forked from Archive/PX4-Autopilot
Merge branch 'navigator_rewrite' into navigator_rewrite_estimator
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commit
ad7e0ee17f
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@ -58,6 +58,12 @@
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#include "rtl.h"
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#include "rtl.h"
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#include "geofence.h"
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#include "geofence.h"
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/**
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* Number of navigation modes that need on_active/on_inactive calls
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* Currently: mission, loiter, and rtl
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*/
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#define NAVIGATOR_MODE_ARRAY_SIZE 3
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class Navigator : public control::SuperBlock
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class Navigator : public control::SuperBlock
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{
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{
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public:
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public:
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@ -153,6 +159,8 @@ private:
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Loiter _loiter; /**< class that handles loiter */
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Loiter _loiter; /**< class that handles loiter */
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RTL _rtl; /**< class that handles RTL */
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RTL _rtl; /**< class that handles RTL */
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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 _is_in_loiter; /**< 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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bool _update_triplet; /**< flags if position SP triplet needs to be published */
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@ -125,6 +125,11 @@ Navigator::Navigator() :
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_param_loiter_radius(this, "LOITER_RAD"),
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_param_loiter_radius(this, "LOITER_RAD"),
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_param_takeoff_acceptance_radius(this, "TF_ACC_RAD")
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_param_takeoff_acceptance_radius(this, "TF_ACC_RAD")
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{
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{
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/* Create a list of our possible navigation types */
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_navigation_mode_array[0] = &_mission;
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_navigation_mode_array[1] = &_loiter;
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_navigation_mode_array[2] = &_rtl;
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updateParams();
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updateParams();
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}
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}
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@ -364,23 +369,13 @@ Navigator::task_main()
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break;
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break;
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}
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}
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/* TODO: make list of modes and loop through it */
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/* iterate through navigation modes and set active/inactive for each */
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if (_navigation_mode == &_mission) {
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for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
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_update_triplet = _mission.on_active(&_pos_sp_triplet);
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if (_navigation_mode == _navigation_mode_array[i]) {
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} else {
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_update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet);
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_mission.on_inactive();
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} else {
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}
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_navigation_mode_array[i]->on_inactive();
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}
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if (_navigation_mode == &_rtl) {
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_update_triplet = _rtl.on_active(&_pos_sp_triplet);
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} else {
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_rtl.on_inactive();
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}
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if (_navigation_mode == &_loiter) {
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_update_triplet = _loiter.on_active(&_pos_sp_triplet);
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} else {
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_loiter.on_inactive();
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}
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}
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/* if nothing is running, set position setpoint triplet invalid */
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/* if nothing is running, set position setpoint triplet invalid */
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