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Merge remote-tracking branch 'private_julian/fw_autoland_att_tecs_navigator' into fw_autoland_att_tecs_navigator

This commit is contained in:
Thomas Gubler 2013-11-28 09:15:07 +01:00
parent b2ee78c218 de36ccfff5
commit a635010117
9 changed files with 514 additions and 335 deletions
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15
src/lib/geo/geo.c
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@ -411,6 +411,21 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now
return sqrtf(dxy * dxy + dz * dz); return sqrtf(dxy * dxy + dz * dz);
} }
__EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
float x_next, float y_next, float z_next,
float *dist_xy, float *dist_z)
{
float dx = x_now - x_next;
float dy = y_now - y_next;
float dz = z_now - z_next;
*dist_xy = sqrtf(dx * dx + dy * dy);
*dist_z = fabsf(dz);
return sqrtf(dx * dx + dy * dy + dz * dz);
}
__EXPORT float _wrap_pi(float bearing) __EXPORT float _wrap_pi(float bearing)
{ {
/* value is inf or NaN */ /* value is inf or NaN */

10
src/lib/geo/geo.h
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@ -124,10 +124,20 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep); float radius, float arc_start_bearing, float arc_sweep);
/*
* Calculate distance in global frame
*/
__EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now, __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
double lat_next, double lon_next, float alt_next, double lat_next, double lon_next, float alt_next,
float *dist_xy, float *dist_z); float *dist_xy, float *dist_z);
/*
* Calculate distance in local frame (NED)
*/
__EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
float x_next, float y_next, float z_next,
float *dist_xy, float *dist_z);
__EXPORT float _wrap_180(float bearing); __EXPORT float _wrap_180(float bearing);
__EXPORT float _wrap_360(float bearing); __EXPORT float _wrap_360(float bearing);
__EXPORT float _wrap_pi(float bearing); __EXPORT float _wrap_pi(float bearing);

17
src/modules/mavlink/mavlink.c
View File

@ -74,6 +74,8 @@
#include "waypoints.h" #include "waypoints.h"
#include "mavlink_parameters.h" #include "mavlink_parameters.h"
#include <uORB/topics/mission_result.h>
/* define MAVLink specific parameters */ /* define MAVLink specific parameters */
PARAM_DEFINE_INT32(MAV_SYS_ID, 1); PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
PARAM_DEFINE_INT32(MAV_COMP_ID, 50); PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
@ -644,6 +646,10 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000);
} }
int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
struct mission_result_s mission_result;
memset(&mission_result, 0, sizeof(mission_result));
thread_running = true; thread_running = true;
/* arm counter to go off immediately */ /* arm counter to go off immediately */
@ -690,6 +696,17 @@ int mavlink_thread_main(int argc, char *argv[])
lowspeed_counter++; lowspeed_counter++;
bool updated;
orb_check(mission_result_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
if (mission_result.mission_reached) {
mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index);
}
}
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
/* sleep quarter the time */ /* sleep quarter the time */

645
src/modules/mavlink/waypoints.c
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@ -70,11 +70,32 @@ struct mission_s mission;
uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
{ {
/* only support global waypoints for now */
switch (mavlink_mission_item->frame) {
case MAV_FRAME_GLOBAL:
mission_item->lat = (double)mavlink_mission_item->x; mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y; mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z; mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
default:
return MAV_MISSION_ERROR;
}
mission_item->yaw = mavlink_mission_item->param4*M_DEG_TO_RAD_F; mission_item->yaw = mavlink_mission_item->param4*M_DEG_TO_RAD_F;
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
@ -83,14 +104,22 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl
mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */ mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
mission_item->autocontinue = mavlink_mission_item->autocontinue; mission_item->autocontinue = mavlink_mission_item->autocontinue;
mission_item->index = mavlink_mission_item->seq; mission_item->index = mavlink_mission_item->seq;
return OK;
} }
void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
{ {
if (mission_item->altitude_is_relative) {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
} else {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
mavlink_mission_item->x = (float)mission_item->lat; mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon; mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude; mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction; mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->command = mission_item->nav_cmd;
@ -98,6 +127,8 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi
mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
mavlink_mission_item->autocontinue = mission_item->autocontinue; mavlink_mission_item->autocontinue = mission_item->autocontinue;
mavlink_mission_item->seq = mission_item->index; mavlink_mission_item->seq = mission_item->index;
return OK;
} }
void mavlink_wpm_init(mavlink_wpm_storage *state) void mavlink_wpm_init(mavlink_wpm_storage *state)
@ -111,15 +142,15 @@ void mavlink_wpm_init(mavlink_wpm_storage *state)
state->current_partner_sysid = 0; state->current_partner_sysid = 0;
state->current_partner_compid = 0; state->current_partner_compid = 0;
state->timestamp_lastaction = 0; state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0; // state->timestamp_last_send_setpoint = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT; // state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT;
state->idle = false; ///< indicates if the system is following the waypoints or is waiting // state->idle = false; ///< indicates if the system is following the waypoints or is waiting
state->current_active_wp_id = -1; ///< id of current waypoint // state->current_active_wp_id = -1; ///< id of current waypoint
state->yaw_reached = false; ///< boolean for yaw attitude reached // state->yaw_reached = false; ///< boolean for yaw attitude reached
state->pos_reached = false; ///< boolean for position reached // state->pos_reached = false; ///< boolean for position reached
state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value // state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value // state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
mission.count = 0; mission.count = 0;
mission.items = (struct mission_item_s*)malloc(sizeof(struct mission_item_s) * NUM_MISSIONS_SUPPORTED); mission.items = (struct mission_item_s*)malloc(sizeof(struct mission_item_s) * NUM_MISSIONS_SUPPORTED);
@ -147,16 +178,15 @@ void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
if (MAVLINK_WPM_TEXT_FEEDBACK) { // if (MAVLINK_WPM_TEXT_FEEDBACK) {
#ifdef MAVLINK_WPM_NO_PRINTF // #ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); // mavlink_missionlib_send_gcs_string("Sent waypoint ACK");
#else // #else
if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); // if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system);
#endif // #endif
mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); // }
}
} }
/* /*
@ -206,7 +236,7 @@ void mavlink_wpm_send_setpoint(uint16_t seq)
cur->param2, cur->param3, cur->param4, cur->x, cur->param2, cur->param3, cur->param4, cur->x,
cur->y, cur->z, cur->frame, cur->command); cur->y, cur->z, cur->frame, cur->command);
wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); // wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp();
} else { } else {
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n");
@ -220,7 +250,7 @@ void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t cou
wpc.target_system = wpm->current_partner_sysid; wpc.target_system = wpm->current_partner_sysid;
wpc.target_component = wpm->current_partner_compid; wpc.target_component = wpm->current_partner_compid;
wpc.count = count; wpc.count = mission.count;
mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
mavlink_missionlib_send_message(&msg); mavlink_missionlib_send_message(&msg);
@ -292,250 +322,191 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq)
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
} }
/*
* Calculate distance in global frame.
*
* The distance calculation is based on the WGS84 geoid (GPS)
*/
float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt, float *dist_xy, float *dist_z)
{
if (seq < wpm->size) { // void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos, float turn_distance)
mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); // {
// static uint16_t counter;
double current_x_rad = wp->x / 180.0 * M_PI; // if ((!global_pos->valid && !local_pos->xy_valid) ||
double current_y_rad = wp->y / 180.0 * M_PI; // /* no waypoint */
double x_rad = lat / 180.0 * M_PI; // wpm->size == 0) {
double y_rad = lon / 180.0 * M_PI; // /* nothing to check here, return */
// return;
// }
double d_lat = x_rad - current_x_rad; // if (wpm->current_active_wp_id < wpm->size) {
double d_lon = y_rad - current_y_rad;
double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad); // float orbit;
double c = 2 * atan2(sqrt(a), sqrt(1 - a)); // if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT) {
const double radius_earth = 6371000.0; // orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
float dxy = radius_earth * c; // } else if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
float dz = alt - wp->z; // wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
*dist_xy = fabsf(dxy); // orbit = wpm->waypoints[wpm->current_active_wp_id].param3;
*dist_z = fabsf(dz); // } else {
return sqrtf(dxy * dxy + dz * dz); // // XXX set default orbit via param
// orbit = 15.0f;
// }
} else { // /* keep vertical orbit */
return -1.0f; // float vertical_switch_distance = orbit;
}
} // /* Take the larger turn distance - orbit or turn_distance */
// if (orbit < turn_distance)
// orbit = turn_distance;
/* // int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame;
* Calculate distance in local frame (NED) // float dist = -1.0f;
*/
float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float z, float *dist_xy, float *dist_z)
{
if (seq < wpm->size) {
mavlink_mission_item_t *cur = &(wpm->waypoints[seq]);
float dx = (cur->x - x); // float dist_xy = -1.0f;
float dy = (cur->y - y); // float dist_z = -1.0f;
float dz = (cur->z - z);
*dist_xy = sqrtf(dx * dx + dy * dy); // if (coordinate_frame == (int)MAV_FRAME_GLOBAL) {
*dist_z = fabsf(dz); // dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt, &dist_xy, &dist_z);
return sqrtf(dx * dx + dy * dy + dz * dz); // } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
// dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt, &dist_xy, &dist_z);
} else { // } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) {
return -1.0f; // dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z, &dist_xy, &dist_z);
}
}
void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos, float turn_distance) // } else if (coordinate_frame == (int)MAV_FRAME_MISSION) {
{ // /* Check if conditions of mission item are satisfied */
static uint16_t counter; // // XXX TODO
// }
if ((!global_pos->valid && !local_pos->xy_valid) || // if (dist >= 0.f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) {
/* no waypoint */ // wpm->pos_reached = true;
wpm->size == 0) { // }
/* nothing to check here, return */
return;
}
if (wpm->current_active_wp_id < wpm->size) { // // check if required yaw reached
// float yaw_sp = _wrap_pi(wpm->waypoints[wpm->current_active_wp_id].param4 / 180.0f * FM_PI);
// float yaw_err = _wrap_pi(yaw_sp - local_pos->yaw);
// if (fabsf(yaw_err) < 0.05f) {
// wpm->yaw_reached = true;
// }
// }
float orbit; // //check if the current waypoint was reached
if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT) { // if (wpm->pos_reached && /*wpm->yaw_reached &&*/ !wpm->idle) {
// if (wpm->current_active_wp_id < wpm->size) {
// mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]);
orbit = wpm->waypoints[wpm->current_active_wp_id].param2; // if (wpm->timestamp_firstinside_orbit == 0) {
// // Announce that last waypoint was reached
// mavlink_wpm_send_waypoint_reached(cur_wp->seq);
// wpm->timestamp_firstinside_orbit = now;
// }
} else if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || // // check if the MAV was long enough inside the waypoint orbit
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || // //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
orbit = wpm->waypoints[wpm->current_active_wp_id].param3; // bool time_elapsed = false;
} else {
// XXX set default orbit via param // if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) {
orbit = 15.0f; // time_elapsed = true;
} // } else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) {
// time_elapsed = true;
// }
/* keep vertical orbit */ // if (time_elapsed) {
float vertical_switch_distance = orbit;
/* Take the larger turn distance - orbit or turn_distance */ // /* safeguard against invalid missions with last wp autocontinue on */
if (orbit < turn_distance) // if (wpm->current_active_wp_id == wpm->size - 1) {
orbit = turn_distance; // /* stop handling missions here */
// cur_wp->autocontinue = false;
// }
int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; // if (cur_wp->autocontinue) {
float dist = -1.0f;
float dist_xy = -1.0f; // cur_wp->current = 0;
float dist_z = -1.0f;
if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { // float navigation_lat = -1.0f;
dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt, &dist_xy, &dist_z); // float navigation_lon = -1.0f;
// float navigation_alt = -1.0f;
// int navigation_frame = -1;
} else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { // /* initialize to current position in case we don't find a suitable navigation waypoint */
dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt, &dist_xy, &dist_z); // if (global_pos->valid) {
// navigation_lat = global_pos->lat/1e7;
// navigation_lon = global_pos->lon/1e7;
// navigation_alt = global_pos->alt;
// navigation_frame = MAV_FRAME_GLOBAL;
// } else if (local_pos->xy_valid && local_pos->z_valid) {
// navigation_lat = local_pos->x;
// navigation_lon = local_pos->y;
// navigation_alt = local_pos->z;
// navigation_frame = MAV_FRAME_LOCAL_NED;
// }
} else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { // /* guard against missions without final land waypoint */
dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z, &dist_xy, &dist_z); // /* only accept supported navigation waypoints, skip unknown ones */
// do {
} else if (coordinate_frame == (int)MAV_FRAME_MISSION) { // /* pick up the last valid navigation waypoint, this will be one we hold on to after the mission */
/* Check if conditions of mission item are satisfied */ // if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
// XXX TODO // wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
} // wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM ||
// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_TAKEOFF) {
if (dist >= 0.f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) { // /* this is a navigation waypoint */
wpm->pos_reached = true; // navigation_frame = cur_wp->frame;
} // navigation_lat = cur_wp->x;
// navigation_lon = cur_wp->y;
// navigation_alt = cur_wp->z;
// }
// check if required yaw reached // if (wpm->current_active_wp_id == wpm->size - 1) {
float yaw_sp = _wrap_pi(wpm->waypoints[wpm->current_active_wp_id].param4 / 180.0f * FM_PI);
float yaw_err = _wrap_pi(yaw_sp - local_pos->yaw);
if (fabsf(yaw_err) < 0.05f) {
wpm->yaw_reached = true;
}
}
//check if the current waypoint was reached // /* if we're not landing at the last nav waypoint, we're falling back to loiter */
if (wpm->pos_reached && /*wpm->yaw_reached &&*/ !wpm->idle) { // if (wpm->waypoints[wpm->current_active_wp_id].command != (int)MAV_CMD_NAV_LAND) {
if (wpm->current_active_wp_id < wpm->size) { // /* the last waypoint was reached, if auto continue is
mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]); // * activated AND it is NOT a land waypoint, keep the system loitering there.
// */
// cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM;
// cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius
// cur_wp->frame = navigation_frame;
// cur_wp->x = navigation_lat;
// cur_wp->y = navigation_lon;
// cur_wp->z = navigation_alt;
// }
if (wpm->timestamp_firstinside_orbit == 0) { // /* we risk an endless loop for missions without navigation waypoints, abort. */
// Announce that last waypoint was reached // break;
mavlink_wpm_send_waypoint_reached(cur_wp->seq);
wpm->timestamp_firstinside_orbit = now;
}
// check if the MAV was long enough inside the waypoint orbit // } else {
//if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) // if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
// wpm->current_active_wp_id++;
// }
bool time_elapsed = false; // } while (!(wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM));
if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) { // // Fly to next waypoint
time_elapsed = true; // wpm->timestamp_firstinside_orbit = 0;
} else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) { // mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id);
time_elapsed = true; // mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
} // wpm->waypoints[wpm->current_active_wp_id].current = true;
// wpm->pos_reached = false;
// wpm->yaw_reached = false;
// printf("Set new waypoint (%u)\n", wpm->current_active_wp_id);
// }
// }
// }
if (time_elapsed) { // } else {
// wpm->timestamp_lastoutside_orbit = now;
// }
/* safeguard against invalid missions with last wp autocontinue on */ // counter++;
if (wpm->current_active_wp_id == wpm->size - 1) { // }
/* stop handling missions here */
cur_wp->autocontinue = false;
}
if (cur_wp->autocontinue) {
cur_wp->current = 0;
float navigation_lat = -1.0f;
float navigation_lon = -1.0f;
float navigation_alt = -1.0f;
int navigation_frame = -1;
/* initialize to current position in case we don't find a suitable navigation waypoint */
if (global_pos->valid) {
navigation_lat = global_pos->lat/1e7;
navigation_lon = global_pos->lon/1e7;
navigation_alt = global_pos->alt;
navigation_frame = MAV_FRAME_GLOBAL;
} else if (local_pos->xy_valid && local_pos->z_valid) {
navigation_lat = local_pos->x;
navigation_lon = local_pos->y;
navigation_alt = local_pos->z;
navigation_frame = MAV_FRAME_LOCAL_NED;
}
/* guard against missions without final land waypoint */
/* only accept supported navigation waypoints, skip unknown ones */
do {
/* pick up the last valid navigation waypoint, this will be one we hold on to after the mission */
if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_TAKEOFF) {
/* this is a navigation waypoint */
navigation_frame = cur_wp->frame;
navigation_lat = cur_wp->x;
navigation_lon = cur_wp->y;
navigation_alt = cur_wp->z;
}
if (wpm->current_active_wp_id == wpm->size - 1) {
/* if we're not landing at the last nav waypoint, we're falling back to loiter */
if (wpm->waypoints[wpm->current_active_wp_id].command != (int)MAV_CMD_NAV_LAND) {
/* the last waypoint was reached, if auto continue is
* activated AND it is NOT a land waypoint, keep the system loitering there.
*/
cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM;
cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius
cur_wp->frame = navigation_frame;
cur_wp->x = navigation_lat;
cur_wp->y = navigation_lon;
cur_wp->z = navigation_alt;
}
/* we risk an endless loop for missions without navigation waypoints, abort. */
break;
} else {
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
wpm->current_active_wp_id++;
}
} while (!(wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM));
// Fly to next waypoint
wpm->timestamp_firstinside_orbit = 0;
mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id);
mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
wpm->waypoints[wpm->current_active_wp_id].current = true;
wpm->pos_reached = false;
wpm->yaw_reached = false;
printf("Set new waypoint (%u)\n", wpm->current_active_wp_id);
}
}
}
} else {
wpm->timestamp_lastoutside_orbit = now;
}
counter++;
}
int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position, struct navigation_capabilities_s *nav_cap) int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position, struct navigation_capabilities_s *nav_cap)
@ -551,17 +522,17 @@ int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_positio
#endif #endif
wpm->current_state = MAVLINK_WPM_STATE_IDLE; wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_count = 0; // wpm->current_count = 0;
wpm->current_partner_sysid = 0; wpm->current_partner_sysid = 0;
wpm->current_partner_compid = 0; wpm->current_partner_compid = 0;
wpm->current_wp_id = -1; // wpm->current_wp_id = -1;
if (wpm->size == 0) { // if (wpm->size == 0) {
wpm->current_active_wp_id = -1; // wpm->current_active_wp_id = -1;
} // }
} }
check_waypoints_reached(now, global_position, local_position, nav_cap->turn_distance); // check_waypoints_reached(now, global_position, local_position, nav_cap->turn_distance);
return OK; return OK;
} }
@ -583,7 +554,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpm->current_wp_id == wpm->size - 1) { if (wpm->current_wp_id == wpm->size - 1) {
mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); // mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE");
wpm->current_state = MAVLINK_WPM_STATE_IDLE; wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_wp_id = 0; wpm->current_wp_id = 0;
@ -607,25 +578,38 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.seq < wpm->size) { if (wpc.seq < wpm->size) {
// if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n");
wpm->current_active_wp_id = wpc.seq; // wpm->current_active_wp_id = wpc.seq;
uint32_t i; // uint32_t i;
for (i = 0; i < wpm->size; i++) { // for (i = 0; i < wpm->size; i++) {
if (i == wpm->current_active_wp_id) { // if (i == wpm->current_active_wp_id) {
wpm->waypoints[i].current = true; // wpm->waypoints[i].current = true;
// } else {
// wpm->waypoints[i].current = false;
// }
// }
// mavlink_missionlib_send_gcs_string("NEW WP SET");
// wpm->yaw_reached = false;
// wpm->pos_reached = false;
mission.current_index = wpc.seq;
/* Initialize mission publication if necessary */
if (mission_pub < 0) {
mission_pub = orb_advertise(ORB_ID(mission), &mission);
} else { } else {
wpm->waypoints[i].current = false; orb_publish(ORB_ID(mission), mission_pub, &mission);
}
} }
mavlink_missionlib_send_gcs_string("NEW WP SET"); mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
wpm->yaw_reached = false; //mavlink_wpm_send_waypoint_current(wpc.seq);
wpm->pos_reached = false; // mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); // wpm->timestamp_firstinside_orbit = 0;
mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
wpm->timestamp_firstinside_orbit = 0;
} else { } else {
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
@ -720,6 +704,13 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
mavlink_mission_item_t wp; mavlink_mission_item_t wp;
map_mission_item_to_mavlink_mission_item(&mission.items[wpr.seq], &wp); map_mission_item_to_mavlink_mission_item(&mission.items[wpr.seq], &wp);
if (mission.current_index == wpr.seq) {
wp.current = true;
} else {
wp.current = false;
}
mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, &wp); mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, &wp);
} else { } else {
@ -848,6 +839,8 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
} else { } else {
/* prepare mission topic */ /* prepare mission topic */
mission.count = wpc.count; mission.count = wpc.count;
/* reset current index */
mission.current_index = -1;
} }
#ifdef MAVLINK_WPM_NO_PRINTF #ifdef MAVLINK_WPM_NO_PRINTF
@ -880,9 +873,9 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
// delete waypoints->back(); // delete waypoints->back();
// waypoints->pop_back(); // waypoints->pop_back();
// } // }
wpm->current_active_wp_id = -1; // wpm->current_active_wp_id = -1;
wpm->yaw_reached = false; // wpm->yaw_reached = false;
wpm->pos_reached = false; // wpm->pos_reached = false;
break; break;
} else { } else {
@ -942,7 +935,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
mavlink_mission_item_t wp; mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp); mavlink_msg_mission_item_decode(msg, &wp);
mavlink_missionlib_send_gcs_string("GOT WP"); // mavlink_missionlib_send_gcs_string("GOT WP");
// printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); // printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid);
// printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); // printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid);
@ -956,7 +949,9 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
// wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO // wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO
//ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids
if ((wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && wp.seq < wpm->current_count)) { if ((wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) ||
(wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id &&
wp.seq < wpm->current_count)) {
//mavlink_missionlib_send_gcs_string("DEBUG 2"); //mavlink_missionlib_send_gcs_string("DEBUG 2");
// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid);
@ -964,9 +959,25 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid);
// //
wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); // mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]);
memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); // memcpy(newwp, &wp, sizeof(mavlink_mission_item_t));
// printf("WP seq: %d\n",wp.seq);
int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission.items[wp.seq]);
if (ret != OK) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
if (wp.current) {
mission.current_index = wp.seq;
warnx("current is: %d", wp.seq);
} else {
warnx("not current");
}
wpm->current_wp_id = wp.seq + 1; wpm->current_wp_id = wp.seq + 1;
// if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4);
@ -974,23 +985,28 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
// printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); // printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count);
if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
mavlink_missionlib_send_gcs_string("GOT ALL WPS"); // mavlink_missionlib_send_gcs_string("GOT ALL WPS");
// if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count);
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0);
if (wpm->current_active_wp_id > wpm->rcv_size - 1) { // if (wpm->current_active_wp_id > wpm->rcv_size - 1) {
wpm->current_active_wp_id = wpm->rcv_size - 1; // wpm->current_active_wp_id = wpm->rcv_size - 1;
} // }
// switch the waypoints list // bool copy_error = false;
// FIXME CHECK!!!
uint32_t i;
for (i = 0; i < wpm->current_count; ++i) { // // switch the waypoints list
wpm->waypoints[i] = wpm->rcv_waypoints[i]; // // FIXME CHECK!!!
map_mavlink_mission_item_to_mission_item(&wpm->rcv_waypoints[i], &mission.items[i]); // uint32_t i;
}
// for (i = 0; i < wpm->current_count; ++i) {
// wpm->waypoints[i] = wpm->rcv_waypoints[i];
// if (map_mavlink_mission_item_to_mission_item(&wpm->rcv_waypoints[i], &mission.items[i]) != OK) {
// copy_error = true;
// }
// }
// TODO: update count? // TODO: update count?
/* Initialize mission publication if necessary */ /* Initialize mission publication if necessary */
@ -1006,25 +1022,25 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
//get the new current waypoint //get the new current waypoint
for (i = 0; i < wpm->size; i++) { // for (i = 0; i < wpm->size; i++) {
if (wpm->waypoints[i].current == 1) { // if (wpm->waypoints[i].current == 1) {
wpm->current_active_wp_id = i; // wpm->current_active_wp_id = i;
//// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); // //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id);
wpm->yaw_reached = false; // // wpm->yaw_reached = false;
wpm->pos_reached = false; // // wpm->pos_reached = false;
mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); // mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id);
mavlink_wpm_send_setpoint(wpm->current_active_wp_id); // // mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
wpm->timestamp_firstinside_orbit = 0; // // wpm->timestamp_firstinside_orbit = 0;
break; // break;
} // }
} // }
if (i == wpm->size) { // if (i == wpm->size) {
wpm->current_active_wp_id = -1; // wpm->current_active_wp_id = -1;
wpm->yaw_reached = false; // wpm->yaw_reached = false;
wpm->pos_reached = false; // wpm->pos_reached = false;
wpm->timestamp_firstinside_orbit = 0; // wpm->timestamp_firstinside_orbit = 0;
} // }
wpm->current_state = MAVLINK_WPM_STATE_IDLE; wpm->current_state = MAVLINK_WPM_STATE_IDLE;
@ -1033,38 +1049,41 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
} }
} else { } else {
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
//we're done receiving waypoints, answer with ack.
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0);
printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n");
}
// if (verbose) mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_INVALID_SEQUENCE);
{
if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state);
break;
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { // if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (!(wp.seq == 0)) { // //we're done receiving waypoints, answer with ack.
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); // mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0);
} else { // printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n");
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); // }
}
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (!(wp.seq == wpm->current_wp_id)) {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id);
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
} else if (!(wp.seq < wpm->current_count)) { // // if (verbose)
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); // {
} else { // if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); // // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state);
} // break;
} else {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); // } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
} // if (!(wp.seq == 0)) {
} // // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq);
// } else {
// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
// }
// } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
// if (!(wp.seq == wpm->current_wp_id)) {
// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id);
// mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
// } else if (!(wp.seq < wpm->current_count)) {
// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq);
// } else {
// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
// }
// } else {
// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
// }
// }
} }
} else { } else {
//we we're target but already communicating with someone else //we we're target but already communicating with someone else
@ -1088,9 +1107,9 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi
// if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
// Delete all waypoints // Delete all waypoints
wpm->size = 0; wpm->size = 0;
wpm->current_active_wp_id = -1; // wpm->current_active_wp_id = -1;
wpm->yaw_reached = false; // wpm->yaw_reached = false;
wpm->pos_reached = false; // wpm->pos_reached = false;
/* prepare mission topic */ /* prepare mission topic */
mission.count = 0; mission.count = 0;

33
src/modules/mavlink/waypoints.h
View File

@ -56,6 +56,7 @@
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/navigation_capabilities.h> #include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/mission.h>
// FIXME XXX - TO BE MOVED TO XML // FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES { enum MAVLINK_WPM_STATES {
@ -81,7 +82,7 @@ enum MAVLINK_WPM_CODES {
/* WAYPOINT MANAGER - MISSION LIB */ /* WAYPOINT MANAGER - MISSION LIB */
#define MAVLINK_WPM_MAX_WP_COUNT 15 #define MAVLINK_WPM_MAX_WP_COUNT 15
#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates // #define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates
#ifndef MAVLINK_WPM_TEXT_FEEDBACK #ifndef MAVLINK_WPM_TEXT_FEEDBACK
#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text #define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text
#endif #endif
@ -92,33 +93,37 @@ enum MAVLINK_WPM_CODES {
struct mavlink_wpm_storage { struct mavlink_wpm_storage {
mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints
#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE // #ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints // mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints
#endif // #endif
uint16_t size; uint16_t size;
uint16_t max_size; uint16_t max_size;
uint16_t rcv_size; uint16_t rcv_size;
enum MAVLINK_WPM_STATES current_state; enum MAVLINK_WPM_STATES current_state;
int16_t current_wp_id; ///< Waypoint in current transmission int16_t current_wp_id; ///< Waypoint in current transmission
int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards // int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards
uint16_t current_count; uint16_t current_count;
uint8_t current_partner_sysid; uint8_t current_partner_sysid;
uint8_t current_partner_compid; uint8_t current_partner_compid;
uint64_t timestamp_lastaction; uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint; // uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_firstinside_orbit; // uint64_t timestamp_firstinside_orbit;
uint64_t timestamp_lastoutside_orbit; // uint64_t timestamp_lastoutside_orbit;
uint32_t timeout; uint32_t timeout;
uint32_t delay_setpoint; // uint32_t delay_setpoint;
float accept_range_yaw; // float accept_range_yaw;
float accept_range_distance; // float accept_range_distance;
bool yaw_reached; // bool yaw_reached;
bool pos_reached; // bool pos_reached;
bool idle; // bool idle;
}; };
typedef struct mavlink_wpm_storage mavlink_wpm_storage; typedef struct mavlink_wpm_storage mavlink_wpm_storage;
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
void mavlink_wpm_init(mavlink_wpm_storage *state); void mavlink_wpm_init(mavlink_wpm_storage *state);
int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position,
struct vehicle_local_position_s *local_pos, struct navigation_capabilities_s *nav_cap); struct vehicle_local_position_s *local_pos, struct navigation_capabilities_s *nav_cap);

46
src/modules/navigator/navigator_main.cpp
View File

@ -58,6 +58,7 @@
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h> #include <uORB/topics/home_position.h>
#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h> #include <uORB/topics/mission.h>
@ -144,11 +145,13 @@ private:
orb_advert_t _triplet_pub; /**< publish position setpoint triplet */ orb_advert_t _triplet_pub; /**< publish position setpoint triplet */
orb_advert_t _fence_pub; /**< publish fence topic */ orb_advert_t _fence_pub; /**< publish fence topic */
orb_advert_t _mission_result_pub; /**< publish mission result topic */
struct vehicle_status_s _vstatus; /**< vehicle status */ struct vehicle_status_s _vstatus; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct home_position_s _home_pos; /**< home position for RTL */ struct home_position_s _home_pos; /**< home position for RTL */
struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */ struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */
struct mission_result_s _mission_result; /**< mission result for commander/mavlink */
perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _loop_perf; /**< loop performance counter */
@ -215,12 +218,16 @@ private:
void publish_mission_item_triplet(); void publish_mission_item_triplet();
void publish_mission_result();
int advance_current_mission_item(); int advance_current_mission_item();
void reset_mission_item_reached(); void reset_mission_item_reached();
void check_mission_item_reached(); void check_mission_item_reached();
void report_mission_reached();
void start_waypoint(); void start_waypoint();
void start_loiter(mission_item_s *new_loiter_position); void start_loiter(mission_item_s *new_loiter_position);
@ -266,6 +273,7 @@ Navigator::Navigator() :
/* publications */ /* publications */
_triplet_pub(-1), _triplet_pub(-1),
_fence_pub(-1), _fence_pub(-1),
_mission_result_pub(-1),
/* performance counters */ /* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
@ -295,6 +303,8 @@ Navigator::Navigator() :
memset(&_mission_item_triplet.current, 0, sizeof(struct mission_item_s)); memset(&_mission_item_triplet.current, 0, sizeof(struct mission_item_s));
memset(&_mission_item_triplet.next, 0, sizeof(struct mission_item_s)); memset(&_mission_item_triplet.next, 0, sizeof(struct mission_item_s));
memset(&_mission_result, 0, sizeof(struct mission_result_s));
/* fetch initial values */ /* fetch initial values */
parameters_update(); parameters_update();
} }
@ -348,7 +358,7 @@ Navigator::mission_update()
* if the first part changed: start again at first waypoint * if the first part changed: start again at first waypoint
* if the first part remained unchanged: continue with the (possibly changed second part) * if the first part remained unchanged: continue with the (possibly changed second part)
*/ */
if (_current_mission_index < _mission_item_count && _current_mission_index < mission.count) { //check if not finished and if the new mission is not a shorter mission if (mission.current_index == -1 && _current_mission_index < _mission_item_count && _current_mission_index < mission.count) { //check if not finished and if the new mission is not a shorter mission
for (unsigned i = 0; i < _current_mission_index; i++) { for (unsigned i = 0; i < _current_mission_index; i++) {
if (!cmp_mission_item_equivalent(_mission_item[i], mission.items[i])) { if (!cmp_mission_item_equivalent(_mission_item[i], mission.items[i])) {
/* set flag to restart mission next we're in auto */ /* set flag to restart mission next we're in auto */
@ -361,8 +371,11 @@ Navigator::mission_update()
// warnx("Mission item is equivalent i=%d", i); // warnx("Mission item is equivalent i=%d", i);
// } // }
} }
} else { } else if (mission.current_index >= 0 && mission.current_index < mission.count) {
/* set flag to restart mission next we're in auto */ /* set flag to restart mission next we're in auto */
_current_mission_index = mission.current_index;
mavlink_log_info(_mavlink_fd, "[navigator] Reset to WP %d", _current_mission_index);
} else {
_current_mission_index = 0; _current_mission_index = 0;
mavlink_log_info(_mavlink_fd, "[navigator] Reset to WP %d", _current_mission_index); mavlink_log_info(_mavlink_fd, "[navigator] Reset to WP %d", _current_mission_index);
} }
@ -586,6 +599,9 @@ Navigator::task_main()
check_mission_item_reached(); check_mission_item_reached();
if (_mission_item_reached) { if (_mission_item_reached) {
report_mission_reached();
mavlink_log_info(_mavlink_fd, "[navigator] reached WP %d", _current_mission_index); mavlink_log_info(_mavlink_fd, "[navigator] reached WP %d", _current_mission_index);
if (advance_current_mission_item() != OK) { if (advance_current_mission_item() != OK) {
set_mode(NAVIGATION_MODE_LOITER_WAYPOINT); set_mode(NAVIGATION_MODE_LOITER_WAYPOINT);
@ -896,6 +912,20 @@ Navigator::publish_mission_item_triplet()
} }
} }
void
Navigator::publish_mission_result()
{
/* lazily publish the mission result only once available */
if (_mission_result_pub > 0) {
/* publish the mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
}
int int
Navigator::advance_current_mission_item() Navigator::advance_current_mission_item()
{ {
@ -945,6 +975,9 @@ Navigator::reset_mission_item_reached()
_time_first_inside_orbit = 0; _time_first_inside_orbit = 0;
_mission_item_reached = false; _mission_item_reached = false;
_mission_result.mission_reached = false;
_mission_result.mission_index = 0;
} }
void void
@ -1041,6 +1074,15 @@ Navigator::check_mission_item_reached()
} }
void
Navigator::report_mission_reached()
{
_mission_result.mission_reached = true;
_mission_result.mission_index = _current_mission_index;
publish_mission_result();
}
void void
Navigator::start_waypoint() Navigator::start_waypoint()
{ {

3
src/modules/uORB/objects_common.cpp
View File

@ -129,6 +129,9 @@ ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setp
#include "topics/mission.h" #include "topics/mission.h"
ORB_DEFINE(mission, struct mission_s); ORB_DEFINE(mission, struct mission_s);
#include "topics/mission_result.h"
ORB_DEFINE(mission_result, struct mission_result_s);
#include "topics/fence.h" #include "topics/fence.h"
ORB_DEFINE(fence, unsigned); ORB_DEFINE(fence, unsigned);

1
src/modules/uORB/topics/mission.h
View File

@ -90,6 +90,7 @@ struct mission_s
{ {
struct mission_item_s *items; struct mission_item_s *items;
unsigned count; unsigned count;
int current_index; /**< default -1, start at the one changed latest */
}; };
/** /**

67
src/modules/uORB/topics/mission_result.h Normal file
View File

@ -0,0 +1,67 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mission_result.h
* Mission results that navigator needs to pass on to commander and mavlink.
*/
#ifndef TOPIC_MISSION_RESULT_H
#define TOPIC_MISSION_RESULT_H
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct mission_result_s
{
bool mission_reached; /**< true if mission has been reached */
unsigned mission_index; /**< index of the mission which has been reached */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(mission_result);
#endif