Merge branch 'master' into takeoff_fix

7 files changed, 154 insertions, 15 deletions

diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 266215308..49aec21e0 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -76,11 +76,7 @@ Geofence::~Geofence()
 
 bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
 {
-	double lat = vehicle->lat / 1e7d;
-	double lon = vehicle->lon / 1e7d;
-	//float	alt = vehicle->alt;
-
-	return inside(lat, lon, vehicle->alt);
+	return inside(vehicle->lat, vehicle->lon, vehicle->alt);
 }
 
 bool Geofence::inside(double lat, double lon, float altitude)
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 719301a0a..104065132 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -36,12 +36,14 @@
  * Helper class to access missions
  *
  * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include <sys/types.h>
 #include <string.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <float.h>
 
 #include <drivers/drv_hrt.h>
 
@@ -49,6 +51,7 @@
 #include <mavlink/mavlink_log.h>
 #include <systemlib/err.h>
 #include <geo/geo.h>
+#include <lib/mathlib/mathlib.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
@@ -62,6 +65,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_param_onboard_enabled(this, "ONBOARD_EN"),
 	_param_takeoff_alt(this, "TAKEOFF_ALT"),
 	_param_dist_1wp(this, "DIST_1WP"),
+	_param_altmode(this, "ALTMODE"),
 	_onboard_mission({0}),
 	_offboard_mission({0}),
 	_current_onboard_mission_index(-1),
@@ -72,7 +76,11 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_mission_result({0}),
 	_mission_type(MISSION_TYPE_NONE),
 	_inited(false),
-	_dist_1wp_ok(false)
+	_dist_1wp_ok(false),
+	_missionFeasiblityChecker(),
+	_min_current_sp_distance_xy(FLT_MAX),
+	_mission_item_previous_alt(NAN),
+	_distance_current_previous(0.0f)
 {
 	/* load initial params */
 	updateParams();
@@ -145,6 +153,8 @@ Mission::on_active()
 		advance_mission();
 		set_mission_items();
 
+	} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
+		altitude_sp_foh_update();
 	} else {
 		/* if waypoint position reached allow loiter on the setpoint */
 		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
@@ -203,7 +213,7 @@ Mission::update_offboard_mission()
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
 		dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
 
-		missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
+		_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
 				_navigator->get_home_position()->alt);
 
@@ -314,11 +324,19 @@ Mission::set_mission_items()
 	/* make sure param is up to date */
 	updateParams();
 
+	/* reset the altitude foh logic, if altitude foh is enabled (param) a new foh element starts now */
+	altitude_sp_foh_reset();
+
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
 	/* set previous position setpoint to current */
 	set_previous_pos_setpoint();
 
+	/* Copy previous mission item altitude (can be extended to a copy of the full mission item if needed) */
+	if (pos_sp_triplet->previous.valid) {
+		_mission_item_previous_alt = _mission_item.altitude;
+	}
+
 	/* get home distance state */
 	bool home_dist_ok = check_dist_1wp();
 	/* the home dist check provides user feedback, so we initialize it to this */
@@ -470,9 +488,75 @@ Mission::set_mission_items()
 		pos_sp_triplet->next.valid = false;
 	}
 
+	/* Save the distance between the current sp and the previous one */
+	if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) {
+		_distance_current_previous = get_distance_to_next_waypoint(pos_sp_triplet->current.lat,
+				pos_sp_triplet->current.lon,
+				pos_sp_triplet->previous.lat,
+				pos_sp_triplet->previous.lon);
+	}
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+void
+Mission::altitude_sp_foh_update()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	/* Don't change setpoint if last and current waypoint are not valid */
+	if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid ||
+			!isfinite(_mission_item_previous_alt)) {
+		return;
+	}
+
+	/* Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one */
+	if (_distance_current_previous - _mission_item.acceptance_radius < 0.0f) {
+		return;
+	}
+
+	/* Don't do FOH for landing and takeoff waypoints, the ground may be near
+	 * and the FW controller has a custom landing logic */
+	if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
+		return;
+	}
+
+
+	/* Calculate distance to current waypoint */
+	float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
+			_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
+
+	/* Save distance to waypoint if it is the smallest ever achieved, however make sure that
+	 * _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */
+	_min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy),
+			_distance_current_previous);
+
+	/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
+	 * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
+	if (_min_current_sp_distance_xy < _mission_item.acceptance_radius) {
+		pos_sp_triplet->current.alt = _mission_item.altitude;
+	} else {
+		/* update the altitude sp of the 'current' item in the sp triplet, but do not update the altitude sp
+		* of the mission item as it is used to check if the mission item is reached
+		* The setpoint is set linearly and such that the system reaches the current altitude at the acceptance
+		* radius around the current waypoint
+		**/
+		float delta_alt = (_mission_item.altitude - _mission_item_previous_alt);
+		float grad = -delta_alt/(_distance_current_previous - _mission_item.acceptance_radius);
+		float a = _mission_item_previous_alt - grad * _distance_current_previous;
+		pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
+
+	}
+
 	_navigator->set_position_setpoint_triplet_updated();
 }
 
+void
+Mission::altitude_sp_foh_reset()
+{
+	_min_current_sp_distance_xy = FLT_MAX;
+}
+
 bool
 Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item)
 {
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 1edaa5c8a..4737be391 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -36,6 +36,7 @@
  * Navigator mode to access missions
  *
  * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #ifndef NAVIGATOR_MISSION_H
@@ -75,6 +76,11 @@ public:
 
 	virtual void on_active();
 
+	enum mission_altitude_mode {
+		MISSION_ALTMODE_ZOH = 0,
+		MISSION_ALTMODE_FOH = 1
+	};
+
 private:
 	/**
 	 * Update onboard mission topic
@@ -103,6 +109,16 @@ private:
 	void set_mission_items();
 
 	/**
+	 * Updates the altitude sp to follow a foh
+	 */
+	void altitude_sp_foh_update();
+
+	/**
+	 * Resets the altitude sp foh logic
+	 */
+	void altitude_sp_foh_reset();
+
+	/**
 	 * Read current or next mission item from the dataman and watch out for DO_JUMPS
 	 * @return true if successful
 	 */
@@ -136,6 +152,7 @@ private:
 	control::BlockParamInt _param_onboard_enabled;
 	control::BlockParamFloat _param_takeoff_alt;
 	control::BlockParamFloat _param_dist_1wp;
+	control::BlockParamInt _param_altmode;
 
 	struct mission_s _onboard_mission;
 	struct mission_s _offboard_mission;
@@ -157,7 +174,13 @@ private:
 	bool _inited;
 	bool _dist_1wp_ok;
 
-	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+	MissionFeasibilityChecker _missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+
+	float _min_current_sp_distance_xy; /**< minimum distance which was achieved to the current waypoint  */
+	float _mission_item_previous_alt; /**< holds the altitude of the previous mission item,
+					    can be replaced by a full copy of the previous mission item if needed*/
+	float _distance_current_previous; /**< distance from previous to current sp in pos_sp_triplet,
+					    only use if current and previous are valid */
 };
 
 #endif
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 4adf77dce..723caec7c 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -113,6 +113,19 @@ MissionBlock::is_mission_item_reached()
 			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
+		} else if (!_navigator->get_vstatus()->is_rotary_wing &&
+			(_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
+			_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+			_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) {
+			/* Loiter mission item on a non rotary wing: the aircraft is going to circle the
+			 * coordinates with a radius equal to the loiter_radius field. It is not flying
+			 * through the waypoint center.
+			 * Therefore the item is marked as reached once the system reaches the loiter
+			 * radius (+ some margin). Time inside and turn count is handled elsewhere.
+			 */
+			if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) {
+				_waypoint_position_reached = true;
+			}
 		} else {
 			/* for normal mission items used their acceptance radius */
 			if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 606521f20..7ae7f60cb 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -84,7 +84,12 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 
-	return  (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
+	/* Perform checks and issue feedback to the user for all checks */
+	bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
+	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
+
+	/* Mission is only marked as feasible if all checks return true */
+	return (resGeofence && resHomeAltitude);
 }
 
 bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
@@ -93,7 +98,13 @@ bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_curre
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
 
-	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
+	/* Perform checks and issue feedback to the user for all checks */
+	bool resLanding = checkFixedWingLanding(dm_current, nMissionItems);
+	bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
+	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
+
+	/* Mission is only marked as feasible if all checks return true */
+	return (resLanding && resGeofence && resHomeAltitude);
 }
 
 bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
@@ -216,9 +227,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 		}
 	}
 
-
-//	float slope_alt = wp_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_distance)/_flare_constant) - _H1_virt;
-	return false;
+	/* No landing waypoints or no waypoints */
+	return true;
 }
 
 void MissionFeasibilityChecker::updateNavigationCapabilities()
diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c
index d15e1e771..04c01fe51 100644
--- a/src/modules/navigator/mission_params.c
+++ b/src/modules/navigator/mission_params.c
@@ -82,3 +82,16 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
  * @group Mission
  */
 PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
+
+/**
+ * Altitude setpoint mode
+ *
+ * 0: the system will follow a zero order hold altitude setpoint
+ * 1: the system will follow a first order hold altitude setpoint
+ * values follow the definition in enum mission_altitude_mode
+ *
+ * @min 0
+ * @max 1
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MIS_ALTMODE, 0);
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 331a9a728..042c46afd 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -353,6 +353,8 @@ Navigator::task_main()
 			case NAVIGATION_STATE_ACRO:
 			case NAVIGATION_STATE_ALTCTL:
 			case NAVIGATION_STATE_POSCTL:
+			case NAVIGATION_STATE_LAND:
+			case NAVIGATION_STATE_TERMINATION:
 				_navigation_mode = nullptr;
 				_can_loiter_at_sp = false;
 				break;
@@ -368,8 +370,6 @@ Navigator::task_main()
 			case NAVIGATION_STATE_AUTO_RTGS:
 				_navigation_mode = &_rtl; /* TODO: change this to something else */
 				break;
-			case NAVIGATION_STATE_LAND:
-			case NAVIGATION_STATE_TERMINATION:
 			case NAVIGATION_STATE_OFFBOARD:
 				_navigation_mode = &_offboard;
 				break;