diff options
Diffstat (limited to 'src/modules/mavlink/waypoints.c')
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 44 |
1 files changed, 30 insertions, 14 deletions
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 97472c233..ddad5f0df 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -251,9 +251,8 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) * * The distance calculation is based on the WGS84 geoid (GPS) */ -float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt) +float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt, float *dist_xy, float *dist_z) { - static uint16_t counter; if (seq < wpm->size) { mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); @@ -274,20 +273,21 @@ float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float float dxy = radius_earth * c; float dz = alt - wp->z; + *dist_xy = fabsf(dxy); + *dist_z = fabsf(dz); + return sqrtf(dxy * dxy + dz * dz); } else { return -1.0f; } - counter++; - } /* * Calculate distance in local frame (NED) */ -float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float z) +float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float z, float *dist_xy, float *dist_z) { if (seq < wpm->size) { mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); @@ -296,6 +296,9 @@ float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float float dy = (cur->y - y); float dz = (cur->z - z); + *dist_xy = sqrtf(dx * dx + dy * dy); + *dist_z = fabsf(dz); + return sqrtf(dx * dx + dy * dy + dz * dz); } else { @@ -303,11 +306,13 @@ float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float } } -void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos) +void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos, float turn_distance) { static uint16_t counter; - if (!global_pos->valid && !local_pos->xy_valid) { + if ((!global_pos->valid && !local_pos->xy_valid) || + /* no waypoint */ + wpm->size == 0) { /* nothing to check here, return */ return; } @@ -330,26 +335,37 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ orbit = 15.0f; } + /* keep vertical orbit */ + float vertical_switch_distance = orbit; + + /* Take the larger turn distance - orbit or turn_distance */ + if (orbit < turn_distance) + orbit = turn_distance; + int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; float dist = -1.0f; + float dist_xy = -1.0f; + float dist_z = -1.0f; + if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt); + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt, &dist_xy, &dist_z); } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt); + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt, &dist_xy, &dist_z); } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { - dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z); + dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z, &dist_xy, &dist_z); } else if (coordinate_frame == (int)MAV_FRAME_MISSION) { /* Check if conditions of mission item are satisfied */ // XXX TODO } - if (dist >= 0.f && dist <= orbit) { + if (dist >= 0.f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) { wpm->pos_reached = true; } + // check if required yaw reached float yaw_sp = _wrap_pi(wpm->waypoints[wpm->current_active_wp_id].param4 / 180.0f * FM_PI); float yaw_err = _wrap_pi(yaw_sp - local_pos->yaw); @@ -463,7 +479,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ } -int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position) +int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position, struct navigation_capabilities_s *nav_cap) { /* check for timed-out operations */ if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { @@ -486,7 +502,7 @@ int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_positio } } - check_waypoints_reached(now, global_position, local_position); + check_waypoints_reached(now, global_position, local_position, nav_cap->turn_distance); return OK; } @@ -1009,5 +1025,5 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi } } - check_waypoints_reached(now, global_pos, local_pos); + // check_waypoints_reached(now, global_pos, local_pos); } |