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cleanup 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2023-02-09 10:44:46 +03:00 committed by Roman Bapst
parent 7ef2bff0a2
commit b00efcd966
4 changed files with 161 additions and 41 deletions
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68
src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
View File

@ -150,13 +150,22 @@ void FeasibilityChecker::updateData()
}
}
void FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int current_index, const int total_count)
bool FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int current_index, const int total_count)
{
if (current_index == 0) {
reset();
updateData();
}
if (!_mission_validity_failed) {
_mission_validity_failed = !checkMissionItemValidity(mission_item, current_index);
}
if (_mission_validity_failed) {
// if a mission item is not valid then abort the other checks
return false;
}
doCommonChecks(mission_item, current_index);
if (_vehicle_type == VehicleType::Vtol) {
@ -174,13 +183,12 @@ void FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int
}
_mission_item_previous = mission_item;
return true;
}
void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int current_index)
{
if (!_mission_validity_failed) {
_mission_validity_failed = !checkMissionItemValidity(mission_item, current_index);
}
if (!_distance_between_waypoints_failed) {
_distance_between_waypoints_failed = !checkDistancesBetweenWaypoints(mission_item);
@ -227,6 +235,20 @@ void FeasibilityChecker::doMulticopterChecks(mission_item_s &mission_item, const
bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item, const int current_index)
{
/* reject relative alt without home set */
if (mission_item.altitude_is_relative && !PX4_ISFINITE(_home_alt_msl)
&& MissionBlock::item_contains_position(mission_item)) {
mavlink_log_critical(_mavlink_log_pub, "Mission rejected: No home pos, WP %d uses rel alt\t", current_index + 1);
events::send<int16_t>(events::ID("navigator_mis_no_home_rel_alt"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: No home position, waypoint {1} uses relative altitude",
current_index + 1);
return false;
}
// check if we find unsupported items and reject mission if so
if (mission_item.nav_cmd != NAV_CMD_IDLE &&
mission_item.nav_cmd != NAV_CMD_WAYPOINT &&
@ -317,23 +339,16 @@ bool FeasibilityChecker::checkTakeoff(mission_item_s &mission_item)
// look for a takeoff waypoint
if (mission_item.nav_cmd == NAV_CMD_TAKEOFF || mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) {
// make sure that the altitude of the waypoint is at least one meter larger than the acceptance radius
// this makes sure that the takeoff waypoint is not reached before we are at least one meter in the air
// make sure that the altitude of the waypoint is above the home altitude
const float takeoff_alt = mission_item.altitude_is_relative
? mission_item.altitude
: mission_item.altitude - _home_alt_msl;
float takeoff_alt = mission_item.altitude_is_relative
? mission_item.altitude
: mission_item.altitude - _home_alt_msl;
float acceptance_radius = _param_nav_acc_rad;
if (mission_item.acceptance_radius > NAV_EPSILON_POSITION) {
acceptance_radius = mission_item.acceptance_radius;
}
if (takeoff_alt - 1.0f < acceptance_radius) {
mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Takeoff altitude too low!\t");
if (takeoff_alt < FLT_EPSILON) {
mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Takeoff altitude below home altitude!\t");
events::send<float>(events::ID("navigator_mis_takeoff_too_low"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: takeoff altitude too low! Minimum: {1:.1m_v}", acceptance_radius + 1.f);
"Mission rejected: takeoff altitude too low! Minimum: {1:.1m_v}",
mission_item.altitude_is_relative ? 0.0f : _home_alt_msl);
return false;
}
@ -710,21 +725,6 @@ bool FeasibilityChecker::checkDistancesBetweenWaypoints(const mission_item_s &mi
bool FeasibilityChecker::checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index)
{
/* reject relative alt without home set */
if (mission_item.altitude_is_relative && !PX4_ISFINITE(_home_alt_msl)
&& MissionBlock::item_contains_position(mission_item)) {
mavlink_log_critical(_mavlink_log_pub, "Mission rejected: No home pos, WP %d uses rel alt\t", current_index + 1);
events::send<int16_t>(events::ID("navigator_mis_no_home_rel_alt"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: No home position, waypoint {1} uses relative altitude",
current_index + 1);
return false;
}
/* calculate the global waypoint altitude */
float wp_alt = (mission_item.altitude_is_relative) ? mission_item.altitude + _home_alt_msl : mission_item.altitude;

108
src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp
View File

@ -54,13 +54,25 @@ public:
Other
};
void processNextItem(mission_item_s &mission_item, const int current_index, const int total_count);
/**
* @brief Run validity checks for mission item
*
*
* @param mission_item The mission item to run the checks on
* @param current_index The index of the current mission item in the mission
* @param total_count The total number of mission items in the mission
* @return False if fatal error occured and no other checks should be run.
*/
bool processNextItem(mission_item_s &mission_item, const int current_index, const int total_count);
void setMavlinkLogPub(orb_advert_t *mavlink_log_pub)
{
_mavlink_log_pub = mavlink_log_pub;
}
/**
* @return True At least one check failed.
*/
bool someCheckFailed()
{
return _takeoff_failed ||
@ -73,6 +85,9 @@ public:
_takeoff_land_available_failed;
}
/**
* @brief Reset all data
*/
void reset();
private:
@ -123,22 +138,113 @@ private:
double _last_lon{(double)NAN};
int _last_cmd{-1};
/**
* @brief Update data from external topics, e.g home position
*/
void updateData();
// methods which are called for each mission item
/**
* @brief Check general mission item validity, e.g. supported commands.
*
* @param mission_item The current mission item
* @return False if the check failed.
*/
bool checkMissionItemValidity(mission_item_s &mission_item, const int current_index);
/**
* @brief Check if takeoff is valid
*
* @param mission_item The current mission item
* @return False if the check failed.
*/
bool checkTakeoff(mission_item_s &mission_item);
/**
* @brief Check validity of landing pattern (fixed wing & vtol)
*
* @param mission_item The current mission item
* @param current_index The current mission index
* @param last_index The last index of the mission
* @return False if the check failed.
*/
bool checkLandPatternValidity(mission_item_s &mission_item, const int current_index, const int last_index);
/**
* @brief Check distance to first waypoint.
*
* @param mission_item The current mission item
* @return False if the check failed.
*/
bool checkDistanceToFirstWaypoint(mission_item_s &mission_item);
/**
* @brief Check distances between waypoints
*
* @param mission_item The current mission item
* @return False if the check failed.
*/
bool checkDistancesBetweenWaypoints(const mission_item_s &mission_item);
/**
* @brief Check if any waypoint is below the home altitude. Issues warning only.
*
* @param mission_item The current mission item
* @param current_index The current mission index
* @return Always returns true, only issues warning.
*/
bool checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index);
/**
* @brief Check fixed wing land approach (fixed wing only)
*
* @param mission_item The current mission item
* @param current_index The current mission index
* @return False if the check failed.
*/
bool checkFixedWindLandApproach(mission_item_s &mission_item, const int current_index);
// methods which are called once at the end
/**
* @brief Check if takeoff/landing are available according to MIS_TKO_LAND_REQ parameter
*
* @return False if the check failed.
*/
bool checkTakeoffLandAvailable();
/**
* @brief Run checks which are common for all vehicle types
*
* @param mission_item The current mission item
* @param current_index The current mission index
*/
void doCommonChecks(mission_item_s &mission_item, const int current_index);
/**
* @brief Run checks which are only related to VTOL vehicles.
*
* @param mission_item The current mission item
* @param current_index The current mission index
*/
void doVtolChecks(mission_item_s &mission_item, const int current_index, const int last_index);
/**
* @brief Run checks which are only related to fixed wing vehicles.
*
* @param mission_item The current mission item
* @param current_index The current mission index
* @param last_index The last mission index
* @return False if the check failed.
*/
void doFixedWingChecks(mission_item_s &mission_item, const int current_index, const int last_index);
/**
* @brief Run checks which are only related to multirotor vehicles.
*
* @param mission_item The current mission item
* @param current_index The current mission index
* @return False if the check failed.
*/
void doMulticopterChecks(mission_item_s &mission_item, const int current_index);
};

21
src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp
View File

@ -105,10 +105,22 @@ TEST_F(FeasibilityCheckerTest, mission_item_validity)
// when landed the first item cannot be a land item
checker.reset();
checker.publishHomePosition(0, 0, 100.f);
checker.publishLanded(true);
mission_item.nav_cmd = NAV_CMD_LAND;
checker.processNextItem(mission_item, 0, 1);
bool ret = checker.processNextItem(mission_item, 0, 1);
ASSERT_EQ(checker.someCheckFailed(), true);
// mission item validity failed
ASSERT_EQ(ret, false);
checker.reset();
mission_item.nav_cmd = NAV_CMD_TAKEOFF;
mission_item.altitude_is_relative = true;
ret = checker.processNextItem(mission_item, 0, 5);
// home alt is not valid but we have a relative mission item, should fail immediately
ASSERT_EQ(ret, false);
}
TEST_F(FeasibilityCheckerTest, max_dist_between_waypoints)
@ -214,9 +226,8 @@ TEST_F(FeasibilityCheckerTest, check_takeoff)
// takeoff altitude is smaller than acceptance radius, should fail
mission_item_s mission_item = {};
mission_item.nav_cmd = NAV_CMD_TAKEOFF;
mission_item.altitude = 5.0f;
mission_item.altitude = -5.0f;
mission_item.altitude_is_relative = true;
mission_item.acceptance_radius = 10.0f;
checker.processNextItem(mission_item, 0, 1);
@ -227,8 +238,8 @@ TEST_F(FeasibilityCheckerTest, check_takeoff)
checker.publishHomePosition(0, 0, 100);
// takeoff altitude is larger than acceptance radius, should pass
mission_item.acceptance_radius = 3.0f;
// takeoff altitude is larger than home altitude, should pass
mission_item.altitude = 0.1f;
checker.processNextItem(mission_item, 0, 1);
ASSERT_EQ(checker.someCheckFailed(), false);

5
src/modules/navigator/mission_feasibility_checker.cpp
View File

@ -86,7 +86,10 @@ MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission)
return false;
}
_feasibility_checker.processNextItem(missionitem, i, mission.count);
if (!_feasibility_checker.processNextItem(missionitem, i, mission.count)) {
failed = true;
break;
}
}