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author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-07-08 19:51:19 +0400 |
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committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-07-08 19:51:19 +0400 |
commit | 56649bd10a414a91237dd11142b33851b2a9015c (patch) | |
tree | aab55ec53ce8013d8e482eba9a9d75c9cc476446 /src/modules/navigator/mission.cpp | |
parent | 664795c9db9a0d938cbe7221aed87755ca8de7bf (diff) | |
parent | 0054eb23d857844ebae34a7d198fc60e538ccd3c (diff) | |
download | px4-firmware-56649bd10a414a91237dd11142b33851b2a9015c.tar.gz px4-firmware-56649bd10a414a91237dd11142b33851b2a9015c.tar.bz2 px4-firmware-56649bd10a414a91237dd11142b33851b2a9015c.zip |
Merge branch 'master' into uavcan
Diffstat (limited to 'src/modules/navigator/mission.cpp')
-rw-r--r-- | src/modules/navigator/mission.cpp | 319 |
1 files changed, 186 insertions, 133 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 72255103b..d39ca6cf9 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -54,25 +54,28 @@ #include <uORB/topics/mission.h> #include <uORB/topics/mission_result.h> -#include "navigator.h" #include "mission.h" +#include "navigator.h" Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), _param_onboard_enabled(this, "ONBOARD_EN"), + _param_takeoff_alt(this, "TAKEOFF_ALT"), _onboard_mission({0}), _offboard_mission({0}), _current_onboard_mission_index(-1), _current_offboard_mission_index(-1), + _need_takeoff(true), + _takeoff(false), _mission_result_pub(-1), _mission_result({0}), _mission_type(MISSION_TYPE_NONE) { /* load initial params */ updateParams(); + /* set initial mission items */ on_inactive(); - } Mission::~Mission() @@ -82,8 +85,6 @@ Mission::~Mission() void Mission::on_inactive() { - _first_run = true; - /* check anyway if missions have changed so that feedback to groundstation is given */ bool onboard_updated; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); @@ -96,13 +97,21 @@ Mission::on_inactive() if (offboard_updated) { update_offboard_mission(); } + + if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) { + _need_takeoff = true; + } } -bool -Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Mission::on_activation() { - bool updated = false; + set_mission_items(); +} +void +Mission::on_active() +{ /* check if anything has changed */ bool onboard_updated; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); @@ -117,20 +126,21 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) } /* reset mission items if needed */ - if (onboard_updated || offboard_updated || _first_run) { - set_mission_items(pos_sp_triplet); - updated = true; - _first_run = false; + if (onboard_updated || offboard_updated) { + set_mission_items(); } /* lets check if we reached the current mission item */ if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { advance_mission(); - set_mission_items(pos_sp_triplet); - updated = true; - } + set_mission_items(); - return updated; + } else { + /* if waypoint position reached allow loiter on the setpoint */ + if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) { + _navigator->set_can_loiter_at_sp(true); + } + } } void @@ -151,6 +161,7 @@ Mission::update_onboard_mission() } /* otherwise, just leave it */ } + } else { _onboard_mission.count = 0; _onboard_mission.current_index = 0; @@ -167,10 +178,12 @@ Mission::update_offboard_mission() if (_offboard_mission.current_index >= 0 && _offboard_mission.current_index < (int)_offboard_mission.count) { _current_offboard_mission_index = _offboard_mission.current_index; + } else { /* if less WPs available, reset to first WP */ if (_current_offboard_mission_index >= (int)_offboard_mission.count) { _current_offboard_mission_index = 0; + /* if not initialized, set it to 0 */ } else if (_current_offboard_mission_index < 0) { _current_offboard_mission_index = 0; @@ -184,6 +197,7 @@ Mission::update_offboard_mission() if (_offboard_mission.dataman_id == 0) { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } @@ -192,11 +206,13 @@ Mission::update_offboard_mission() (size_t)_offboard_mission.count, _navigator->get_geofence(), _navigator->get_home_position()->alt); + } else { _offboard_mission.count = 0; _offboard_mission.current_index = 0; _current_offboard_mission_index = 0; } + report_current_offboard_mission_item(); } @@ -204,46 +220,55 @@ Mission::update_offboard_mission() void Mission::advance_mission() { - switch (_mission_type) { - case MISSION_TYPE_ONBOARD: - _current_onboard_mission_index++; - break; - - case MISSION_TYPE_OFFBOARD: - _current_offboard_mission_index++; - break; - - case MISSION_TYPE_NONE: - default: - break; + if (_takeoff) { + _takeoff = false; + + } else { + switch (_mission_type) { + case MISSION_TYPE_ONBOARD: + _current_onboard_mission_index++; + break; + + case MISSION_TYPE_OFFBOARD: + _current_offboard_mission_index++; + break; + + case MISSION_TYPE_NONE: + default: + break; + } } } void -Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) +Mission::set_mission_items() { - set_previous_pos_setpoint(pos_sp_triplet); + /* make sure param is up to date */ + updateParams(); + + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + /* set previous position setpoint to current */ + set_previous_pos_setpoint(); /* try setting onboard mission item */ - if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) { + if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_ONBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: onboard mission running"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running"); } _mission_type = MISSION_TYPE_ONBOARD; - _navigator->set_can_loiter_at_sp(false); /* try setting offboard mission item */ - } else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) { + } else if (read_mission_item(false, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: offboard mission running"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running"); } _mission_type = MISSION_TYPE_OFFBOARD; - _navigator->set_can_loiter_at_sp(false); + } else { + /* no mission available, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: mission finished"); @@ -252,125 +277,152 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: no mission available"); } _mission_type = MISSION_TYPE_NONE; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); - set_loiter_item(pos_sp_triplet); + /* set loiter mission item */ + set_loiter_item(&_mission_item); + + /* update position setpoint triplet */ + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); + reset_mission_item_reached(); report_mission_finished(); + + _navigator->set_position_setpoint_triplet_updated(); + return; } -} -bool -Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp) -{ - /* make sure param is up to date */ - updateParams(); - if (_param_onboard_enabled.get() > 0 && - _current_onboard_mission_index >= 0&& - _current_onboard_mission_index < (int)_onboard_mission.count) { - struct mission_item_s new_mission_item; - if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, true, &_current_onboard_mission_index, - &new_mission_item)) { - /* convert the current mission item and set it valid */ - mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); - current_pos_sp->valid = true; - - reset_mission_item_reached(); - - /* TODO: report this somehow */ - memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s)); - return true; + /* do takeoff on first waypoint for rotary wing vehicles */ + if (_navigator->get_vstatus()->is_rotary_wing) { + /* force takeoff if landed (additional protection) */ + if (!_takeoff && _navigator->get_vstatus()->condition_landed) { + _need_takeoff = true; + } + + /* new current mission item set, check if we need takeoff */ + if (_need_takeoff && ( + _mission_item.nav_cmd == NAV_CMD_TAKEOFF || + _mission_item.nav_cmd == NAV_CMD_WAYPOINT || + _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED || + _mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) { + _takeoff = true; + _need_takeoff = false; } } - return false; -} -bool -Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp) -{ - if (_current_offboard_mission_index >= 0 && - _current_offboard_mission_index < (int)_offboard_mission.count) { - dm_item_t dm_current; - if (_offboard_mission.dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + if (_takeoff) { + /* do takeoff before going to setpoint */ + /* set mission item as next position setpoint */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->next); + + /* calculate takeoff altitude */ + float takeoff_alt = _mission_item.altitude; + if (_mission_item.altitude_is_relative) { + takeoff_alt += _navigator->get_home_position()->alt; + } + + /* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ + if (_navigator->get_vstatus()->condition_landed) { + takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get()); + } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); + } + + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); + + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.altitude = takeoff_alt; + _mission_item.altitude_is_relative = false; + + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + + } else { + /* set current position setpoint from mission item */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + + /* require takeoff after landing or idle */ + if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) { + _need_takeoff = true; } - struct mission_item_s new_mission_item; - if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) { - /* convert the current mission item and set it valid */ - mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); - current_pos_sp->valid = true; - reset_mission_item_reached(); + _navigator->set_can_loiter_at_sp(false); + reset_mission_item_reached(); + if (_mission_type == MISSION_TYPE_OFFBOARD) { report_current_offboard_mission_item(); - memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s)); - return true; } - } - return false; -} + // TODO: report onboard mission item somehow -void -Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp) -{ - int next_temp_mission_index = _onboard_mission.current_index + 1; - - /* try if there is a next onboard mission */ - if (_onboard_mission.current_index >= 0 && - next_temp_mission_index < (int)_onboard_mission.count) { - struct mission_item_s new_mission_item; - if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) { - /* convert next mission item to position setpoint */ - mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - next_pos_sp->valid = true; - return; + /* try to read next mission item */ + struct mission_item_s mission_item_next; + + if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) { + /* got next mission item, update setpoint triplet */ + mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next); + + } else { + /* next mission item is not available */ + pos_sp_triplet->next.valid = false; } } - /* give up */ - next_pos_sp->valid = false; - return; + _navigator->set_position_setpoint_triplet_updated(); } -void -Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp) +bool +Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item) { - /* try if there is a next offboard mission */ - int next_temp_mission_index = _offboard_mission.current_index + 1; - warnx("next index: %d, count; %d", next_temp_mission_index, _offboard_mission.count); - if (_offboard_mission.current_index >= 0 && - next_temp_mission_index < (int)_offboard_mission.count) { - dm_item_t dm_current; + /* select onboard/offboard mission */ + int *mission_index_ptr; + struct mission_s *mission; + dm_item_t dm_item; + int mission_index_next; + + if (onboard) { + /* onboard mission */ + mission_index_next = _current_onboard_mission_index + 1; + mission_index_ptr = is_current ? &_current_onboard_mission_index : &mission_index_next; + + mission = &_onboard_mission; + + dm_item = DM_KEY_WAYPOINTS_ONBOARD; + + } else { + /* offboard mission */ + mission_index_next = _current_offboard_mission_index + 1; + mission_index_ptr = is_current ? &_current_offboard_mission_index : &mission_index_next; + + mission = &_offboard_mission; + if (_offboard_mission.dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - struct mission_item_s new_mission_item; - if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) { - /* convert next mission item to position setpoint */ - mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - next_pos_sp->valid = true; - return; + dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1; } } - /* give up */ - next_pos_sp->valid = false; - return; -} -bool -Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index, - struct mission_item_s *new_mission_item) -{ + if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { + /* mission item index out of bounds */ + return false; + } + /* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */ - for (int i=0; i<10; i++) { + for (int i = 0; i < 10; i++) { const ssize_t len = sizeof(struct mission_item_s); + /* read mission item to temp storage first to not overwrite current mission item if data damaged */ + struct mission_item_s mission_item_tmp; + /* read mission item from datamanager */ - if (dm_read(dm_item, *mission_index, new_mission_item, len) != len) { + if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ mavlink_log_critical(_navigator->get_mavlink_fd(), "#audio: ERROR waypoint could not be read"); @@ -378,18 +430,17 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio } /* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */ - if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) { + if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) { /* do DO_JUMP as many times as requested */ - if (new_mission_item->do_jump_current_count < new_mission_item->do_jump_repeat_count) { + if (mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) { /* only raise the repeat count if this is for the current mission item * but not for the next mission item */ if (is_current) { - (new_mission_item->do_jump_current_count)++; + (mission_item_tmp.do_jump_current_count)++; /* save repeat count */ - if (dm_write(dm_item, *mission_index, DM_PERSIST_IN_FLIGHT_RESET, - new_mission_item, len) != len) { + if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), @@ -399,16 +450,18 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio } /* set new mission item index and repeat * we don't have to validate here, if it's invalid, we should realize this later .*/ - *mission_index = new_mission_item->do_jump_mission_index; + *mission_index_ptr = mission_item_tmp.do_jump_mission_index; + } else { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: DO JUMP repetitions completed"); /* no more DO_JUMPS, therefore just try to continue with next mission item */ - (*mission_index)++; + (*mission_index_ptr)++; } } else { /* if it's not a DO_JUMP, then we were successful */ + memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s)); return true; } } |