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/**
* @file gpsfailure.cpp
* Helper class for gpsfailure mode according to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include "navigator.h"
#include "gpsfailure.h"
#define DELAY_SIGMA 0.01f
GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_gpsf_state(GPSF_STATE_NONE)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
GpsFailure::~GpsFailure()
{
}
void
GpsFailure::on_inactive()
{
/* reset GPSF state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_gpsf_state = GPSF_STATE_NONE;
}
}
void
GpsFailure::on_activation()
{
_gpsf_state = GPSF_STATE_NONE;
updateParams();
advance_gpsf();
set_gpsf_item();
}
void
GpsFailure::on_active()
{
if (is_mission_item_reached()) {
updateParams();
advance_gpsf();
set_gpsf_item();
}
}
void
GpsFailure::set_gpsf_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_gpsf_state) {
case GPSF_STATE_LOITER: {
//_mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7;
//_mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7;
//_mission_item.altitude_is_relative = false;
//_mission_item.altitude = _param_commsholdalt.get();
//_mission_item.yaw = NAN;
//_mission_item.loiter_radius = _navigator->get_loiter_radius();
//_mission_item.loiter_direction = 1;
//_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
//_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
//_mission_item.pitch_min = 0.0f;
//_mission_item.autocontinue = true;
//_mission_item.origin = ORIGIN_ONBOARD;
//_navigator->set_can_loiter_at_sp(true);
break;
}
case GPSF_STATE_TERMINATE: {
//_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
//_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
//_mission_item.altitude_is_relative = false;
//_mission_item.altitude = _param_airfieldhomealt.get();
//_mission_item.yaw = NAN;
//_mission_item.loiter_radius = _navigator->get_loiter_radius();
//_mission_item.loiter_direction = 1;
//_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
//_mission_item.pitch_min = 0.0f;
//_mission_item.autocontinue = true;
//_mission_item.origin = ORIGIN_ONBOARD;
//_navigator->set_can_loiter_at_sp(true);
break;
}
default:
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
GpsFailure::advance_gpsf()
{
switch (_gpsf_state) {
case GPSF_STATE_NONE:
_gpsf_state = GPSF_STATE_LOITER;
break;
case GPSF_STATE_LOITER:
_gpsf_state = GPSF_STATE_TERMINATE;
break;
default:
break;
}
}