geofence_set_enabled(false, GCS_TOGGLED)) {
result = MAV_RESULT_FAILED;
}
break;
case 1:
if (! plane.geofence_set_enabled(true, GCS_TOGGLED)) {
result = MAV_RESULT_FAILED;
}
break;
case 2: //disable fence floor only
if (! plane.geofence_set_floor_enabled(false)) {
result = MAV_RESULT_FAILED;
} else {
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled");
}
break;
default:
result = MAV_RESULT_FAILED;
break;
}
}
break;
case MAV_CMD_DO_SET_HOME: {
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude (absolute)
result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1,1.0f)) {
plane.set_home_persistently(AP::gps().location());
AP::ahrs().lock_home();
result = MAV_RESULT_ACCEPTED;
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
break;
}
if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
// don't allow the 0,0 position
break;
}
// sanity check location
if (!check_latlng(packet.param5,packet.param6)) {
break;
}
Location new_home_loc {};
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
plane.set_home(new_home_loc);
AP::ahrs().lock_home();
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_AUTOTUNE_ENABLE:
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
break;
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
result = MAV_RESULT_ACCEPTED;
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
plane.parachute.enabled(false);
break;
case PARACHUTE_ENABLE:
plane.parachute.enabled(true);
break;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
if (plane.parachute.released()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute already released");
result = MAV_RESULT_FAILED;
} else if (!plane.parachute.enabled()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute not enabled");
result = MAV_RESULT_FAILED;
} else {
if (!plane.parachute_manual_release()) {
result = MAV_RESULT_FAILED;
}
}
break;
default:
result = MAV_RESULT_FAILED;
break;
}
break;
#endif
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
// param5 : motor count (number of motors to test in sequence)
result = plane.quadplane.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4, (uint8_t)packet.param5);
break;
case MAV_CMD_DO_VTOL_TRANSITION:
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_ENGINE_CONTROL:
if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = MAV_RESULT_FAILED;
if (plane.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
result = MAV_RESULT_ACCEPTED;
}
break;
default:
result = handle_command_long_message(packet);
break;
}
mavlink_msg_command_ack_send_buf(
msg,
chan,
packet.command,
result);
break;
}
#if GEOFENCE_ENABLED == ENABLED
// receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: {

1
ArduPlane/GCS_Mavlink.h
View File

@ -31,6 +31,7 @@ protected:
MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
void send_position_target_global_int() override;