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navigator: takeoff and mission fixes

This commit is contained in:
Anton Babushkin 2014-01-02 14:49:34 +04:00
parent 3c72c9bf7f
commit 74e2542c07
7 changed files with 166 additions and 164 deletions
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2
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -1230,7 +1230,7 @@ FixedwingPositionControl::task_main()
}
/* XXX check if radius makes sense here */
float turn_distance = _l1_control.switch_distance(_mission_item_triplet.current.radius);
float turn_distance = _l1_control.switch_distance(_mission_item_triplet.current.acceptance_radius);
/* lazily publish navigation capabilities */
if (turn_distance != _nav_capabilities.turn_distance && turn_distance > 0) {

4
src/modules/mavlink/waypoints.c
View File

@ -143,7 +143,7 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
mission_item->pitch_min = mavlink_mission_item->param2;
break;
default:
mission_item->radius = mavlink_mission_item->param2;
mission_item->acceptance_radius = mavlink_mission_item->param2;
break;
}
@ -173,7 +173,7 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
mavlink_mission_item->param2 = mission_item->pitch_min;
break;
default:
mavlink_mission_item->param2 = mission_item->radius;
mavlink_mission_item->param2 = mission_item->acceptance_radius;
break;
}

308
src/modules/navigator/navigator_main.cpp
View File

@ -170,7 +170,8 @@ private:
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
uint64_t _time_first_inside_orbit;
bool _force_takeoff;
bool _need_takeoff; /**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */
bool _do_takeoff; /**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */
MissionFeasibilityChecker missionFeasiblityChecker;
@ -178,16 +179,20 @@ private:
struct {
float min_altitude;
float acceptance_radius;
float loiter_radius;
int onboard_mission_enabled;
float takeoff_alt;
float land_alt;
float rtl_alt;
} _parameters; /**< local copies of parameters */
struct {
param_t min_altitude;
param_t acceptance_radius;
param_t loiter_radius;
param_t onboard_mission_enabled;
param_t takeoff_alt;
param_t land_alt;
param_t rtl_alt;
} _parameter_handles; /**< handles for parameters */
@ -291,7 +296,12 @@ private:
/**
* Check if current mission item has been reached.
*/
bool mission_item_reached();
bool check_mission_item_reached();
/**
* Perform actions when current mission item reached.
*/
void on_mission_item_reached();
/**
* Move to next waypoint
@ -379,13 +389,16 @@ Navigator::Navigator() :
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_set_nav_state_timestamp(0),
_force_takeoff(false)
_need_takeoff(true),
_do_takeoff(false)
{
memset(&_fence, 0, sizeof(_fence));
_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
_parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN");
_parameter_handles.takeoff_alt = param_find("NAV_TAKEOFF_ALT");
_parameter_handles.land_alt = param_find("NAV_LAND_ALT");
_parameter_handles.rtl_alt = param_find("NAV_RTL_ALT");
@ -436,8 +449,10 @@ Navigator::parameters_update()
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
param_get(_parameter_handles.min_altitude, &(_parameters.min_altitude));
param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius));
param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius));
param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled));
param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
param_get(_parameter_handles.land_alt, &(_parameters.land_alt));
param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt));
@ -726,27 +741,8 @@ Navigator::task_main()
global_position_update();
/* only check if waypoint has been reached in MISSION */
if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL) {
if (mission_item_reached()) {
if (myState == NAV_STATE_MISSION) {
if (_force_takeoff) {
/* forced takeoff completed */
_force_takeoff = false;
mavlink_log_info(_mavlink_fd, "[navigator] forced takeoff completed");
} else {
/* advance by one mission item */
_mission.move_to_next();
}
/* if no more mission items available send this to state machine and start loiter at the last WP */
if (_mission.current_mission_available()) {
advance_mission();
} else {
dispatch(EVENT_MISSION_FINISHED);
}
} else {
/* RTL finished */
dispatch(EVENT_MISSION_FINISHED);
}
if (check_mission_item_reached()) {
on_mission_item_reached();
}
}
}
@ -976,7 +972,7 @@ Navigator::start_none()
_reset_loiter_pos = true;
_rtl_done = false;
_force_takeoff = false;
_do_takeoff = false;
publish_mission_item_triplet();
}
@ -984,7 +980,7 @@ Navigator::start_none()
void
Navigator::start_loiter()
{
_force_takeoff = false;
_do_takeoff = false;
/* set loiter position if needed */
if (_reset_loiter_pos || !_mission_item_triplet.current_valid) {
@ -997,7 +993,7 @@ Navigator::start_loiter()
_mission_item_triplet.current.altitude_is_relative = false;
float min_alt_amsl = _parameters.min_altitude + _home_pos.altitude;
/* Use current altitude if above min altitude set by parameter */
/* use current altitude if above min altitude set by parameter */
if (_global_pos.alt < min_alt_amsl) {
_mission_item_triplet.current.altitude = min_alt_amsl;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
@ -1019,72 +1015,10 @@ Navigator::start_loiter()
void
Navigator::start_mission()
{
int ret;
bool onboard;
unsigned index;
// TODO set prev item to current position?
_reset_loiter_pos = true;
_rtl_done = false;
_force_takeoff = false;
_need_takeoff = true;
_mission_item_triplet.previous_valid = false;
ret = _mission.get_current_mission_item(&_mission_item_triplet.current, &onboard, &index);
if (ret == OK) {
_mission_item_triplet.current_valid = true;
add_home_pos_to_rtl(&_mission_item_triplet.current);
if (_mission_item_triplet.current.nav_cmd != NAV_CMD_TAKEOFF && _vstatus.condition_landed) {
/* if landed, takeoff first, if this not defined in mission */
_force_takeoff = true;
/* move current mission item to next */
memcpy(&_mission_item_triplet.next, &_mission_item_triplet.current, sizeof(mission_item_s));
_mission_item_triplet.next_valid = true;
/* fill takeoff item */
get_takeoff_item(&_mission_item_triplet.current);
if (_vstatus.is_rotary_wing) {
/* for VTOL use current position */
_mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d;
_mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d;
} else {
/* for fixed wing use first waypoint position */
// TODO what if first mission item has no lat/lon?
_mission_item_triplet.current.lat = _mission_item_triplet.next.lat;
_mission_item_triplet.current.lon = _mission_item_triplet.next.lon;
}
_mission_item_triplet.current.altitude = _global_pos.alt + _parameters.land_alt;
_mission_item_triplet.current.altitude_is_relative = false;
mavlink_log_info(_mavlink_fd, "[navigator] mission started, force takeoff to %.1fm", _mission_item_triplet.current.altitude);
} else {
/* normal mission start: mission starts with takeoff item or vehicle is already in air */
ret = _mission.get_next_mission_item(&_mission_item_triplet.next);
if (ret == OK) {
add_home_pos_to_rtl(&_mission_item_triplet.next);
_mission_item_triplet.next_valid = true;
} else {
/* this will fail for the last WP */
_mission_item_triplet.next_valid = false;
}
if (onboard) {
mavlink_log_info(_mavlink_fd, "[navigator] mission started, onboard WP %d", index);
} else {
mavlink_log_info(_mavlink_fd, "[navigator] mission started, offboard WP %d", index);
}
}
} else {
/* mission is started without knowledge if there are more mission, indicates bug in navigator */
_mission_item_triplet.current_valid = false;
_mission_item_triplet.next_valid = false;
mavlink_log_critical(_mavlink_fd, "[navigator] error: MISSION mode without mission defined");
}
publish_mission_item_triplet();
advance_mission();
}
void
@ -1095,6 +1029,7 @@ Navigator::advance_mission()
_mission_item_triplet.previous_valid = _mission_item_triplet.current_valid;
_reset_loiter_pos = true;
_do_takeoff = false;
int ret;
bool onboard;
@ -1103,14 +1038,54 @@ Navigator::advance_mission()
ret = _mission.get_current_mission_item(&_mission_item_triplet.current, &onboard, &index);
if (ret == OK) {
add_home_pos_to_rtl(&_mission_item_triplet.current);
_mission_item_triplet.current_valid = true;
add_home_pos_to_rtl(&_mission_item_triplet.current);
if (onboard) {
mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index);
if (_vstatus.is_rotary_wing) {
if (_need_takeoff && (
_mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED
)) {
/* do special TAKEOFF handling for VTOL */
_need_takeoff = false;
/* check if we really need takeoff */
float wp_alt_amsl = _mission_item_triplet.current.altitude;
if (_mission_item_triplet.current.altitude_is_relative)
wp_alt_amsl += _home_pos.altitude;
if (_vstatus.condition_landed || _global_pos.alt - _home_pos.altitude < _parameters.takeoff_alt ||
(_mission_item_triplet.next.nav_cmd != NAV_CMD_RETURN_TO_LAUNCH && _global_pos.alt > wp_alt_amsl)) {
/* force TAKEOFF if (landed or near ground) and waypoint altitude is more than current */
_do_takeoff = true;
/* move current mission item to next */
memcpy(&_mission_item_triplet.next, &_mission_item_triplet.current, sizeof(mission_item_s));
_mission_item_triplet.next_valid = true;
/* set current item to TAKEOFF */
get_takeoff_item(&_mission_item_triplet.current);
_mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d;
_mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d;
}
} else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) {
/* will need takeoff after landing */
_need_takeoff = true;
}
}
if (_do_takeoff) {
mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm", _mission_item_triplet.current.altitude);
} else {
mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index);
if (onboard) {
mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index);
} else {
mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index);
}
}
} else {
/* since a mission is not advanced without WPs available, this is not supposed to happen */
@ -1118,16 +1093,16 @@ Navigator::advance_mission()
warnx("ERROR: current WP can't be set");
}
ret = _mission.get_next_mission_item(&_mission_item_triplet.next);
if (!_do_takeoff) {
ret = _mission.get_next_mission_item(&_mission_item_triplet.next);
if (ret == OK) {
add_home_pos_to_rtl(&_mission_item_triplet.next);
_mission_item_triplet.next_valid = true;
} else {
/* this will fail for the last WP */
_mission_item_triplet.next_valid = false;
if (ret == OK) {
add_home_pos_to_rtl(&_mission_item_triplet.next);
_mission_item_triplet.next_valid = true;
} else {
/* this will fail for the last WP */
_mission_item_triplet.next_valid = false;
}
}
publish_mission_item_triplet();
@ -1149,6 +1124,7 @@ Navigator::start_rtl()
{
_reset_loiter_pos = true;
_rtl_done = false;
_do_takeoff = false;
/* discard all mission item and insert RTL item */
_mission_item_triplet.previous_valid = false;
@ -1157,12 +1133,13 @@ Navigator::start_rtl()
_mission_item_triplet.current.lat = _home_pos.lat;
_mission_item_triplet.current.lon = _home_pos.lon;
_mission_item_triplet.current.altitude = _home_pos.altitude + _parameters.min_altitude;
_mission_item_triplet.current.altitude = _home_pos.altitude + _parameters.rtl_alt;
_mission_item_triplet.current.altitude_is_relative = false;
_mission_item_triplet.current.yaw = 0.0f; // TODO use heading to waypoint?
_mission_item_triplet.current.nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
_mission_item_triplet.current.loiter_direction = 1;
_mission_item_triplet.current.loiter_radius = _parameters.loiter_radius;
_mission_item_triplet.current.radius = 50.0f; // TODO: get rid of magic number
_mission_item_triplet.current.acceptance_radius = _parameters.acceptance_radius;
_mission_item_triplet.current.autocontinue = false;
_mission_item_triplet.current_valid = true;
@ -1184,7 +1161,7 @@ Navigator::finish_rtl()
}
bool
Navigator::mission_item_reached()
Navigator::check_mission_item_reached()
{
/* only check if there is actually a mission item to check */
if (!_mission_item_triplet.current_valid) {
@ -1206,22 +1183,15 @@ Navigator::mission_item_reached()
}
uint64_t now = hrt_absolute_time();
float orbit;
float acceptance_radius;
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.radius > 0.01f) {
orbit = _mission_item_triplet.current.radius;
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.acceptance_radius > 0.01f) {
acceptance_radius = _mission_item_triplet.current.acceptance_radius;
} else {
// XXX set default orbit via param
orbit = 15.0f;
acceptance_radius = _parameters.acceptance_radius;
}
/* keep vertical orbit */
float vertical_switch_distance = orbit;
// TODO add frame
// int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame;
@ -1232,10 +1202,12 @@ Navigator::mission_item_reached()
// if (coordinate_frame == (int)MAV_FRAME_GLOBAL) {
/* current relative or AMSL altitude depending on mission item altitude_is_relative flag */
float current_alt = _mission_item_triplet.current.altitude_is_relative ? _global_pos.relative_alt : _global_pos.alt;
float wp_alt_amsl = _mission_item_triplet.current.altitude;
if (_mission_item_triplet.current.altitude_is_relative)
_mission_item_triplet.current.altitude += _home_pos.altitude;
dist = get_distance_to_point_global_wgs84(_mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude,
(double)_global_pos.lat / 1e7d, (double)_global_pos.lon / 1e7d, current_alt,
dist = get_distance_to_point_global_wgs84(_mission_item_triplet.current.lat, _mission_item_triplet.current.lon, wp_alt_amsl,
(double)_global_pos.lat / 1e7d, (double)_global_pos.lon / 1e7d, _global_pos.alt,
&dist_xy, &dist_z);
// warnx("1 lat: %2.2f, lon: %2.2f, alt: %2.2f", _mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude);
@ -1254,25 +1226,29 @@ Navigator::mission_item_reached()
// // XXX TODO
// }
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
/* require only altitude for takeoff */
if (current_alt >= _mission_item_triplet.current.altitude)
if (_do_takeoff) {
if (_global_pos.alt > wp_alt_amsl - acceptance_radius) {
/* require only altitude for takeoff */
_waypoint_position_reached = true;
}
} else {
if (dist >= 0.0f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) {
if (dist >= 0.0f && dist <= acceptance_radius) {
_waypoint_position_reached = true;
}
}
/* check if required yaw reached */
float yaw_err = _wrap_pi(_mission_item_triplet.current.yaw - _global_pos.yaw);
if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */
if (_vstatus.is_rotary_wing && !_do_takeoff) {
/* check yow only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item_triplet.current.yaw - _global_pos.yaw);
if (fabsf(yaw_err) < 0.05f) { /* XXX 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 */) { /* XXX what about yaw? */
if (_waypoint_position_reached && _waypoint_yaw_reached) {
if (_time_first_inside_orbit == 0) {
/* XXX announcement? */
@ -1293,6 +1269,31 @@ Navigator::mission_item_reached()
}
void
Navigator::on_mission_item_reached()
{
if (myState == NAV_STATE_MISSION) {
if (_do_takeoff) {
/* takeoff completed */
_do_takeoff = false;
mavlink_log_info(_mavlink_fd, "[navigator] takeoff completed");
} else {
/* advance by one mission item */
_mission.move_to_next();
}
if (_mission.current_mission_available()) {
advance_mission();
} else {
/* if no more mission items available then finish mission */
dispatch(EVENT_MISSION_FINISHED);
}
} else {
/* RTL finished */
dispatch(EVENT_MISSION_FINISHED);
}
}
void
Navigator::get_loiter_item(struct mission_item_s *item)
{
@ -1300,13 +1301,13 @@ Navigator::get_loiter_item(struct mission_item_s *item)
//item->lat
//item->lon
//item->altitude
item->yaw = NAN;
item->loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number
//item->yaw
item->loiter_radius = _parameters.loiter_radius;
item->loiter_direction = 1;
item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
item->radius = 50.0f; // TODO: get rid of magic number
//item->time_inside
//item->pitch_min
item->acceptance_radius = _parameters.acceptance_radius;
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
@ -1320,16 +1321,30 @@ Navigator::get_takeoff_item(mission_item_s *item)
//item->lon
//item->altitude
item->yaw = NAN;
item->loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number
item->loiter_radius = _parameters.loiter_radius;
item->loiter_direction = 1;
item->nav_cmd = NAV_CMD_TAKEOFF;
item->radius = 50.0f; // TODO: get rid of magic number
item->acceptance_radius = _parameters.acceptance_radius;
item->time_inside = 0.0f;
item->pitch_min = 0.3; // TODO: get rid of magic number
item->pitch_min = 0.0;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}
void
Navigator::add_home_pos_to_rtl(struct mission_item_s *new_mission_item)
{
if (new_mission_item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
/* append the home position to RTL item */
new_mission_item->lat = _home_pos.lat;
new_mission_item->lon = _home_pos.lon;
new_mission_item->altitude = _home_pos.altitude + _parameters.rtl_alt;
new_mission_item->altitude_is_relative = false;
new_mission_item->loiter_radius = _parameters.loiter_radius;
new_mission_item->acceptance_radius = _parameters.acceptance_radius;
}
}
void
Navigator::publish_mission_item_triplet()
{
@ -1424,7 +1439,7 @@ bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const
fabsf(a.loiter_radius - b.loiter_radius) < FLT_EPSILON &&
a.loiter_direction == b.loiter_direction &&
a.nav_cmd == b.nav_cmd &&
fabsf(a.radius - b.radius) < FLT_EPSILON &&
fabsf(a.acceptance_radius - b.acceptance_radius) < FLT_EPSILON &&
fabsf(a.time_inside - b.time_inside) < FLT_EPSILON &&
a.autocontinue == b.autocontinue) {
return true;
@ -1485,16 +1500,3 @@ int navigator_main(int argc, char *argv[])
return 0;
}
void
Navigator::add_home_pos_to_rtl(struct mission_item_s *new_mission_item)
{
if (new_mission_item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
/* if it is a RTL waypoint, append the home position */
new_mission_item->lat = _home_pos.lat;
new_mission_item->lon = _home_pos.lon;
new_mission_item->altitude = _home_pos.altitude + _parameters.min_altitude;
new_mission_item->loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number
new_mission_item->radius = 50.0f; // TODO: get rid of magic number
}
}

6
src/modules/navigator/navigator_params.c
View File

@ -52,7 +52,9 @@
*/
PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f);
PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 10.0f); // default TAKEOFF altitude, slow descend from this altitude when landing in RTL mode
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 10.0f); // min altitude for going home in RTL mode
PARAM_DEFINE_FLOAT(NAV_TAAKEOFF_ALT, 10.0f); // default TAKEOFF altitude
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode

4
src/modules/sdlog2/sdlog2.c
View File

@ -1161,9 +1161,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.radius = buf.triplet.current.radius;
log_msg.body.log_GPSP.acceptance_radius = buf.triplet.current.acceptance_radius;
log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
LOGBUFFER_WRITE_AND_COUNT(GPSP);

4
src/modules/sdlog2/sdlog2_messages.h
View File

@ -217,7 +217,7 @@ struct log_GPSP_s {
uint8_t nav_cmd;
float loiter_radius;
int8_t loiter_direction;
float radius;
float acceptance_radius;
float time_inside;
float pitch_min;
};
@ -287,7 +287,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitRad,LoitDir,Rad,TimeIn,pitMin"),
LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitR,LoitDir,AccR,TimeIn,PitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
/* system-level messages, ID >= 0x80 */

2
src/modules/uORB/topics/mission.h
View File

@ -87,7 +87,7 @@ struct mission_item_s
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< navigation command */
float radius; /**< radius in which the mission is accepted as reached in meters */
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
bool autocontinue; /**< true if next waypoint should follow after this one */