forked from Archive/PX4-Autopilot
Merge branch 'navigator_rewrite' into navigator_rewrite_estimator
This commit is contained in:
Julian Oes
commit
19fad94a34
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@ -1612,10 +1612,10 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
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break; // changed successfully or already in this state
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}
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// else fallback to ALTCTL
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print_reject_mode(status, "POSCTL");
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}
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// fallback to ALTCTL
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res = main_state_transition(status, MAIN_STATE_ALTCTL);
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if (res != TRANSITION_DENIED) {
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@ -1626,7 +1626,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
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print_reject_mode(status, "ALTCTL");
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}
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// else fallback to MANUAL
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// fallback to MANUAL
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res = main_state_transition(status, MAIN_STATE_MANUAL);
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// TRANSITION_DENIED is not possible here
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break;
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@ -1638,28 +1638,50 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
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if (res != TRANSITION_DENIED) {
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break; // changed successfully or already in this state
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}
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print_reject_mode(status, "AUTO_RTL");
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// fallback to LOITER if home position not set
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res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
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if (res != TRANSITION_DENIED) {
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break; // changed successfully or already in this state
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}
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} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
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res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
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if (res != TRANSITION_DENIED) {
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break; // changed successfully or already in this state
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}
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print_reject_mode(status, "AUTO_LOITER");
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} else {
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res = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
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if (res != TRANSITION_DENIED) {
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break; // changed successfully or already in this state
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}
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print_reject_mode(status, "AUTO_MISSION");
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}
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// else fallback to ALTCTL (POSCTL likely will not work too)
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// fallback to POSCTL
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res = main_state_transition(status, MAIN_STATE_POSCTL);
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if (res != TRANSITION_DENIED) {
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break; // changed successfully or already in this state
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}
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// fallback to ALTCTL
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res = main_state_transition(status, MAIN_STATE_ALTCTL);
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if (res != TRANSITION_DENIED) {
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break; // changed successfully or already in this state
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}
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// else fallback to MANUAL
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// fallback to MANUAL
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res = main_state_transition(status, MAIN_STATE_MANUAL);
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// TRANSITION_DENIED is not possible here
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break;
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@ -70,11 +70,10 @@ bool
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Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
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{
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/* set loiter item, don't reuse an existing position setpoint */
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return set_loiter_item(false, pos_sp_triplet);;
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return set_loiter_item(pos_sp_triplet);
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}
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void
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Loiter::on_inactive()
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{
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}
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@ -223,7 +223,7 @@ Mission::advance_mission()
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void
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Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
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{
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set_previous_pos_setpoint(&pos_sp_triplet->current, &pos_sp_triplet->previous);
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set_previous_pos_setpoint(pos_sp_triplet);
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/* try setting onboard mission item */
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if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) {
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@ -233,7 +233,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
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"#audio: onboard mission running");
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}
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_mission_type = MISSION_TYPE_ONBOARD;
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_navigator->set_is_in_loiter(false);
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_navigator->set_can_loiter_at_sp(false);
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/* try setting offboard mission item */
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} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
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@ -243,7 +243,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
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"#audio: offboard mission running");
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}
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_mission_type = MISSION_TYPE_OFFBOARD;
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_navigator->set_is_in_loiter(false);
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_navigator->set_can_loiter_at_sp(false);
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} else {
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if (_mission_type != MISSION_TYPE_NONE) {
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mavlink_log_info(_navigator->get_mavlink_fd(),
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@ -253,24 +253,14 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
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"#audio: no mission available");
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}
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_mission_type = MISSION_TYPE_NONE;
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_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
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bool use_current_pos_sp = pos_sp_triplet->current.valid && _waypoint_position_reached;
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set_loiter_item(use_current_pos_sp, pos_sp_triplet);
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set_loiter_item(pos_sp_triplet);
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reset_mission_item_reached();
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report_mission_finished();
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}
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}
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void
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Mission::set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
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struct position_setpoint_s *previous_pos_sp)
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{
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/* reuse current setpoint as previous setpoint */
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if (current_pos_sp->valid) {
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memcpy(previous_pos_sp, current_pos_sp, sizeof(struct position_setpoint_s));
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}
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}
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bool
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Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
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{
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@ -106,12 +106,6 @@ private:
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*/
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void set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet);
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/**
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* Set previous position setpoint
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*/
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void set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
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struct position_setpoint_s *previous_pos_sp);
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/**
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* Try to set the current position setpoint from an onboard mission item
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* @return true if mission item successfully set
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@ -69,20 +69,15 @@ MissionBlock::~MissionBlock()
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bool
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MissionBlock::is_mission_item_reached()
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{
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/* don't check landed WPs */
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if (_mission_item.nav_cmd == NAV_CMD_LAND) {
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return false;
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return _navigator_priv->get_vstatus()->condition_landed;
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}
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/* TODO: count turns */
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#if 0
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if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
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_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
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_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
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_mission_item.loiter_radius > 0.01f) {
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/* TODO: count turns */
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if ((/*_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||*/
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_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) {
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return false;
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}
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#endif
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hrt_abstime now = hrt_absolute_time();
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@ -178,48 +173,70 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
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sp->loiter_direction = item->loiter_direction;
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sp->pitch_min = item->pitch_min;
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if (item->nav_cmd == NAV_CMD_TAKEOFF) {
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switch (item->nav_cmd) {
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case NAV_CMD_IDLE:
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sp->type = SETPOINT_TYPE_IDLE;
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break;
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case NAV_CMD_TAKEOFF:
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sp->type = SETPOINT_TYPE_TAKEOFF;
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break;
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} else if (item->nav_cmd == NAV_CMD_LAND) {
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case NAV_CMD_LAND:
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sp->type = SETPOINT_TYPE_LAND;
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break;
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} else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
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item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
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item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
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case NAV_CMD_LOITER_TIME_LIMIT:
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case NAV_CMD_LOITER_TURN_COUNT:
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case NAV_CMD_LOITER_UNLIMITED:
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sp->type = SETPOINT_TYPE_LOITER;
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break;
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} else {
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default:
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sp->type = SETPOINT_TYPE_POSITION;
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break;
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}
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}
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bool
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MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet)
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void
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MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet)
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{
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if (_navigator_priv->get_is_in_loiter()) {
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/* already loitering, bail out */
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return false;
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}
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/* reuse current setpoint as previous setpoint */
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if (pos_sp_triplet->current.valid) {
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memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s));
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}
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}
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if (reuse_current_pos_sp && pos_sp_triplet->current.valid) {
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/* leave position setpoint as is */
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} else {
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bool
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MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet)
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{
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/* don't change setpoint if 'can_loiter_at_sp' flag set */
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if (!(_navigator_priv->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) {
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/* use current position */
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pos_sp_triplet->current.lat = _navigator_priv->get_global_position()->lat;
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pos_sp_triplet->current.lon = _navigator_priv->get_global_position()->lon;
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pos_sp_triplet->current.alt = _navigator_priv->get_global_position()->alt;
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pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */
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_navigator_priv->set_can_loiter_at_sp(true);
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}
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pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
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pos_sp_triplet->current.loiter_radius = _navigator_priv->get_loiter_radius();
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pos_sp_triplet->current.loiter_direction = 1;
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pos_sp_triplet->previous.valid = false;
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pos_sp_triplet->current.valid = true;
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pos_sp_triplet->next.valid = false;
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if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER
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|| pos_sp_triplet->current.loiter_radius != _navigator_priv->get_loiter_radius()
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|| pos_sp_triplet->current.loiter_direction != 1
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|| pos_sp_triplet->previous.valid
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|| !pos_sp_triplet->current.valid
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|| pos_sp_triplet->next.valid) {
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/* position setpoint triplet should be updated */
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pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
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pos_sp_triplet->current.loiter_radius = _navigator_priv->get_loiter_radius();
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pos_sp_triplet->current.loiter_direction = 1;
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_navigator_priv->set_is_in_loiter(true);
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return true;
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pos_sp_triplet->previous.valid = false;
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pos_sp_triplet->current.valid = true;
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pos_sp_triplet->next.valid = false;
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return true;
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}
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return false;
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}
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@ -82,14 +82,18 @@ public:
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*/
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void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
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/**
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* Set previous position setpoint to current setpoint
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*/
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void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet);
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/**
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* Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
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*
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* @param true if the current position setpoint should be re-used
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* @param the position setpoint triplet to set
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* @return true if setpoint has changed
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*/
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bool set_loiter_item(const bool reuse_current_pos_sp, position_setpoint_triplet_s *pos_sp_triplet);
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bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet);
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bool _waypoint_position_reached;
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bool _waypoint_yaw_reached;
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@ -102,7 +102,7 @@ public:
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/**
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* Setters
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*/
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void set_is_in_loiter(bool is_in_loiter) { _is_in_loiter = is_in_loiter; }
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void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
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/**
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* Getters
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@ -113,7 +113,7 @@ public:
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int get_onboard_mission_sub() { return _onboard_mission_sub; }
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int get_offboard_mission_sub() { return _offboard_mission_sub; }
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Geofence& get_geofence() { return _geofence; }
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bool get_is_in_loiter() { return _is_in_loiter; }
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bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
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float get_loiter_radius() { return _param_loiter_radius.get(); }
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float get_takeoff_acceptance_radius() { return _param_takeoff_acceptance_radius.get(); }
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int get_mavlink_fd() { return _mavlink_fd; }
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@ -161,7 +161,7 @@ private:
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NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
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bool _is_in_loiter; /**< flags if current position SP can be used to loiter */
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bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */
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bool _update_triplet; /**< flags if position SP triplet needs to be published */
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control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
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|
|
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@ -347,7 +347,7 @@ Navigator::task_main()
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case NAVIGATION_STATE_ALTCTL:
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case NAVIGATION_STATE_POSCTL:
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_navigation_mode = nullptr;
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_is_in_loiter = false;
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_can_loiter_at_sp = false;
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break;
|
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case NAVIGATION_STATE_AUTO_MISSION:
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_navigation_mode = &_mission;
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@ -365,7 +365,7 @@ Navigator::task_main()
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case NAVIGATION_STATE_TERMINATION:
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default:
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_navigation_mode = nullptr;
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_is_in_loiter = false;
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_can_loiter_at_sp = false;
|
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break;
|
||||
}
|
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|
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|
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@ -386,7 +386,7 @@ Navigator::task_main()
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_update_triplet = true;
|
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}
|
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|
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if (_update_triplet ) {
|
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if (_update_triplet) {
|
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publish_position_setpoint_triplet();
|
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_update_triplet = false;
|
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}
|
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|
|
@ -446,329 +446,7 @@ Navigator::status()
|
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warnx("Geofence not set");
|
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}
|
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}
|
||||
#if 0
|
||||
bool
|
||||
Navigator::start_none_on_ground()
|
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{
|
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reset_reached();
|
||||
|
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_pos_sp_triplet.previous.valid = false;
|
||||
_pos_sp_triplet.current.valid = false;
|
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_pos_sp_triplet.next.valid = false;
|
||||
|
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_update_triplet = true;
|
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return true;
|
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}
|
||||
|
||||
bool
|
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Navigator::start_none_in_air()
|
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{
|
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reset_reached();
|
||||
|
||||
_pos_sp_triplet.previous.valid = false;
|
||||
_pos_sp_triplet.current.valid = false;
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
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_update_triplet = true;
|
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return true;
|
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}
|
||||
|
||||
bool
|
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Navigator::start_auto_on_ground()
|
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{
|
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reset_reached();
|
||||
|
||||
_pos_sp_triplet.previous.valid = false;
|
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_pos_sp_triplet.current.valid = true;
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
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_pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE;
|
||||
|
||||
_update_triplet = true;
|
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return true;
|
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}
|
||||
|
||||
bool
|
||||
Navigator::start_loiter()
|
||||
{
|
||||
/* if no existing item available, use current position */
|
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if (!(_pos_sp_triplet.current.valid && _waypoint_position_reached)) {
|
||||
|
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_pos_sp_triplet.current.lat = _global_pos.lat;
|
||||
_pos_sp_triplet.current.lon = _global_pos.lon;
|
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_pos_sp_triplet.current.yaw = NAN; // NAN means to use current yaw
|
||||
_pos_sp_triplet.current.alt = _global_pos.alt;
|
||||
}
|
||||
_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
|
||||
_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
|
||||
_pos_sp_triplet.current.loiter_direction = 1;
|
||||
_pos_sp_triplet.previous.valid = false;
|
||||
_pos_sp_triplet.current.valid = true;
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
||||
mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude");
|
||||
|
||||
_update_triplet = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool
|
||||
Navigator::start_mission()
|
||||
{
|
||||
/* start fresh */
|
||||
_pos_sp_triplet.previous.valid = false;
|
||||
_pos_sp_triplet.current.valid = false;
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
||||
return set_mission_items();
|
||||
}
|
||||
|
||||
bool
|
||||
Navigator::advance_mission()
|
||||
{
|
||||
/* tell mission to move by one */
|
||||
_mission.move_to_next();
|
||||
|
||||
/* now try to set the new mission items, if it fails, it will dispatch loiter */
|
||||
return set_mission_items();
|
||||
}
|
||||
|
||||
bool
|
||||
Navigator::set_mission_items()
|
||||
{
|
||||
if (_pos_sp_triplet.current.valid) {
|
||||
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
|
||||
_pos_sp_triplet.previous.valid = true;
|
||||
}
|
||||
|
||||
bool onboard;
|
||||
int index;
|
||||
|
||||
/* if we fail to set the current mission, continue to loiter */
|
||||
if (!_mission.get_current_mission_item(&_mission_item, &onboard, &index)) {
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
/* if we got an RTL mission item, switch to RTL mode and give up */
|
||||
if (_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
|
||||
return false;
|
||||
}
|
||||
|
||||
_mission_item_valid = true;
|
||||
|
||||
/* convert the current mission item and set it valid */
|
||||
mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current);
|
||||
_pos_sp_triplet.current.valid = true;
|
||||
|
||||
|
||||
mission_item_s next_mission_item;
|
||||
|
||||
bool last_wp = false;
|
||||
/* now try to set the next mission item as well, if there is no more next
|
||||
* this means we're heading to the last waypoint */
|
||||
if (_mission.get_next_mission_item(&next_mission_item)) {
|
||||
/* convert the next mission item and set it valid */
|
||||
mission_item_to_position_setpoint(&next_mission_item, &_pos_sp_triplet.next);
|
||||
_pos_sp_triplet.next.valid = true;
|
||||
} else {
|
||||
last_wp = true;
|
||||
}
|
||||
|
||||
/* notify user about what happened */
|
||||
mavlink_log_info(_mavlink_fd, "#audio: heading to %s%swaypoint %d",
|
||||
(last_wp ? "last " : "" ), (onboard ? "onboard " : ""), index);
|
||||
|
||||
_update_triplet = true;
|
||||
|
||||
reset_reached();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool
|
||||
Navigator::start_rtl()
|
||||
{
|
||||
if (_rtl.get_current_rtl_item(&_global_pos, &_mission_item)) {
|
||||
|
||||
_mission_item_valid = true;
|
||||
|
||||
mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current);
|
||||
_pos_sp_triplet.current.valid = true;
|
||||
|
||||
reset_reached();
|
||||
|
||||
_update_triplet = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
/* if RTL doesn't work, fallback to loiter */
|
||||
return false;
|
||||
}
|
||||
|
||||
bool
|
||||
Navigator::advance_rtl()
|
||||
{
|
||||
/* tell mission to move by one */
|
||||
_rtl.move_to_next();
|
||||
|
||||
/* now try to set the new mission items, if it fails, it will dispatch loiter */
|
||||
if (_rtl.get_current_rtl_item(&_global_pos, &_mission_item)) {
|
||||
|
||||
_mission_item_valid = true;
|
||||
|
||||
mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current);
|
||||
_pos_sp_triplet.current.valid = true;
|
||||
|
||||
reset_reached();
|
||||
|
||||
_update_triplet = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool
|
||||
Navigator::start_land()
|
||||
{
|
||||
/* TODO: verify/test */
|
||||
|
||||
reset_reached();
|
||||
|
||||
/* this state can be requested by commander even if no global position available,
|
||||
* in his case controller must perform landing without position control */
|
||||
|
||||
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
|
||||
|
||||
_mission_item.lat = _global_pos.lat;
|
||||
_mission_item.lon = _global_pos.lon;
|
||||
_mission_item.altitude_is_relative = false;
|
||||
_mission_item.altitude = _global_pos.alt;
|
||||
_mission_item.yaw = NAN;
|
||||
_mission_item.loiter_radius = _parameters.loiter_radius;
|
||||
_mission_item.loiter_direction = 1;
|
||||
_mission_item.nav_cmd = NAV_CMD_LAND;
|
||||
_mission_item.acceptance_radius = _parameters.acceptance_radius;
|
||||
_mission_item.time_inside = 0.0f;
|
||||
_mission_item.pitch_min = 0.0f;
|
||||
_mission_item.autocontinue = true;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
||||
_mission_item_valid = true;
|
||||
|
||||
mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current);
|
||||
|
||||
_pos_sp_triplet.next.valid = false;
|
||||
|
||||
_update_triplet = true;
|
||||
return true;
|
||||
}
|
||||
bool
|
||||
Navigator::check_mission_item_reached()
|
||||
{
|
||||
/* only check if there is actually a mission item to check */
|
||||
if (!_mission_item_valid) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
|
||||
return _vstatus.condition_landed;
|
||||
}
|
||||
|
||||
/* XXX TODO count turns */
|
||||
if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
|
||||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
|
||||
_mission_item.loiter_radius > 0.01f) {
|
||||
|
||||
// return false;
|
||||
// }
|
||||
|
||||
uint64_t now = hrt_absolute_time();
|
||||
|
||||
if (!_waypoint_position_reached) {
|
||||
float acceptance_radius;
|
||||
|
||||
if (_mission_item.nav_cmd == NAV_CMD_WAYPOINT && _mission_item.acceptance_radius > 0.01f) {
|
||||
acceptance_radius = _mission_item.acceptance_radius;
|
||||
|
||||
} else {
|
||||
acceptance_radius = _parameters.acceptance_radius;
|
||||
}
|
||||
|
||||
if (_do_takeoff) {
|
||||
/* require only altitude for takeoff */
|
||||
if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) {
|
||||
_waypoint_position_reached = true;
|
||||
}
|
||||
} else {
|
||||
float dist = -1.0f;
|
||||
float dist_xy = -1.0f;
|
||||
float dist_z = -1.0f;
|
||||
|
||||
/* calculate AMSL altitude for this waypoint */
|
||||
float wp_alt_amsl = _mission_item.altitude;
|
||||
|
||||
if (_mission_item.altitude_is_relative)
|
||||
wp_alt_amsl += _home_pos.alt;
|
||||
|
||||
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
|
||||
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
|
||||
&dist_xy, &dist_z);
|
||||
|
||||
if (dist >= 0.0f && dist <= acceptance_radius) {
|
||||
_waypoint_position_reached = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
|
||||
|
||||
/* TODO: removed takeoff, why? */
|
||||
if (_vstatus.is_rotary_wing && isfinite(_mission_item.yaw)) {
|
||||
|
||||
/* check yaw if defined only for rotary wing except takeoff */
|
||||
float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
|
||||
|
||||
if (fabsf(yaw_err) < 0.2f) { /* TODO: get rid of magic number */
|
||||
_waypoint_yaw_reached = true;
|
||||
}
|
||||
|
||||
} else {
|
||||
_waypoint_yaw_reached = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* check if the current waypoint was reached */
|
||||
if (_waypoint_position_reached && _waypoint_yaw_reached) {
|
||||
|
||||
if (_time_first_inside_orbit == 0) {
|
||||
_time_first_inside_orbit = now;
|
||||
|
||||
if (_mission_item.time_inside > 0.01f) {
|
||||
mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs",
|
||||
(double)_mission_item.time_inside);
|
||||
}
|
||||
}
|
||||
|
||||
/* check if the MAV was long enough inside the waypoint orbit */
|
||||
if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item.time_inside * 1e6)
|
||||
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void
|
||||
Navigator::reset_reached()
|
||||
{
|
||||
_time_first_inside_orbit = 0;
|
||||
_waypoint_position_reached = false;
|
||||
_waypoint_yaw_reached = false;
|
||||
|
||||
}
|
||||
#endif
|
||||
void
|
||||
Navigator::publish_position_setpoint_triplet()
|
||||
{
|
||||
|
|
|
|||
|
|
@ -44,6 +44,7 @@
|
|||
|
||||
#include <mavlink/mavlink_log.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <geo/geo.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/mission.h>
|
||||
|
|
@ -52,6 +53,8 @@
|
|||
#include "navigator.h"
|
||||
#include "rtl.h"
|
||||
|
||||
#define DELAY_SIGMA 0.01f
|
||||
|
||||
RTL::RTL(Navigator *navigator, const char *name) :
|
||||
NavigatorMode(navigator, name),
|
||||
MissionBlock(navigator),
|
||||
|
|
@ -75,7 +78,11 @@ void
|
|||
RTL::on_inactive()
|
||||
{
|
||||
_first_run = true;
|
||||
_rtl_state = RTL_STATE_NONE;
|
||||
|
||||
/* reset RTL state only if setpoint moved */
|
||||
if (!_navigator->get_can_loiter_at_sp()) {
|
||||
_rtl_state = RTL_STATE_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
bool
|
||||
|
|
@ -84,14 +91,33 @@ RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
|
|||
bool updated = false;
|
||||
|
||||
if (_first_run) {
|
||||
_first_run = false;
|
||||
|
||||
/* decide where to enter the RTL procedure when we switch into it */
|
||||
if (_rtl_state == RTL_STATE_NONE) {
|
||||
/* for safety reasons don't go into RTL if landed */
|
||||
if (_navigator->get_vstatus()->condition_landed) {
|
||||
_rtl_state = RTL_STATE_LANDED;
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
|
||||
|
||||
/* if lower than return altitude, climb up first */
|
||||
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
|
||||
+ _param_return_alt.get()) {
|
||||
_rtl_state = RTL_STATE_CLIMB;
|
||||
|
||||
/* otherwise go straight to return */
|
||||
} else {
|
||||
/* set altitude setpoint to current altitude */
|
||||
_rtl_state = RTL_STATE_RETURN;
|
||||
_mission_item.altitude_is_relative = false;
|
||||
_mission_item.altitude = _navigator->get_global_position()->alt;
|
||||
}
|
||||
}
|
||||
|
||||
set_rtl_item(pos_sp_triplet);
|
||||
updated = true;
|
||||
_first_run = false;
|
||||
}
|
||||
|
||||
if ((_rtl_state == RTL_STATE_CLIMB
|
||||
|| _rtl_state == RTL_STATE_RETURN)
|
||||
&& is_mission_item_reached()) {
|
||||
} else if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
|
||||
advance_rtl();
|
||||
set_rtl_item(pos_sp_triplet);
|
||||
updated = true;
|
||||
|
|
@ -106,31 +132,11 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
|
|||
/* make sure we have the latest params */
|
||||
updateParams();
|
||||
|
||||
/* decide where to enter the RTL procedure when we switch into it */
|
||||
if (_rtl_state == RTL_STATE_NONE) {
|
||||
/* for safety reasons don't go into RTL if landed */
|
||||
if (_navigator->get_vstatus()->condition_landed) {
|
||||
_rtl_state = RTL_STATE_FINISHED;
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
|
||||
/* if lower than return altitude, climb up first */
|
||||
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
|
||||
+ _param_return_alt.get()) {
|
||||
_rtl_state = RTL_STATE_CLIMB;
|
||||
/* otherwise go straight to return */
|
||||
} else {
|
||||
_rtl_state = RTL_STATE_RETURN;
|
||||
}
|
||||
}
|
||||
|
||||
/* if switching directly to return state, set altitude setpoint to current altitude */
|
||||
if (_rtl_state == RTL_STATE_RETURN) {
|
||||
_mission_item.altitude_is_relative = false;
|
||||
_mission_item.altitude = _navigator->get_global_position()->alt;
|
||||
}
|
||||
set_previous_pos_setpoint(pos_sp_triplet);
|
||||
_navigator->set_can_loiter_at_sp(false);
|
||||
|
||||
switch (_rtl_state) {
|
||||
case RTL_STATE_CLIMB: {
|
||||
|
||||
float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
|
||||
|
||||
_mission_item.lat = _navigator->get_global_position()->lat;
|
||||
|
|
@ -147,27 +153,28 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
|
|||
_mission_item.autocontinue = true;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
||||
_navigator->set_is_in_loiter(false);
|
||||
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home",
|
||||
(int)(climb_alt - _navigator->get_home_position()->alt));
|
||||
break;
|
||||
}
|
||||
case RTL_STATE_RETURN: {
|
||||
|
||||
case RTL_STATE_RETURN: {
|
||||
_mission_item.lat = _navigator->get_home_position()->lat;
|
||||
_mission_item.lon = _navigator->get_home_position()->lon;
|
||||
// don't change altitude
|
||||
|
||||
/* TODO: add this again */
|
||||
// don't change altitude
|
||||
// if (_pos_sp_triplet.previous.valid) {
|
||||
// /* if previous setpoint is valid then use it to calculate heading to home */
|
||||
// _mission_item.yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, _mission_item.lat, _mission_item.lon);
|
||||
if (pos_sp_triplet->previous.valid) {
|
||||
/* if previous setpoint is valid then use it to calculate heading to home */
|
||||
_mission_item.yaw = get_bearing_to_next_waypoint(
|
||||
pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon,
|
||||
_mission_item.lat, _mission_item.lon);
|
||||
|
||||
// } else {
|
||||
// /* else use current position */
|
||||
// _mission_item.yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, _mission_item.lat, _mission_item.lon);
|
||||
// }
|
||||
} else {
|
||||
/* else use current position */
|
||||
_mission_item.yaw = get_bearing_to_next_waypoint(
|
||||
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
|
||||
_mission_item.lat, _mission_item.lon);
|
||||
}
|
||||
_mission_item.loiter_radius = _navigator->get_loiter_radius();
|
||||
_mission_item.loiter_direction = 1;
|
||||
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
|
||||
|
|
@ -177,14 +184,12 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
|
|||
_mission_item.autocontinue = true;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
||||
_navigator->set_is_in_loiter(false);
|
||||
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home",
|
||||
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
|
||||
break;
|
||||
}
|
||||
case RTL_STATE_DESCEND: {
|
||||
|
||||
case RTL_STATE_DESCEND: {
|
||||
_mission_item.lat = _navigator->get_home_position()->lat;
|
||||
_mission_item.lon = _navigator->get_home_position()->lon;
|
||||
_mission_item.altitude_is_relative = false;
|
||||
|
|
@ -194,20 +199,45 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
|
|||
_mission_item.loiter_direction = 1;
|
||||
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
|
||||
_mission_item.acceptance_radius = _param_acceptance_radius.get();
|
||||
_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
|
||||
_mission_item.time_inside = 0.0f;
|
||||
_mission_item.pitch_min = 0.0f;
|
||||
_mission_item.autocontinue = _param_land_delay.get() > -0.001f;
|
||||
_mission_item.autocontinue = false;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
||||
_navigator->set_is_in_loiter(true);
|
||||
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home",
|
||||
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
|
||||
break;
|
||||
}
|
||||
|
||||
case RTL_STATE_LAND: {
|
||||
case RTL_STATE_LOITER: {
|
||||
bool autoland = _param_land_delay.get() > -DELAY_SIGMA;
|
||||
|
||||
_mission_item.lat = _navigator->get_home_position()->lat;
|
||||
_mission_item.lon = _navigator->get_home_position()->lon;
|
||||
_mission_item.altitude_is_relative = false;
|
||||
_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
|
||||
_mission_item.yaw = NAN;
|
||||
_mission_item.loiter_radius = _navigator->get_loiter_radius();
|
||||
_mission_item.loiter_direction = 1;
|
||||
_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
|
||||
_mission_item.acceptance_radius = _param_acceptance_radius.get();
|
||||
_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
|
||||
_mission_item.pitch_min = 0.0f;
|
||||
_mission_item.autocontinue = autoland;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
||||
_navigator->set_can_loiter_at_sp(true);
|
||||
|
||||
if (autoland) {
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", _mission_item.time_inside);
|
||||
|
||||
} else {
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter");
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case RTL_STATE_LAND: {
|
||||
_mission_item.lat = _navigator->get_home_position()->lat;
|
||||
_mission_item.lon = _navigator->get_home_position()->lon;
|
||||
_mission_item.altitude_is_relative = false;
|
||||
|
|
@ -222,30 +252,38 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
|
|||
_mission_item.autocontinue = true;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
||||
_navigator->set_is_in_loiter(false);
|
||||
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home");
|
||||
break;
|
||||
}
|
||||
|
||||
case RTL_STATE_FINISHED: {
|
||||
/* nothing to do, report fail */
|
||||
case RTL_STATE_LANDED: {
|
||||
_mission_item.lat = _navigator->get_home_position()->lat;
|
||||
_mission_item.lon = _navigator->get_home_position()->lon;
|
||||
_mission_item.altitude_is_relative = false;
|
||||
_mission_item.altitude = _navigator->get_home_position()->alt;
|
||||
_mission_item.yaw = NAN;
|
||||
_mission_item.loiter_radius = _navigator->get_loiter_radius();
|
||||
_mission_item.loiter_direction = 1;
|
||||
_mission_item.nav_cmd = NAV_CMD_IDLE;
|
||||
_mission_item.acceptance_radius = _param_acceptance_radius.get();
|
||||
_mission_item.time_inside = 0.0f;
|
||||
_mission_item.pitch_min = 0.0f;
|
||||
_mission_item.autocontinue = true;
|
||||
_mission_item.origin = ORIGIN_ONBOARD;
|
||||
|
||||
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, landed");
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
if (_rtl_state == RTL_STATE_FINISHED) {
|
||||
pos_sp_triplet->current.valid = false;
|
||||
pos_sp_triplet->next.valid = false;
|
||||
} else {
|
||||
/* if not finished, convert mission item to current position setpoint and make it valid */
|
||||
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
|
||||
reset_mission_item_reached();
|
||||
pos_sp_triplet->current.valid = true;
|
||||
pos_sp_triplet->next.valid = false;
|
||||
}
|
||||
/* convert mission item to current position setpoint and make it valid */
|
||||
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
|
||||
reset_mission_item_reached();
|
||||
pos_sp_triplet->current.valid = true;
|
||||
pos_sp_triplet->next.valid = false;
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -262,18 +300,20 @@ RTL::advance_rtl()
|
|||
|
||||
case RTL_STATE_DESCEND:
|
||||
/* only go to land if autoland is enabled */
|
||||
if (_param_land_delay.get() < 0) {
|
||||
_rtl_state = RTL_STATE_FINISHED;
|
||||
if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
|
||||
_rtl_state = RTL_STATE_LOITER;
|
||||
|
||||
} else {
|
||||
_rtl_state = RTL_STATE_LAND;
|
||||
}
|
||||
break;
|
||||
|
||||
case RTL_STATE_LAND:
|
||||
_rtl_state = RTL_STATE_FINISHED;
|
||||
case RTL_STATE_LOITER:
|
||||
_rtl_state = RTL_STATE_LAND;
|
||||
break;
|
||||
|
||||
case RTL_STATE_FINISHED:
|
||||
case RTL_STATE_LAND:
|
||||
_rtl_state = RTL_STATE_LANDED;
|
||||
break;
|
||||
|
||||
default:
|
||||
|
|
|
|||
|
|
@ -97,8 +97,9 @@ private:
|
|||
RTL_STATE_CLIMB,
|
||||
RTL_STATE_RETURN,
|
||||
RTL_STATE_DESCEND,
|
||||
RTL_STATE_LOITER,
|
||||
RTL_STATE_LAND,
|
||||
RTL_STATE_FINISHED,
|
||||
RTL_STATE_LANDED,
|
||||
} _rtl_state;
|
||||
|
||||
control::BlockParamFloat _param_return_alt;
|
||||
|
|
|
|||
|
|
@ -50,6 +50,7 @@
|
|||
|
||||
/* compatible to mavlink MAV_CMD */
|
||||
enum NAV_CMD {
|
||||
NAV_CMD_IDLE=0,
|
||||
NAV_CMD_WAYPOINT=16,
|
||||
NAV_CMD_LOITER_UNLIMITED=17,
|
||||
NAV_CMD_LOITER_TURN_COUNT=18,
|
||||
|
|
|
|||
Loading…
Reference in New Issue