navigator: lot's of cleanup (WIP)

1 files changed, 253 insertions, 0 deletions

diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
new file mode 100644
index 000000000..6e621e39d
--- /dev/null
+++ b/src/modules/navigator/rtl.cpp
@@ -0,0 +1,253 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 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 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() :
+	SuperBlock(NULL, "RTL"),
+	_mavlink_fd(-1),
+	_rtl_state(RTL_STATE_NONE),
+	_home_position({}),
+	_param_return_alt(this, "RETURN_ALT"),
+	_param_descend_alt(this, "DESCEND_ALT"),
+	_param_land_delay(this, "LAND_DELAY"),
+	_loiter_radius(50),
+	_acceptance_radius(50)
+{
+	/* load initial params */
+	updateParams();
+}
+
+RTL::~RTL()
+{
+}
+
+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_TAKEOFF;
+		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_WAYPOINT;
+		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;
+	}
+}
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