|
|
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* 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 offboard.cpp
*
* Helper class for offboard commands
*
* @author Julian Oes <julian@oes.ch>
*/
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include "navigator.h"
#include "offboard.h"
Offboard::Offboard(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
_offboard_control_sp({0})
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
Offboard::~Offboard()
{
}
void
Offboard::on_activation()
{
}
void
Offboard::on_active()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
bool updated;
orb_check(_navigator->get_offboard_control_sp_sub(), &updated);
if (updated) {
update_offboard_control_setpoint();
}
/* copy offboard setpoints to the corresponding topics */
if (_offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED) {
/* We accept position control only if none of the directions is ignored (as pos_sp_triplet does not
* support deactivation of individual directions) */
if (_navigator->get_control_mode()->flag_control_position_enabled &&
(!offboard_control_sp_ignore_position(_offboard_control_sp, 0) &&
!offboard_control_sp_ignore_position(_offboard_control_sp, 1) &&
!offboard_control_sp_ignore_position(_offboard_control_sp, 2))) {
/* position control */
pos_sp_triplet->current.x = _offboard_control_sp.position[0];
pos_sp_triplet->current.y = _offboard_control_sp.position[1];
//pos_sp_triplet->current.yaw = _offboard_control_sp.position[2];
//XXX: copy yaw
pos_sp_triplet->current.z = -_offboard_control_sp.position[2];
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true;
_navigator->set_position_setpoint_triplet_updated();
}
/* We accept velocity control only if none of the directions is ignored (as pos_sp_triplet does not
* support deactivation of individual directions) */
if (_navigator->get_control_mode()->flag_control_velocity_enabled &&
(!offboard_control_sp_ignore_velocity(_offboard_control_sp, 0) &&
!offboard_control_sp_ignore_velocity(_offboard_control_sp, 1) &&
!offboard_control_sp_ignore_velocity(_offboard_control_sp, 2))) {
/* velocity control */
pos_sp_triplet->current.vx = _offboard_control_sp.velocity[0];
pos_sp_triplet->current.vy = _offboard_control_sp.velocity[1];
// pos_sp_triplet->current.yawspeed = _offboard_control_sp.velocity[;
// //XXX: copy yaw speed
pos_sp_triplet->current.vz = _offboard_control_sp.velocity[2];
pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true;
_navigator->set_position_setpoint_triplet_updated();
}
//XXX: map acceleration setpoint once supported in setpoint triplet
}
}
void
Offboard::on_inactive()
{
}
void
Offboard::update_offboard_control_setpoint()
{
orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp);
}
|