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Navigator: handle onboard and mavlink missions

This commit is contained in:
Julian Oes 2013-12-04 10:38:56 +01:00
parent e8df08f139
commit bed40c962e
2 changed files with 114 additions and 63 deletions
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174
src/modules/navigator/navigator_main.cpp
View File

@ -142,6 +142,7 @@ private:
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _mission_sub; /**< notification of mission updates */
int _onboard_mission_sub; /**< notification of onboard mission updates */
int _capabilities_sub; /**< notification of vehicle capabilities updates */
orb_advert_t _triplet_pub; /**< publish position setpoint triplet */
@ -155,11 +156,9 @@ private:
struct mission_result_s _mission_result; /**< mission result for commander/mavlink */
perf_counter_t _loop_perf; /**< loop performance counter */
unsigned _max_mission_item_count; /**< maximum number of mission items supported */
unsigned _mission_item_count; /** number of mission items copied */
unsigned _onboard_mission_item_count; /** number of onboard mission items copied */
struct fence_s _fence; /**< storage for fence vertices */
bool _fence_valid; /**< flag if fence is valid */
bool _inside_fence; /**< vehicle is inside fence */
@ -173,6 +172,7 @@ private:
navigation_mode_t _mode;
unsigned _current_mission_index;
unsigned _current_onboard_mission_index;
struct {
float min_altitude;
@ -198,6 +198,11 @@ private:
*/
void mission_update();
/**
* Retrieve onboard mission.
*/
void onboard_mission_update();
/**
* Shim for calling task_main from task_create.
*/
@ -216,7 +221,11 @@ private:
void set_mode(navigation_mode_t new_nav_mode);
int set_waypoint_mission_item(unsigned mission_item_index, struct mission_item_s *new_mission_item);
bool mission_possible();
bool onboard_mission_possible();
int set_waypoint_mission_item(dm_item_t dm_item, unsigned mission_item_index, struct mission_item_s *new_mission_item);
void publish_mission_item_triplet();
@ -270,6 +279,7 @@ Navigator::Navigator() :
_vstatus_sub(-1),
_params_sub(-1),
_mission_sub(-1),
_onboard_mission_sub(-1),
_capabilities_sub(-1),
/* publications */
@ -280,8 +290,8 @@ Navigator::Navigator() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
/* states */
_max_mission_item_count(10),
_mission_item_count(0),
_onboard_mission_item_count(0),
_fence_valid(false),
_inside_fence(true),
_waypoint_position_reached(false),
@ -289,7 +299,8 @@ Navigator::Navigator() :
_time_first_inside_orbit(0),
_mission_item_reached(false),
_mode(NAVIGATION_MODE_NONE),
_current_mission_index(0)
_current_mission_index(0),
_current_onboard_mission_index(0)
{
_global_pos.valid = false;
memset(&_fence, 0, sizeof(_fence));
@ -352,32 +363,6 @@ Navigator::mission_update()
struct mission_s mission;
if (orb_copy(ORB_ID(mission), _mission_sub, &mission) == OK) {
// /* Check if first part of mission (up to _current_mission_index - 1) changed:
// * if the first part changed: start again at first waypoint
// * if the first part remained unchanged: continue with the (possibly changed second part)
// */
// 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++) {
// if (!cmp_mission_item_equivalent(_mission_item[i], mission.items[i])) {
// /* set flag to restart mission next we're in auto */
// _current_mission_index = 0;
// mavlink_log_info(_mavlink_fd, "[navigator] Reset to WP %d", _current_mission_index);
// //warnx("First part of mission differs i=%d", i);
// break;
// }
// // else {
// // warnx("Mission item is equivalent i=%d", i);
// // }
// }
// } else if (mission.current_index >= 0 && mission.current_index < mission.count) {
// /* 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;
// mavlink_log_info(_mavlink_fd, "[navigator] Reset to WP %d", _current_mission_index);
// }
_mission_item_count = mission.count;
_current_mission_index = mission.current_index;
@ -385,7 +370,7 @@ Navigator::mission_update()
_mission_item_count = 0;
_current_mission_index = 0;
}
if (_mission_item_count == 0 && _mode == NAVIGATION_MODE_WAYPOINT) {
if ((!mission_possible() || !onboard_mission_possible()) && _mode == NAVIGATION_MODE_WAYPOINT) {
set_mode(NAVIGATION_MODE_LOITER);
}
else if (_mode == NAVIGATION_MODE_WAYPOINT) {
@ -393,7 +378,27 @@ Navigator::mission_update()
}
}
void
Navigator::onboard_mission_update()
{
struct mission_s onboard_mission;
if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
_onboard_mission_item_count = onboard_mission.count;
_current_onboard_mission_index = onboard_mission.current_index;
} else {
_onboard_mission_item_count = 0;
_current_onboard_mission_index = 0;
}
if ((!mission_possible() || !onboard_mission_possible()) && _mode == NAVIGATION_MODE_WAYPOINT) {
set_mode(NAVIGATION_MODE_LOITER);
}
else if (_mode == NAVIGATION_MODE_WAYPOINT) {
start_waypoint();
}
}
void
Navigator::task_main_trampoline(int argc, char *argv[])
@ -414,6 +419,7 @@ Navigator::task_main()
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_mission_sub = orb_subscribe(ORB_ID(mission));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
@ -425,6 +431,7 @@ Navigator::task_main()
}
mission_update();
onboard_mission_update();
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
@ -439,7 +446,7 @@ Navigator::task_main()
orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
/* wakeup source(s) */
struct pollfd fds[6];
struct pollfd fds[7];
/* Setup of loop */
fds[0].fd = _params_sub;
@ -452,8 +459,10 @@ Navigator::task_main()
fds[3].events = POLLIN;
fds[4].fd = _mission_sub;
fds[4].events = POLLIN;
fds[5].fd = _vstatus_sub;
fds[5].fd = _onboard_mission_sub;
fds[5].events = POLLIN;
fds[6].fd = _vstatus_sub;
fds[6].events = POLLIN;
while (!_task_should_exit) {
@ -475,7 +484,7 @@ Navigator::task_main()
perf_begin(_loop_perf);
/* only update vehicle status if it changed */
if (fds[5].revents & POLLIN) {
if (fds[6].revents & POLLIN) {
/* read from param to clear updated flag */
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
@ -505,8 +514,8 @@ Navigator::task_main()
case NAVIGATION_STATE_AUTO_MISSION:
if (_mission_item_count > 0 && !(_current_mission_index >= _mission_item_count)) {
/* Start mission if there is a mission available and the last waypoint has not been reached */
if (mission_possible() || onboard_mission_possible()) {
/* Start mission or onboard mission if available */
set_mode(NAVIGATION_MODE_WAYPOINT);
} else {
/* else fallback to loiter */
@ -556,6 +565,10 @@ Navigator::task_main()
mission_update();
}
if (fds[5].revents & POLLIN) {
onboard_mission_update();
}
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
}
@ -586,9 +599,15 @@ Navigator::task_main()
if (_mission_item_reached) {
report_mission_reached();
if (onboard_mission_possible()) {
mavlink_log_info(_mavlink_fd, "[navigator] reached onboard WP %d", _current_onboard_mission_index);
} else {
mavlink_log_info(_mavlink_fd, "[navigator] reached WP %d", _current_mission_index);
report_mission_reached();
}
mavlink_log_info(_mavlink_fd, "[navigator] reached WP %d", _current_mission_index);
if (advance_current_mission_item() != OK) {
set_mode(NAVIGATION_MODE_LOITER_WAYPOINT);
}
@ -863,16 +882,27 @@ Navigator::set_mode(navigation_mode_t new_nav_mode)
}
}
int
Navigator::set_waypoint_mission_item(unsigned mission_item_index, struct mission_item_s *new_mission_item)
bool
Navigator::mission_possible()
{
return _mission_item_count > 0 &&
!(_current_mission_index >= _mission_item_count);
}
bool
Navigator::onboard_mission_possible()
{
return _onboard_mission_item_count > 0 &&
!(_current_onboard_mission_index >= _onboard_mission_item_count) &&
_parameters.onboard_mission_enabled;
}
int
Navigator::set_waypoint_mission_item(dm_item_t dm_item, unsigned mission_item_index, struct mission_item_s *new_mission_item)
{
if (mission_item_index >= _mission_item_count) {
return ERROR;
}
struct mission_item_s mission_item;
if (dm_read(DM_KEY_WAYPOINTS, mission_item_index, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
if (dm_read(dm_item, mission_item_index, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
return ERROR;
}
@ -926,8 +956,7 @@ Navigator::advance_current_mission_item()
// warnx("advancing from %d to %d", _current_mission_index, _current_mission_index+1);
/* ultimately this index will be == _mission_item_count and this flags the mission as completed */
_current_mission_index++;
/* if there is no more mission available, don't advance and return */
if (!_mission_item_triplet.next_valid) {
// warnx("no next available");
@ -941,9 +970,20 @@ Navigator::advance_current_mission_item()
/* copy the next to current */
memcpy(&_mission_item_triplet.current, &_mission_item_triplet.next, sizeof(mission_item_s));
_mission_item_triplet.current_valid = _mission_item_triplet.next_valid;
int ret = ERROR;
if (onboard_mission_possible()) {
_current_onboard_mission_index++;
ret = set_waypoint_mission_item(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index + 1, &_mission_item_triplet.next);
} else if (mission_possible()) {
_current_mission_index++;
ret = set_waypoint_mission_item(DM_KEY_WAYPOINTS, _current_mission_index + 1, &_mission_item_triplet.next);
} else {
warnx("Error: nothing to advance");
}
if(set_waypoint_mission_item(_current_mission_index + 1, &_mission_item_triplet.next) == OK) {
if(ret == OK) {
_mission_item_triplet.next_valid = true;
}
else {
@ -1078,17 +1118,27 @@ Navigator::start_waypoint()
{
reset_mission_item_reached();
if (_current_mission_index > 0) {
set_waypoint_mission_item(_current_mission_index - 1, &_mission_item_triplet.previous);
_mission_item_triplet.previous_valid = true;
} else {
_mission_item_triplet.previous_valid = false;
}
// if (_current_mission_index > 0) {
// set_waypoint_mission_item(_current_mission_index - 1, &_mission_item_triplet.previous);
// _mission_item_triplet.previous_valid = true;
// } else {
// _mission_item_triplet.previous_valid = false;
// }
_mission_item_triplet.previous_valid = false;
set_waypoint_mission_item(_current_mission_index, &_mission_item_triplet.current);
_mission_item_triplet.current_valid = true;
int ret = ERROR;
mavlink_log_info(_mavlink_fd, "[navigator] heading to WP %d", _current_mission_index);
if (onboard_mission_possible()) {
set_waypoint_mission_item(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index, &_mission_item_triplet.current);
mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", _current_onboard_mission_index);
ret = set_waypoint_mission_item(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index + 1, &_mission_item_triplet.next);
} else if (mission_possible()) {
set_waypoint_mission_item(DM_KEY_WAYPOINTS, _current_mission_index, &_mission_item_triplet.current);
mavlink_log_info(_mavlink_fd, "[navigator] heading to WP %d", _current_mission_index);
ret = set_waypoint_mission_item(DM_KEY_WAYPOINTS, _current_mission_index + 1, &_mission_item_triplet.next);
}
_mission_item_triplet.current_valid = true;
// if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
@ -1100,7 +1150,7 @@ Navigator::start_waypoint()
// _mission_item_triplet.next_valid = true;
// }
if(set_waypoint_mission_item(_current_mission_index + 1, &_mission_item_triplet.next) == OK) {
if(ret == OK) {
_mission_item_triplet.next_valid = true;
}
else {

3
src/modules/uORB/topics/mission.h
View File

@ -96,7 +96,7 @@ struct mission_item_s
struct mission_s
{
unsigned count;
unsigned count; /**< count of the missions stored in the datamanager */
int current_index; /**< default -1, start at the one changed latest */
};
@ -106,5 +106,6 @@ struct mission_s
/* register this as object request broker structure */
ORB_DECLARE(mission);
ORB_DECLARE(onboard_mission);
#endif