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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 14:30:38 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 14:30:38 +0200 |
commit | be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc (patch) | |
tree | a56ff050d1de9264e464cd511f1a2a06b20c511b /src/modules/navigator/mission_block.cpp | |
parent | 77ca6fa8a3d3990bf75a02da70b25c7a0c6ae91e (diff) | |
parent | 06f08ad04d4cb21047944f350e4a75e88914e1e1 (diff) | |
download | px4-firmware-be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc.tar.gz px4-firmware-be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc.tar.bz2 px4-firmware-be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc.zip |
Merge pull request #1119 from PX4/navigator_rewrite_drton
Navigator rewrite - DrTon
Diffstat (limited to 'src/modules/navigator/mission_block.cpp')
-rw-r--r-- | src/modules/navigator/mission_block.cpp | 75 |
1 files changed, 41 insertions, 34 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 26a573544..a1c6f09d0 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -47,6 +47,7 @@ #include <systemlib/err.h> #include <geo/geo.h> +#include <mavlink/mavlink_log.h> #include <uORB/uORB.h> @@ -59,8 +60,7 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) : _waypoint_position_reached(false), _waypoint_yaw_reached(false), _time_first_inside_orbit(0), - _mission_item({0}), - _mission_item_valid(false) + _mission_item({0}) { } @@ -71,6 +71,10 @@ MissionBlock::~MissionBlock() bool MissionBlock::is_mission_item_reached() { + if (_mission_item.nav_cmd == NAV_CMD_IDLE) { + return false; + } + if (_mission_item.nav_cmd == NAV_CMD_LAND) { return _navigator->get_vstatus()->condition_landed; } @@ -84,7 +88,6 @@ MissionBlock::is_mission_item_reached() hrt_abstime now = hrt_absolute_time(); if (!_waypoint_position_reached) { - float dist = -1.0f; float dist_xy = -1.0f; float dist_z = -1.0f; @@ -201,44 +204,48 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite } void -MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet) +MissionBlock::set_previous_pos_setpoint() { - /* reuse current setpoint as previous setpoint */ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + if (pos_sp_triplet->current.valid) { memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s)); } } -bool -MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet) +void +MissionBlock::set_loiter_item(struct mission_item_s *item) { - /* don't change setpoint if 'can_loiter_at_sp' flag set */ - if (!(_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) { - /* use current position */ - pos_sp_triplet->current.lat = _navigator->get_global_position()->lat; - pos_sp_triplet->current.lon = _navigator->get_global_position()->lon; - pos_sp_triplet->current.alt = _navigator->get_global_position()->alt; - pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */ - - _navigator->set_can_loiter_at_sp(true); - } + if (_navigator->get_vstatus()->condition_landed) { + /* landed, don't takeoff, but switch to IDLE mode */ + item->nav_cmd = NAV_CMD_IDLE; - if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER - || (fabsf(pos_sp_triplet->current.loiter_radius - _navigator->get_loiter_radius()) > FLT_EPSILON) - || pos_sp_triplet->current.loiter_direction != 1 - || pos_sp_triplet->previous.valid - || !pos_sp_triplet->current.valid - || pos_sp_triplet->next.valid) { - /* position setpoint triplet should be updated */ - pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER; - pos_sp_triplet->current.loiter_radius = _navigator->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; - return true; - } + } else { + item->nav_cmd = NAV_CMD_LOITER_UNLIMITED; + + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - return false; + if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) { + /* use current position setpoint */ + item->lat = pos_sp_triplet->current.lat; + item->lon = pos_sp_triplet->current.lon; + item->altitude = pos_sp_triplet->current.alt; + + } else { + /* use current position */ + item->lat = _navigator->get_global_position()->lat; + item->lon = _navigator->get_global_position()->lon; + item->altitude = _navigator->get_global_position()->alt; + } + + item->altitude_is_relative = false; + item->yaw = NAN; + item->loiter_radius = _navigator->get_loiter_radius(); + item->loiter_direction = 1; + item->acceptance_radius = _navigator->get_acceptance_radius(); + item->time_inside = 0.0f; + item->pitch_min = 0.0f; + item->autocontinue = false; + item->origin = ORIGIN_ONBOARD; + } } |