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author | Julian Oes <julian@oes.ch> | 2014-04-26 12:55:27 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-04-26 12:55:27 +0200 |
commit | ea0142810a734bd8cade70668eefa562a495ec4a (patch) | |
tree | cfa5d3b067346ac561b5fa5310e4d6a75d4baac6 /src/modules/navigator | |
parent | 9f857f86e44a6385daa383d9b02173ad3c36fa01 (diff) | |
download | px4-firmware-ea0142810a734bd8cade70668eefa562a495ec4a.tar.gz px4-firmware-ea0142810a734bd8cade70668eefa562a495ec4a.tar.bz2 px4-firmware-ea0142810a734bd8cade70668eefa562a495ec4a.zip |
navigator: comments and whitespace
Diffstat (limited to 'src/modules/navigator')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 94 |
1 files changed, 32 insertions, 62 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index f39dc88e3..c3fc4e939 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -142,7 +142,7 @@ private: bool _task_should_exit; /**< if true, sensor task should exit */ int _navigator_task; /**< task handle for sensor task */ - int _mavlink_fd; + int _mavlink_fd; /**< the file descriptor to send messages over mavlink */ int _global_pos_sub; /**< global position subscription */ int _home_pos_sub; /**< home position subscription */ @@ -160,30 +160,31 @@ private: vehicle_global_position_s _global_pos; /**< global vehicle position */ home_position_s _home_pos; /**< home position for RTL */ mission_item_s _mission_item; /**< current mission item */ - navigation_capabilities_s _nav_caps; + navigation_capabilities_s _nav_caps; /**< navigation capabilities */ position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ - bool _mission_item_valid; + bool _mission_item_valid; /**< flags if the current mission item is valid */ perf_counter_t _loop_perf; /**< loop performance counter */ - Geofence _geofence; - bool _geofence_violation_warning_sent; + Geofence _geofence; /**< class that handles the geofence */ + bool _geofence_violation_warning_sent; /**< prevents spaming to mavlink */ - bool _fence_valid; /**< flag if fence is valid */ - bool _inside_fence; /**< vehicle is inside fence */ + bool _fence_valid; /**< flag if fence is valid */ + bool _inside_fence; /**< vehicle is inside fence */ - Mission _mission; + Mission _mission; /**< class that handles the missions */ - RTL _rtl; + RTL _rtl; /**< class that handles RTL */ - bool _waypoint_position_reached; - bool _waypoint_yaw_reached; - uint64_t _time_first_inside_orbit; - MissionFeasibilityChecker missionFeasiblityChecker; + bool _waypoint_position_reached; /**< flags if the position of the mission item has been reached */ + bool _waypoint_yaw_reached; /**< flags if the yaw position of the mission item has been reached */ + uint64_t _time_first_inside_orbit; /**< the time when we were first in the acceptance radius of the mission item */ - bool _update_triplet; + MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */ + + bool _update_triplet; /**< flags if position setpoint triplet needs to be published */ struct { float acceptance_radius; @@ -210,7 +211,7 @@ private: EVENT_HOME_POSITION_CHANGED, EVENT_MISSION_ITEM_REACHED, MAX_EVENT - }; + }; /**< possible events that can be thrown at state machine */ /** * State machine transition table @@ -267,8 +268,6 @@ private: */ void task_main(); - void publish_safepoints(unsigned points); - /** * Functions that are triggered when a new state is entered. */ @@ -283,22 +282,7 @@ private: bool start_land(); /** - * Fork for state transitions - */ - // void request_loiter_or_ready(); - - /** - * Guards offboard mission - */ - bool offboard_mission_available(unsigned relative_index); - - /** - * Guards onboard mission - */ - bool onboard_mission_available(unsigned relative_index); - - /** - * Reset all "reached" flags. + * Reset all "mission item reached" flags. */ void reset_reached(); @@ -308,27 +292,24 @@ private: bool check_mission_item_reached(); /** - * Move to next waypoint + * Set mission items by accessing the mission class. + * If failing, tell the state machine to loiter. */ bool set_mission_items(); /** - * Switch to next RTL state + * Set a RTL item by accessing the RTL class. + * If failing, tell the state machine to loiter. */ void set_rtl_item(); /** - * Set position setpoint for mission item + * Translate mission item to a position setpoint. */ void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp); /** - * Helper function to get a takeoff item - */ - void get_takeoff_setpoint(position_setpoint_s *pos_sp); - - /** - * Publish a new mission item triplet for position controller + * Publish a new position setpoint triplet for position controllers */ void publish_position_setpoint_triplet(); }; @@ -608,13 +589,12 @@ Navigator::task_main() /* wait for up to 100ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); - /* timed out - periodic check for _task_should_exit, etc. */ if (pret == 0) { + /* timed out - periodic check for _task_should_exit, etc. */ continue; - } - /* this is undesirable but not much we can do - might want to flag unhappy status */ - if (pret < 0) { + } else if (pret < 0) { + /* this is undesirable but not much we can do - might want to flag unhappy status */ warn("poll error %d, %d", pret, errno); continue; } @@ -651,16 +631,11 @@ Navigator::task_main() break; case NAVIGATION_STATE_RTL: - /* TODO: what is this for? */ - // if (!(_rtl_state == RTL_STATE_DESCEND && - // (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && - // _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); - // } break; case NAVIGATION_STATE_LAND: - /* TODO: add this */ + /* TODO: add and test this */ // dispatch(EVENT_LAND_REQUESTED); break; @@ -781,6 +756,7 @@ Navigator::status() if (_fence_valid) { warnx("Geofence is valid"); + /* TODO: needed? */ // warnx("Vertex longitude latitude"); // for (unsigned i = 0; i < _fence.count; i++) // warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); @@ -944,12 +920,6 @@ Navigator::start_auto_on_ground() _pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE; - - // if (_rtl_state != RTL_STATE_DESCEND) { - // reset RTL state if landed not at home - // _rtl_state = RTL_STATE_NONE; - // } - _update_triplet = true; return true; } @@ -1057,7 +1027,6 @@ Navigator::set_mission_items() bool Navigator::start_rtl() { - /* TODO check if RTL was successfull, if not we have a problem and need to dispatch something */ if (_rtl.get_current_rtl_item(&_global_pos, &_mission_item)) { _mission_item_valid = true; @@ -1070,8 +1039,9 @@ Navigator::start_rtl() _update_triplet = true; return true; } - dispatch(EVENT_LOITER_REQUESTED); + /* if RTL doesn't work, fallback to loiter */ + dispatch(EVENT_LOITER_REQUESTED); return false; } @@ -1189,7 +1159,7 @@ Navigator::check_mission_item_reached() return _vstatus.condition_landed; } - /* TODO count turns */ + /* TODO: count turns */ // if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || // _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || // _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && @@ -1242,7 +1212,7 @@ Navigator::check_mission_item_reached() /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); - if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */ + if (fabsf(yaw_err) < 0.2f) { /* TODO: get rid of magic number */ _waypoint_yaw_reached = true; } |