/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Julian Oes <joes@student.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 navigator_main.c
* Implementation of the main navigation state machine.
*
* Handles missions, geo fencing and failsafe navigation behavior.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <sys/ioctl.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include <dataman/dataman.h>
#include <mavlink/mavlink_log.h>
typedef enum {
NAVIGATION_MODE_NONE,
NAVIGATION_MODE_LOITER,
NAVIGATION_MODE_WAYPOINT,
NAVIGATION_MODE_LOITER_WAYPOINT,
NAVIGATION_MODE_RTL,
NAVIGATION_MODE_LOITER_RTL
} navigation_mode_t;
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
/**
* navigator app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
class Navigator
{
public:
/**
* Constructor
*/
Navigator();
/**
* Destructor, also kills the sensors task.
*/
~Navigator();
/**
* Start the navigator task.
*
* @return OK on success.
*/
int start();
/**
* Display the navigator status.
*/
void status();
/**
* Load fence parameters.
*/
bool load_fence(unsigned vertices);
/**
* Specify fence vertex position.
*/
void fence_point(int argc, char *argv[]);
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _navigator_task; /**< task handle for sensor task */
int _mavlink_fd;
int _global_pos_sub; /**< global position subscription */
int _home_pos_sub; /**< home position subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _mission_sub; /**< notification of mission updates */
int _capabilities_sub; /**< notification of vehicle capabilities updates */
orb_advert_t _triplet_pub; /**< publish position setpoint triplet */
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_global_position_s _global_pos; /**< global vehicle position */
struct home_position_s _home_pos; /**< home position for RTL */
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 */
unsigned _max_mission_item_count; /**< maximum number of mission items supported */
unsigned _mission_item_count; /** number of mission items copied */
struct mission_item_s *_mission_item; /**< storage for mission */
struct fence_s _fence; /**< storage for fence vertices */
bool _fence_valid; /**< flag if fence is valid */
bool _inside_fence; /**< vehicle is inside fence */
struct navigation_capabilities_s _nav_caps;
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
uint64_t _time_first_inside_orbit;
bool _mission_item_reached;
navigation_mode_t _mode;
unsigned _current_mission_index;
struct {
float min_altitude;
float loiter_radius;
} _parameters; /**< local copies of parameters */
struct {
param_t min_altitude;
param_t loiter_radius;
} _parameter_handles; /**< handles for parameters */
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Retrieve mission.
*/
void mission_update();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
void publish_fence(unsigned vertices);
void publish_safepoints(unsigned points);
bool fence_valid(const struct fence_s &fence);
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);
void publish_mission_item_triplet();
void publish_mission_result();
int advance_current_mission_item();
void reset_mission_item_reached();
void check_mission_item_reached();
void report_mission_reached();
void start_waypoint();
void start_loiter(mission_item_s *new_loiter_position);
void start_rtl();
/**
* Compare two mission items if they are equivalent
* Two mission items can be considered equivalent for the purpose of the navigator even if some fields differ.
*
* @return true if equivalent, false otherwise
*/
bool cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b);
};
namespace navigator
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
Navigator *g_navigator;
}
Navigator::Navigator() :
_task_should_exit(false),
_navigator_task(-1),
_mavlink_fd(-1),
/* subscriptions */
_global_pos_sub(-1),
_home_pos_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_mission_sub(-1),
_capabilities_sub(-1),
/* publications */
_triplet_pub(-1),
_fence_pub(-1),
_mission_result_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
/* states */
_max_mission_item_count(10),
_mission_item_count(0),
_fence_valid(false),
_inside_fence(true),
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_mission_item_reached(false),
_mode(NAVIGATION_MODE_NONE),
_current_mission_index(0)
{
_global_pos.valid = false;
memset(&_fence, 0, sizeof(_fence));
_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
_mission_item = (mission_item_s*)malloc(sizeof(mission_item_s) * _max_mission_item_count);
_mission_item_triplet.previous_valid = false;
_mission_item_triplet.current_valid = false;
_mission_item_triplet.next_valid = false;
memset(&_mission_item_triplet.previous, 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_result, 0, sizeof(struct mission_result_s));
/* fetch initial values */
parameters_update();
}
Navigator::~Navigator()
{
if (_navigator_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_navigator_task);
break;
}
} while (_navigator_task != -1);
}
navigator::g_navigator = nullptr;
}
int
Navigator::parameters_update()
{
param_get(_parameter_handles.min_altitude, &(_parameters.min_altitude));
param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius));
return OK;
}
void
Navigator::mission_update()
{
struct mission_s mission;
if (orb_copy(ORB_ID(mission), _mission_sub, &mission) == OK) {
// XXX this is not optimal yet, but a first prototype /
// test implementation
if (mission.count <= _max_mission_item_count) {
/* 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);
}
/*
* Perform an atomic copy & state update
*/
irqstate_t flags = irqsave();
memcpy(_mission_item, mission.items, mission.count * sizeof(struct mission_item_s));
_mission_item_count = mission.count;
irqrestore(flags);
} else {
warnx("ERROR: too many waypoints, not supported");
mavlink_log_critical(_mavlink_fd, "[navigator] too many waypoints, not supported");
_mission_item_count = 0;
}
if (_mode == NAVIGATION_MODE_WAYPOINT) {
start_waypoint();
}
/* TODO add checks if and how the mission has changed */
} else {
_mission_item_count = 0;
_current_mission_index = 0;
}
}
void
Navigator::task_main_trampoline(int argc, char *argv[])
{
navigator::g_navigator->task_main();
}
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
/*
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_mission_sub = orb_subscribe(ORB_ID(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));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
// Load initial states
if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) {
_vstatus.arming_state = ARMING_STATE_STANDBY; // for testing... commander may not be running
}
mission_update();
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
parameters_update();
_fence_valid = load_fence(GEOFENCE_MAX_VERTICES);
/* load the craft capabilities */
orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
/* wakeup source(s) */
struct pollfd fds[6];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
fds[2].fd = _home_pos_sub;
fds[2].events = POLLIN;
fds[3].fd = _capabilities_sub;
fds[3].events = POLLIN;
fds[4].fd = _mission_sub;
fds[4].events = POLLIN;
fds[5].fd = _vstatus_sub;
fds[5].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update vehicle status if it changed */
if (fds[5].revents & POLLIN) {
/* read from param to clear updated flag */
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
/* Evaluate state machine from commander and set the navigator mode accordingly */
if (_vstatus.main_state == MAIN_STATE_AUTO) {
switch (_vstatus.navigation_state) {
case NAVIGATION_STATE_DIRECT:
case NAVIGATION_STATE_STABILIZE:
case NAVIGATION_STATE_ALTHOLD:
case NAVIGATION_STATE_VECTOR:
set_mode(NAVIGATION_MODE_NONE);
break;
case NAVIGATION_STATE_AUTO_READY:
case NAVIGATION_STATE_AUTO_TAKEOFF:
/* TODO probably not needed since takeoff WPs will just be passed on */
//set_mode(NAVIGATION_MODE_TAKEOFF);
break;
case NAVIGATION_STATE_AUTO_LOITER:
set_mode(NAVIGATION_MODE_LOITER);
break;
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 */
set_mode(NAVIGATION_MODE_WAYPOINT);
} else {
/* else fallback to loiter */
set_mode(NAVIGATION_MODE_LOITER);
}
break;
case NAVIGATION_STATE_AUTO_RTL:
set_mode(NAVIGATION_MODE_RTL);
break;
case NAVIGATION_STATE_AUTO_LAND:
/* TODO add this */
//set_mode(NAVIGATION_MODE_LAND);
break;
default:
warnx("Navigation state not supported");
break;
}
} else {
set_mode(NAVIGATION_MODE_NONE);
}
}
/* only update parameters if it changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
/* note that these new parameters won't be in effect until a mission triplet is published again */
}
/* only update craft capabilities if they have changed */
if (fds[3].revents & POLLIN) {
orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
}
if (fds[4].revents & POLLIN) {
mission_update();
}
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
}
/* only run controller if position changed */
if (fds[1].revents & POLLIN) {
/* XXX Hack to get mavlink output going */
if (_mavlink_fd < 0) {
/* try to open the mavlink log device every once in a while */
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
/* load local copies */
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
/* do stuff according to mode */
switch (_mode) {
case NAVIGATION_MODE_NONE:
case NAVIGATION_MODE_LOITER:
case NAVIGATION_MODE_LOITER_WAYPOINT:
case NAVIGATION_MODE_LOITER_RTL:
break;
case NAVIGATION_MODE_WAYPOINT:
check_mission_item_reached();
if (_mission_item_reached) {
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);
}
}
break;
case NAVIGATION_MODE_RTL:
check_mission_item_reached();
if (_mission_item_reached) {
mavlink_log_info(_mavlink_fd, "[navigator] reached RTL position");
set_mode(NAVIGATION_MODE_LOITER_RTL);
}
break;
default:
warnx("navigation mode not supported");
break;
}
}
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;
_exit(0);
}
int
Navigator::start()
{
ASSERT(_navigator_task == -1);
/* start the task */
_navigator_task = task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&Navigator::task_main_trampoline,
nullptr);
if (_navigator_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
void
Navigator::status()
{
warnx("Global position is %svalid", _global_pos.valid ? "" : "in");
if (_global_pos.valid) {
warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon / 1e7, _global_pos.lat / 1e7);
warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
(double)_global_pos.alt, (double)_global_pos.relative_alt);
warnx("Ground velocity in m/s, x %5.5f, y %5.5f, z %5.5f",
(double)_global_pos.vx, (double)_global_pos.vy, (double)_global_pos.vz);
warnx("Compass heading in degrees %5.5f", (double)_global_pos.yaw * 57.2957795);
}
if (_fence_valid) {
warnx("Geofence is valid");
warnx("Vertex longitude latitude");
for (unsigned i = 0; i < _fence.count; i++)
warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
} else
warnx("Geofence not set");
}
void
Navigator::publish_fence(unsigned vertices)
{
if (_fence_pub == -1)
_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
else
orb_publish(ORB_ID(fence), _fence_pub, &vertices);
}
bool
Navigator::fence_valid(const struct fence_s &fence)
{
// NULL fence is valid
if (fence.count == 0) {
return true;
}
// Otherwise
if ((fence.count < 4) || (fence.count > GEOFENCE_MAX_VERTICES)) {
warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
return false;
}
return true;
}
bool
Navigator::load_fence(unsigned vertices)
{
struct fence_s temp_fence;
unsigned i;
for (i = 0; i < vertices; i++) {
if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
break;
}
}
temp_fence.count = i;
if (fence_valid(temp_fence))
memcpy(&_fence, &temp_fence, sizeof(_fence));
else
warnx("Invalid fence file, ignored!");
return _fence.count != 0;
}
void
Navigator::fence_point(int argc, char *argv[])
{
int ix, last;
double lon, lat;
struct fence_vertex_s vertex;
char *end;
if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
dm_clear(DM_KEY_FENCE_POINTS);
publish_fence(0);
return;
}
if (argc < 3)
errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
ix = atoi(argv[0]);
if (ix >= DM_KEY_FENCE_POINTS_MAX)
errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
lat = strtod(argv[1], &end);
lon = strtod(argv[2], &end);
last = 0;
if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
last = 1;
vertex.lat = (float)lat;
vertex.lon = (float)lon;
if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
if (last)
publish_fence((unsigned)ix + 1);
return;
}
errx(1, "can't store fence point");
}
void
Navigator::set_mode(navigation_mode_t new_nav_mode)
{
if (new_nav_mode == _mode) {
/* no change, return */
return;
}
switch (new_nav_mode) {
case NAVIGATION_MODE_NONE:
// warnx("Set mode NONE");
_mode = new_nav_mode;
break;
case NAVIGATION_MODE_LOITER:
/* decide depending on previous navigation mode */
switch (_mode) {
case NAVIGATION_MODE_NONE:
case NAVIGATION_MODE_WAYPOINT:
case NAVIGATION_MODE_RTL: {
/* use current position and loiter around it */
mission_item_s global_position_mission_item;
global_position_mission_item.lat = (double)_global_pos.lat / 1e7;
global_position_mission_item.lon = (double)_global_pos.lon / 1e7;
/* XXX get rid of ugly conversion for home position altitude */
float global_min_alt = _parameters.min_altitude + (float)_home_pos.alt/1e3f;
/* Use current altitude if above min altitude set by parameter */
if (_global_pos.alt < global_min_alt) {
global_position_mission_item.altitude = global_min_alt;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(global_min_alt - _global_pos.alt));
} else {
global_position_mission_item.altitude = _global_pos.alt;
mavlink_log_info(_mavlink_fd, "[navigator] loiter here");
}
start_loiter(&global_position_mission_item);
_mode = new_nav_mode;
break;
}
case NAVIGATION_MODE_LOITER_WAYPOINT:
case NAVIGATION_MODE_LOITER_RTL:
/* already loitering, just continue */
_mode = new_nav_mode;
// warnx("continue loiter");
break;
case NAVIGATION_MODE_LOITER:
default:
// warnx("previous navigation mode not supported");
break;
}
break;
case NAVIGATION_MODE_WAYPOINT:
/* Start mission if there is one available */
start_waypoint();
_mode = new_nav_mode;
mavlink_log_info(_mavlink_fd, "[navigator] start waypoint mission");
break;
case NAVIGATION_MODE_LOITER_WAYPOINT:
start_loiter(&_mission_item_triplet.current);
_mode = new_nav_mode;
mavlink_log_info(_mavlink_fd, "[navigator] loiter at WP %d", _current_mission_index-1);
break;
case NAVIGATION_MODE_RTL:
/* decide depending on previous navigation mode */
switch (_mode) {
case NAVIGATION_MODE_NONE:
case NAVIGATION_MODE_LOITER:
case NAVIGATION_MODE_WAYPOINT:
case NAVIGATION_MODE_LOITER_WAYPOINT:
/* start RTL here */
start_rtl();
_mode = new_nav_mode;
mavlink_log_info(_mavlink_fd, "[navigator] start RTL");
break;
case NAVIGATION_MODE_LOITER_RTL:
/* already loitering after RTL, just continue */
// warnx("stay in loiter after RTL");
break;
case NAVIGATION_MODE_RTL:
default:
warnx("previous navigation mode not supported");
break;
}
break;
case NAVIGATION_MODE_LOITER_RTL:
/* TODO: get rid of this conversion */
mission_item_s home_position_mission_item;
home_position_mission_item.lat = (double)_home_pos.lat / 1e7;
home_position_mission_item.lon = (double)_home_pos.lon / 1e7;
home_position_mission_item.altitude = _home_pos.alt / 1e3f + _parameters.min_altitude;
start_loiter(&home_position_mission_item);
mavlink_log_info(_mavlink_fd, "[navigator] loiter after RTL");
_mode = new_nav_mode;
break;
}
}
int
Navigator::set_waypoint_mission_item(unsigned mission_item_index, struct mission_item_s *new_mission_item)
{
if (mission_item_index < _mission_item_count) {
memcpy(new_mission_item, &_mission_item[mission_item_index], sizeof(mission_item_s));
if (new_mission_item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
/* if it is a RTL waypoint, append the home position */
new_mission_item->lat = (double)_home_pos.lat / 1e7;
new_mission_item->lon = (double)_home_pos.lon / 1e7;
new_mission_item->altitude = (float)_home_pos.alt / 1e3f + _parameters.min_altitude;
new_mission_item->loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number
new_mission_item->radius = 50.0f; // TODO: get rid of magic number
}
// warnx("added mission item: %d", mission_item_index);
return OK;
}
// warnx("could not add mission item: %d", mission_item_index);
return ERROR;
}
void
Navigator::publish_mission_item_triplet()
{
/* lazily publish the mission triplet only once available */
if (_triplet_pub > 0) {
/* publish the mission triplet */
orb_publish(ORB_ID(mission_item_triplet), _triplet_pub, &_mission_item_triplet);
} else {
/* advertise and publish */
_triplet_pub = orb_advertise(ORB_ID(mission_item_triplet), &_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
Navigator::advance_current_mission_item()
{
reset_mission_item_reached();
// 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");
return ERROR;
}
reset_mission_item_reached();
/* copy current mission to previous item */
memcpy(&_mission_item_triplet.previous, &_mission_item_triplet.current, sizeof(mission_item_s));
_mission_item_triplet.previous_valid = _mission_item_triplet.current_valid;
/* 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;
if(set_waypoint_mission_item(_current_mission_index + 1, &_mission_item_triplet.next) == OK) {
_mission_item_triplet.next_valid = true;
}
else {
_mission_item_triplet.next_valid = false;
}
publish_mission_item_triplet();
return OK;
}
void
Navigator::reset_mission_item_reached()
{
/* reset all states */
_waypoint_position_reached = false;
_waypoint_yaw_reached = false;
_time_first_inside_orbit = 0;
_mission_item_reached = false;
_mission_result.mission_reached = false;
_mission_result.mission_index = 0;
}
void
Navigator::check_mission_item_reached()
{
/* don't check if mission item is already reached */
if (_mission_item_reached) {
return;
}
/* don't try to reach the landing mission, just stay in that mode */
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) {
return;
}
uint64_t now = hrt_absolute_time();
float orbit;
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.radius > 0.01f) {
orbit = _mission_item_triplet.current.radius;
} else if ((_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
_mission_item_triplet.current.loiter_radius > 0.01f) {
orbit = _mission_item_triplet.current.loiter_radius;
} else {
// XXX set default orbit via param
orbit = 15.0f;
}
/* keep vertical orbit */
float vertical_switch_distance = orbit;
// TODO add frame
// int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame;
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
// if (coordinate_frame == (int)MAV_FRAME_GLOBAL) {
dist = get_distance_to_point_global_wgs84(_mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude,
(double)_global_pos.lat / 1e7, (double)_global_pos.lon / 1e7, _global_pos.alt,
&dist_xy, &dist_z);
// warnx("1 lat: %2.2f, lon: %2.2f, alt: %2.2f", _mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude);
// warnx("2 lat: %2.2f, lon: %2.2f, alt: %2.2f", (double)_global_pos.lat / 1e7, (double)_global_pos.lon / 1e7, _global_pos.alt);
// warnx("Dist: %4.4f", dist);
// } 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 if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) {
// 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);
// } else if (coordinate_frame == (int)MAV_FRAME_MISSION) {
// /* Check if conditions of mission item are satisfied */
// // XXX TODO
// }
if (dist >= 0.0f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) {
_waypoint_position_reached = true;
}
/* check if required yaw reached */
float yaw_sp = _wrap_pi(_mission_item_triplet.current.yaw);
float yaw_err = _wrap_pi(yaw_sp - _global_pos.yaw);
if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */
_waypoint_yaw_reached = true;
}
/* check if the current waypoint was reached */
if (_waypoint_position_reached /* && _waypoint_yaw_reached */) { /* XXX what about yaw? */
if (_time_first_inside_orbit == 0) {
/* XXX announcment? */
_time_first_inside_orbit = now;
}
/* check if the MAV was long enough inside the waypoint orbit */
if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item_triplet.current.time_inside * 1e6)
|| _mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
_mission_item_reached = true;
}
}
}
void
Navigator::report_mission_reached()
{
_mission_result.mission_reached = true;
_mission_result.mission_index = _current_mission_index;
publish_mission_result();
}
void
Navigator::start_waypoint()
{
reset_mission_item_reached();
/* this means we should start fresh */
if (_current_mission_index == 0) {
_mission_item_triplet.previous_valid = false;
} else {
set_waypoint_mission_item(_current_mission_index - 1, &_mission_item_triplet.previous);
_mission_item_triplet.previous_valid = true;
}
set_waypoint_mission_item(_current_mission_index, &_mission_item_triplet.current);
_mission_item_triplet.current_valid = true;
mavlink_log_info(_mavlink_fd, "[navigator] heading to WP %d", _current_mission_index);
// if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
// if the current mission is to loiter unlimited, don't bother about a next mission item
// _mission_item_triplet.next_valid = false;
// } else {
/* if we are not loitering yet, try to add the next mission item */
// set_waypoint_mission_item(_current_mission_index + 1, &_mission_item_triplet.next);
// _mission_item_triplet.next_valid = true;
// }
if(set_waypoint_mission_item(_current_mission_index + 1, &_mission_item_triplet.next) == OK) {
_mission_item_triplet.next_valid = true;
}
else {
_mission_item_triplet.next_valid = false;
}
publish_mission_item_triplet();
}
void
Navigator::start_loiter(mission_item_s *new_loiter_position)
{
//reset_mission_item_reached();
_mission_item_triplet.previous_valid = false;
_mission_item_triplet.current_valid = true;
_mission_item_triplet.next_valid = false;
_mission_item_triplet.current.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item_triplet.current.loiter_direction = 1;
_mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number
_mission_item_triplet.current.radius = 50.0f; // TODO: get rid of magic number
_mission_item_triplet.current.autocontinue = false;
_mission_item_triplet.current.lat = new_loiter_position->lat;
_mission_item_triplet.current.lon = new_loiter_position->lon;
_mission_item_triplet.current.altitude = new_loiter_position->altitude;
_mission_item_triplet.current.yaw = new_loiter_position->yaw;
publish_mission_item_triplet();
}
void
Navigator::start_rtl()
{
reset_mission_item_reached();
/* discard all mission item and insert RTL item */
_mission_item_triplet.previous_valid = false;
_mission_item_triplet.current_valid = true;
_mission_item_triplet.next_valid = false;
_mission_item_triplet.current.lat = (double)_home_pos.lat / 1e7;
_mission_item_triplet.current.lon = (double)_home_pos.lon / 1e7;
_mission_item_triplet.current.altitude = (float)_home_pos.alt / 1e3f + _parameters.min_altitude;
_mission_item_triplet.current.yaw = 0.0f;
_mission_item_triplet.current.nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
_mission_item_triplet.current.loiter_direction = 1;
_mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number
_mission_item_triplet.current.radius = 50.0f; // TODO: get rid of magic number
_mission_item_triplet.current.autocontinue = false;
_mission_item_triplet.current_valid = true;
publish_mission_item_triplet();
}
static void usage()
{
errx(1, "usage: navigator {start|stop|status|fence}");
}
int navigator_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
}
if (!strcmp(argv[1], "start")) {
if (navigator::g_navigator != nullptr) {
errx(1, "already running");
}
navigator::g_navigator = new Navigator;
if (navigator::g_navigator == nullptr) {
errx(1, "alloc failed");
}
if (OK != navigator::g_navigator->start()) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
err(1, "start failed");
}
return 0;
}
if (navigator::g_navigator == nullptr)
errx(1, "not running");
if (!strcmp(argv[1], "stop")) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
} else if (!strcmp(argv[1], "status")) {
navigator::g_navigator->status();
} else if (!strcmp(argv[1], "fence")) {
navigator::g_navigator->fence_point(argc - 2, argv + 2);
} else {
usage();
}
return 0;
}
bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b) {
if (fabsf(a.altitude_is_relative - b.altitude_is_relative) < FLT_EPSILON &&
fabsf(a.lat - b.lat) < FLT_EPSILON &&
fabsf(a.lon - b.lon) < FLT_EPSILON &&
fabsf(a.altitude - b.altitude) < FLT_EPSILON &&
fabsf(a.yaw - b.yaw) < FLT_EPSILON &&
fabsf(a.loiter_radius - b.loiter_radius) < FLT_EPSILON &&
fabsf(a.loiter_direction - b.loiter_direction) < FLT_EPSILON &&
fabsf(a.nav_cmd - b.nav_cmd) < FLT_EPSILON &&
fabsf(a.radius - b.radius) < FLT_EPSILON &&
fabsf(a.time_inside - b.time_inside) < FLT_EPSILON &&
fabsf(a.autocontinue - b.autocontinue) < FLT_EPSILON &&
fabsf(a.index - b.index) < FLT_EPSILON) {
return true;
} else {
warnx("a.index %d, b.index %d", a.index, b.index);
return false;
}
}