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/**
* @file navigator_rtl.cpp
* Helper class to access RTL
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include "rtl.h"
RTL::RTL(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
MissionBlock(navigator),
_mavlink_fd(-1),
_rtl_state(RTL_STATE_NONE),
_home_position({}),
_loiter_radius(50),
_acceptance_radius(50),
_param_return_alt(this, "RETURN_ALT"),
_param_descend_alt(this, "DESCEND_ALT"),
_param_land_delay(this, "LAND_DELAY")
{
/* load initial params */
updateParams();
/* initial reset */
reset();
}
RTL::~RTL()
{
}
bool
RTL::update(struct position_setpoint_triplet_s *pos_sp_triplet)
{
bool updated = false;
return updated;
}
void
RTL::reset()
{
}
void
RTL::set_home_position(const home_position_s *new_home_position)
{
memcpy(&_home_position, new_home_position, sizeof(home_position_s));
}
bool
RTL::get_current_rtl_item(const vehicle_global_position_s *global_position, mission_item_s *new_mission_item)
{
/* Open mavlink fd */
if (_mavlink_fd < 0) {
/* try to open the mavlink log device every once in a while */
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
/* decide if we need climb */
if (_rtl_state == RTL_STATE_NONE) {
if (global_position->alt < _home_position.alt + _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
} else {
_rtl_state = RTL_STATE_RETURN;
}
}
/* if switching directly to return state, set altitude setpoint to current altitude */
if (_rtl_state == RTL_STATE_RETURN) {
new_mission_item->altitude_is_relative = false;
new_mission_item->altitude = global_position->alt;
}
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
float climb_alt = _home_position.alt + _param_return_alt.get();
/* TODO understand and fix this */
// if (_vstatus.condition_landed) {
// climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
// }
new_mission_item->lat = global_position->lat;
new_mission_item->lon = global_position->lon;
new_mission_item->altitude_is_relative = false;
new_mission_item->altitude = climb_alt;
new_mission_item->yaw = NAN;
new_mission_item->loiter_radius = _loiter_radius;
new_mission_item->loiter_direction = 1;
new_mission_item->nav_cmd = NAV_CMD_WAYPOINT;
new_mission_item->acceptance_radius = _acceptance_radius;
new_mission_item->time_inside = 0.0f;
new_mission_item->pitch_min = 0.0f;
new_mission_item->autocontinue = true;
new_mission_item->origin = ORIGIN_ONBOARD;
mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %d meters above home",
(int)(climb_alt - _home_position.alt));
break;
}
case RTL_STATE_RETURN: {
new_mission_item->lat = _home_position.lat;
new_mission_item->lon = _home_position.lon;
/* TODO: add this again */
// don't change altitude
// if (_pos_sp_triplet.previous.valid) {
// /* if previous setpoint is valid then use it to calculate heading to home */
// new_mission_item->yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, new_mission_item->lat, new_mission_item->lon);
// } else {
// /* else use current position */
// new_mission_item->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, new_mission_item->lat, new_mission_item->lon);
// }
new_mission_item->loiter_radius = _loiter_radius;
new_mission_item->loiter_direction = 1;
new_mission_item->nav_cmd = NAV_CMD_WAYPOINT;
new_mission_item->acceptance_radius = _acceptance_radius;
new_mission_item->time_inside = 0.0f;
new_mission_item->pitch_min = 0.0f;
new_mission_item->autocontinue = true;
new_mission_item->origin = ORIGIN_ONBOARD;
mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %d meters above home",
(int)(new_mission_item->altitude - _home_position.alt));
break;
}
case RTL_STATE_DESCEND: {
new_mission_item->lat = _home_position.lat;
new_mission_item->lon = _home_position.lon;
new_mission_item->altitude_is_relative = false;
new_mission_item->altitude = _home_position.alt + _param_descend_alt.get();
new_mission_item->yaw = NAN;
new_mission_item->loiter_radius = _loiter_radius;
new_mission_item->loiter_direction = 1;
new_mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
new_mission_item->acceptance_radius = _acceptance_radius;
new_mission_item->time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
new_mission_item->pitch_min = 0.0f;
new_mission_item->autocontinue = _param_land_delay.get() > -0.001f;
new_mission_item->origin = ORIGIN_ONBOARD;
mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %d meters above home",
(int)(new_mission_item->altitude - _home_position.alt));
break;
}
case RTL_STATE_LAND: {
new_mission_item->lat = _home_position.lat;
new_mission_item->lon = _home_position.lon;
new_mission_item->altitude_is_relative = false;
new_mission_item->altitude = _home_position.alt;
new_mission_item->yaw = NAN;
new_mission_item->loiter_radius = _loiter_radius;
new_mission_item->loiter_direction = 1;
new_mission_item->nav_cmd = NAV_CMD_LAND;
new_mission_item->acceptance_radius = _acceptance_radius;
new_mission_item->time_inside = 0.0f;
new_mission_item->pitch_min = 0.0f;
new_mission_item->autocontinue = true;
new_mission_item->origin = ORIGIN_ONBOARD;
mavlink_log_info(_mavlink_fd, "#audio: RTL: land at home");
break;
}
case RTL_STATE_FINISHED: {
/* nothing to do, report fail */
return false;
}
default:
return false;
}
return true;
}
bool
RTL::get_next_rtl_item(mission_item_s *new_mission_item)
{
/* TODO implement */
return false;
}
void
RTL::move_to_next()
{
switch (_rtl_state) {
case RTL_STATE_CLIMB:
_rtl_state = RTL_STATE_RETURN;
break;
case RTL_STATE_RETURN:
_rtl_state = RTL_STATE_DESCEND;
break;
case RTL_STATE_DESCEND:
/* only go to land if autoland is enabled */
if (_param_land_delay.get() < 0) {
_rtl_state = RTL_STATE_FINISHED;
} else {
_rtl_state = RTL_STATE_LAND;
}
break;
case RTL_STATE_LAND:
_rtl_state = RTL_STATE_FINISHED;
break;
case RTL_STATE_FINISHED:
break;
default:
break;
}
}
