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author | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-07 10:29:04 +0200 |
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committer | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-07 10:29:04 +0200 |
commit | 79e5ec646523c8c93bc0e17c39fbe31222863d93 (patch) | |
tree | 9d3d2d428c45f44f6cccd2e5b121fc0827b469f0 /src/modules/navigator | |
parent | d856356fce52d802258a6bbfd8e4b705655ea624 (diff) | |
parent | c6de36d683601a17bfa62d75da4ecb76e95360fe (diff) | |
download | px4-firmware-79e5ec646523c8c93bc0e17c39fbe31222863d93.tar.gz px4-firmware-79e5ec646523c8c93bc0e17c39fbe31222863d93.tar.bz2 px4-firmware-79e5ec646523c8c93bc0e17c39fbe31222863d93.zip |
Merge pull request #1151 from PX4/offboard2_externalsetpointmessages
Offboard2: Handle external setpoint messages
Diffstat (limited to 'src/modules/navigator')
-rw-r--r-- | src/modules/navigator/module.mk | 1 | ||||
-rw-r--r-- | src/modules/navigator/navigator.h | 6 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 17 | ||||
-rw-r--r-- | src/modules/navigator/offboard.cpp | 129 | ||||
-rw-r--r-- | src/modules/navigator/offboard.h | 72 |
5 files changed, 6 insertions, 219 deletions
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index fb8d07901..72dc2815c 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -46,7 +46,6 @@ SRCS = navigator_main.cpp \ loiter.cpp \ rtl.cpp \ rtl_params.c \ - offboard.cpp \ mission_feasibility_checker.cpp \ geofence.cpp \ geofence_params.c \ diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index bf42acff9..d550dcc4c 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -60,7 +60,6 @@ #include "mission.h" #include "loiter.h" #include "rtl.h" -#include "offboard.h" #include "datalinkloss.h" #include "enginefailure.h" #include "gpsfailure.h" @@ -70,7 +69,7 @@ /** * Number of navigation modes that need on_active/on_inactive calls */ -#define NAVIGATOR_MODE_ARRAY_SIZE 8 +#define NAVIGATOR_MODE_ARRAY_SIZE 7 class Navigator : public control::SuperBlock { @@ -139,7 +138,6 @@ public: int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } - int get_offboard_control_sp_sub() { return _offboard_control_sp_sub; } Geofence& get_geofence() { return _geofence; } bool get_can_loiter_at_sp() { return _can_loiter_at_sp; } float get_loiter_radius() { return _param_loiter_radius.get(); } @@ -159,7 +157,6 @@ private: int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ - int _offboard_control_sp_sub; /*** offboard control subscription */ int _control_mode_sub; /**< vehicle control mode subscription */ int _onboard_mission_sub; /**< onboard mission subscription */ int _offboard_mission_sub; /**< offboard mission subscription */ @@ -199,7 +196,6 @@ private: RTL _rtl; /**< class that handles RTL */ RCLoss _rcLoss; /**< class that handles RTL according to OBC rules (rc loss mode) */ - Offboard _offboard; /**< class that handles offboard */ DataLinkLoss _dataLinkLoss; /**< class that handles the OBC datalink loss mode */ EngineFailure _engineFailure; /**< class that handles the engine failure mode (FW only!) */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 4e2511e7a..a867dd0da 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -68,7 +68,6 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> -#include <uORB/topics/offboard_control_setpoint.h> #include <drivers/drv_baro.h> #include <systemlib/err.h> @@ -105,7 +104,6 @@ Navigator::Navigator() : _home_pos_sub(-1), _vstatus_sub(-1), _capabilities_sub(-1), - _offboard_control_sp_sub(-1), _control_mode_sub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), @@ -134,7 +132,6 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _rcLoss(this, "RCL"), - _offboard(this, "OFF"), _dataLinkLoss(this, "DLL"), _engineFailure(this, "EF"), _gpsFailure(this, "GPSF"), @@ -149,11 +146,10 @@ Navigator::Navigator() : _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; - _navigation_mode_array[3] = &_offboard; - _navigation_mode_array[4] = &_dataLinkLoss; - _navigation_mode_array[5] = &_engineFailure; - _navigation_mode_array[6] = &_gpsFailure; - _navigation_mode_array[7] = &_rcLoss; + _navigation_mode_array[3] = &_dataLinkLoss; + _navigation_mode_array[4] = &_engineFailure; + _navigation_mode_array[5] = &_gpsFailure; + _navigation_mode_array[6] = &_rcLoss; updateParams(); } @@ -282,7 +278,6 @@ Navigator::task_main() _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _param_update_sub = orb_subscribe(ORB_ID(parameter_update)); - _offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); /* copy all topics first time */ vehicle_status_update(); @@ -426,6 +421,7 @@ Navigator::task_main() case NAVIGATION_STATE_POSCTL: case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: + case NAVIGATION_STATE_OFFBOARD: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; @@ -460,9 +456,6 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_LANDGPSFAIL: _navigation_mode = &_gpsFailure; break; - case NAVIGATION_STATE_OFFBOARD: - _navigation_mode = &_offboard; - break; default: _navigation_mode = nullptr; _can_loiter_at_sp = false; diff --git a/src/modules/navigator/offboard.cpp b/src/modules/navigator/offboard.cpp deleted file mode 100644 index dcb5c6000..000000000 --- a/src/modules/navigator/offboard.cpp +++ /dev/null @@ -1,129 +0,0 @@ -/**************************************************************************** - * - * 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 offboard.cpp - * - * Helper class for offboard commands - * - * @author Julian Oes <julian@oes.ch> - */ - -#include <string.h> -#include <stdlib.h> -#include <stdbool.h> -#include <math.h> -#include <fcntl.h> - -#include <mavlink/mavlink_log.h> -#include <systemlib/err.h> - -#include <uORB/uORB.h> -#include <uORB/topics/position_setpoint_triplet.h> - -#include "navigator.h" -#include "offboard.h" - -Offboard::Offboard(Navigator *navigator, const char *name) : - NavigatorMode(navigator, name), - _offboard_control_sp({0}) -{ - /* load initial params */ - updateParams(); - /* initial reset */ - on_inactive(); -} - -Offboard::~Offboard() -{ -} - -void -Offboard::on_inactive() -{ -} - -void -Offboard::on_activation() -{ -} - -void -Offboard::on_active() -{ - struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - bool updated; - orb_check(_navigator->get_offboard_control_sp_sub(), &updated); - if (updated) { - update_offboard_control_setpoint(); - } - - /* copy offboard setpoints to the corresponding topics */ - if (_navigator->get_control_mode()->flag_control_position_enabled - && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) { - /* position control */ - pos_sp_triplet->current.x = _offboard_control_sp.p1; - pos_sp_triplet->current.y = _offboard_control_sp.p2; - pos_sp_triplet->current.yaw = _offboard_control_sp.p3; - pos_sp_triplet->current.z = -_offboard_control_sp.p4; - - pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; - pos_sp_triplet->current.valid = true; - pos_sp_triplet->current.position_valid = true; - - _navigator->set_position_setpoint_triplet_updated(); - - } else if (_navigator->get_control_mode()->flag_control_velocity_enabled - && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) { - /* velocity control */ - pos_sp_triplet->current.vx = _offboard_control_sp.p2; - pos_sp_triplet->current.vy = _offboard_control_sp.p1; - pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3; - pos_sp_triplet->current.vz = _offboard_control_sp.p4; - - pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD; - pos_sp_triplet->current.valid = true; - pos_sp_triplet->current.velocity_valid = true; - - _navigator->set_position_setpoint_triplet_updated(); - } - -} - - -void -Offboard::update_offboard_control_setpoint() -{ - orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp); - -} diff --git a/src/modules/navigator/offboard.h b/src/modules/navigator/offboard.h deleted file mode 100644 index 66b923bdb..000000000 --- a/src/modules/navigator/offboard.h +++ /dev/null @@ -1,72 +0,0 @@ -/*************************************************************************** - * - * 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 offboard.h - * - * Helper class for offboard commands - * - * @author Julian Oes <julian@oes.ch> - */ - -#ifndef NAVIGATOR_OFFBOARD_H -#define NAVIGATOR_OFFBOARD_H - -#include <controllib/blocks.hpp> -#include <controllib/block/BlockParam.hpp> - -#include <uORB/uORB.h> -#include <uORB/topics/offboard_control_setpoint.h> - -#include "navigator_mode.h" - -class Navigator; - -class Offboard : public NavigatorMode -{ -public: - Offboard(Navigator *navigator, const char *name); - - ~Offboard(); - - virtual void on_inactive(); - - virtual void on_activation(); - - virtual void on_active(); -private: - void update_offboard_control_setpoint(); - - struct offboard_control_setpoint_s _offboard_control_sp; -}; - -#endif |