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author | Julian Oes <julian@oes.ch> | 2014-06-06 17:17:41 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-06 17:17:41 +0200 |
commit | d78c3a224267f4dbd1fac72e893c81b83b43df9b (patch) | |
tree | 017bbbaf5f885fcf375f221127d45123cf0fba3b /src/modules/navigator/mission_block.cpp | |
parent | 9bfae10b73406ca4f6600a0441c6edf5077f1446 (diff) | |
download | px4-firmware-d78c3a224267f4dbd1fac72e893c81b83b43df9b.tar.gz px4-firmware-d78c3a224267f4dbd1fac72e893c81b83b43df9b.tar.bz2 px4-firmware-d78c3a224267f4dbd1fac72e893c81b83b43df9b.zip |
navigator: new class structure, loiter and mission working
Diffstat (limited to 'src/modules/navigator/mission_block.cpp')
-rw-r--r-- | src/modules/navigator/mission_block.cpp | 215 |
1 files changed, 215 insertions, 0 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp new file mode 100644 index 000000000..92090d995 --- /dev/null +++ b/src/modules/navigator/mission_block.cpp @@ -0,0 +1,215 @@ +/**************************************************************************** + * + * 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 mission_block.cpp + * + * Helper class to use mission items + * + * @author Julian Oes <julian@oes.ch> + */ + +#include <sys/types.h> +#include <string.h> +#include <stdlib.h> +#include <unistd.h> + +#include <systemlib/err.h> +#include <geo/geo.h> + +#include <uORB/uORB.h> + +#include "navigator.h" +#include "mission_block.h" + + +MissionBlock::MissionBlock(Navigator *navigator) : + _waypoint_position_reached(false), + _waypoint_yaw_reached(false), + _time_first_inside_orbit(0), + _mission_item({0}), + _mission_item_valid(false), + _navigator_priv(navigator) +{ +} + +MissionBlock::~MissionBlock() +{ +} + +bool +MissionBlock::is_mission_item_reached() +{ + /* TODO: count turns */ +#if 0 + if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && + _mission_item.loiter_radius > 0.01f) { + + return false; + } +#endif + + hrt_abstime now = hrt_absolute_time(); + + if (!_waypoint_position_reached) { + + float dist = -1.0f; + float dist_xy = -1.0f; + float dist_z = -1.0f; + + float altitude_amsl = _mission_item.altitude_is_relative + ? _mission_item.altitude + _navigator_priv->get_home_position()->alt + : _mission_item.altitude; + + dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl, + _navigator_priv->get_global_position()->lat, + _navigator_priv->get_global_position()->lon, + _navigator_priv->get_global_position()->alt, + &dist_xy, &dist_z); + + if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { + + /* require only altitude for takeoff */ + if (_navigator_priv->get_global_position()->alt > altitude_amsl - _mission_item.acceptance_radius) { + _waypoint_position_reached = true; + } + } else { + if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) { + _waypoint_position_reached = true; + } + } + } + + if (_waypoint_position_reached && !_waypoint_yaw_reached) { + + /* TODO: removed takeoff, why? */ + if (_navigator_priv->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) { + + /* check yaw if defined only for rotary wing except takeoff */ + float yaw_err = _wrap_pi(_mission_item.yaw - _navigator_priv->get_global_position()->yaw); + + if (fabsf(yaw_err) < 0.2f) { /* TODO: get rid of magic number */ + _waypoint_yaw_reached = true; + } + + } else { + _waypoint_yaw_reached = true; + } + } + + /* check if the current waypoint was reached */ + if (_waypoint_position_reached && _waypoint_yaw_reached) { + + if (_time_first_inside_orbit == 0) { + _time_first_inside_orbit = now; + + // if (_mission_item.time_inside > 0.01f) { + // mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", + // (double)_mission_item.time_inside); + // } + } + + /* check if the MAV was long enough inside the waypoint orbit */ + if (now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f) { + return true; + } + } + return false; +} + +void +MissionBlock::reset_mission_item_reached() +{ + _waypoint_position_reached = false; + _waypoint_yaw_reached = false; + _time_first_inside_orbit = 0; +} + +void +MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp) +{ + sp->valid = true; + sp->lat = item->lat; + sp->lon = item->lon; + sp->alt = item->altitude_is_relative ? item->altitude + _navigator_priv->get_home_position()->alt : item->altitude; + sp->yaw = item->yaw; + sp->loiter_radius = item->loiter_radius; + sp->loiter_direction = item->loiter_direction; + sp->pitch_min = item->pitch_min; + + if (item->nav_cmd == NAV_CMD_TAKEOFF) { + sp->type = SETPOINT_TYPE_TAKEOFF; + + } else if (item->nav_cmd == NAV_CMD_LAND) { + sp->type = SETPOINT_TYPE_LAND; + + } else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + sp->type = SETPOINT_TYPE_LOITER; + + } else { + sp->type = SETPOINT_TYPE_POSITION; + } +} + +bool +MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet) +{ + if (_navigator_priv->get_is_in_loiter()) { + /* already loitering, bail out */ + return false; + } + + if (reuse_current_pos_sp && pos_sp_triplet->current.valid) { + /* leave position setpoint as is */ + } else { + /* use current position */ + pos_sp_triplet->current.lat = _navigator_priv->get_global_position()->lat; + pos_sp_triplet->current.lon = _navigator_priv->get_global_position()->lon; + pos_sp_triplet->current.alt = _navigator_priv->get_global_position()->alt; + pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */ + } + pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER; + pos_sp_triplet->current.loiter_radius = _navigator_priv->get_loiter_radius(); + pos_sp_triplet->current.loiter_direction = 1; + + pos_sp_triplet->previous.valid = false; + pos_sp_triplet->current.valid = true; + pos_sp_triplet->next.valid = false; + + _navigator_priv->set_is_in_loiter(true); + return true; +} + |