Merged master into mpc_in_flight_lock

1 files changed, 244 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..26a573544
--- /dev/null
+++ b/src/modules/navigator/mission_block.cpp
@@ -0,0 +1,244 @@
+/****************************************************************************
+ *
+ *   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 <math.h>
+#include <float.h>
+
+#include <systemlib/err.h>
+#include <geo/geo.h>
+
+#include <uORB/uORB.h>
+
+#include "navigator.h"
+#include "mission_block.h"
+
+
+MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
+	NavigatorMode(navigator, name),
+	_waypoint_position_reached(false),
+	_waypoint_yaw_reached(false),
+	_time_first_inside_orbit(0),
+	_mission_item({0}),
+	_mission_item_valid(false)
+{
+}
+
+MissionBlock::~MissionBlock()
+{
+}
+
+bool
+MissionBlock::is_mission_item_reached()
+{
+	if (_mission_item.nav_cmd == NAV_CMD_LAND) {
+		return _navigator->get_vstatus()->condition_landed;
+	}
+
+	/* TODO: count turns */
+	if ((/*_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||*/
+	     _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) {
+		return false;
+	}
+
+	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->get_home_position()->alt
+			              : _mission_item.altitude;
+
+		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
+				                          _navigator->get_global_position()->lat,
+							  _navigator->get_global_position()->lon,
+							  _navigator->get_global_position()->alt,
+				&dist_xy, &dist_z);
+
+		if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator->get_vstatus()->is_rotary_wing) {
+			/* require only altitude for takeoff for multicopter */
+			if (_navigator->get_global_position()->alt >
+				altitude_amsl - _navigator->get_acceptance_radius()) {
+				_waypoint_position_reached = true;
+			}
+		} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
+			/* for takeoff mission items use the parameter for the takeoff acceptance radius */
+			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
+				_waypoint_position_reached = true;
+			}
+		} else {
+			/* for normal mission items used their acceptance radius */
+			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->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->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->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;
+
+	switch (item->nav_cmd) {
+	case NAV_CMD_IDLE:
+		sp->type = SETPOINT_TYPE_IDLE;
+		break;
+
+	case NAV_CMD_TAKEOFF:
+		sp->type = SETPOINT_TYPE_TAKEOFF;
+		break;
+
+	case NAV_CMD_LAND:
+		sp->type = SETPOINT_TYPE_LAND;
+		break;
+
+	case NAV_CMD_LOITER_TIME_LIMIT:
+	case NAV_CMD_LOITER_TURN_COUNT:
+	case NAV_CMD_LOITER_UNLIMITED:
+		sp->type = SETPOINT_TYPE_LOITER;
+		break;
+
+	default:
+		sp->type = SETPOINT_TYPE_POSITION;
+		break;
+	}
+}
+
+void
+MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet)
+{
+    /* reuse current setpoint as previous setpoint */
+    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)
+{
+    /* 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 (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;
+    }
+
+    return false;
+}