aboutsummaryrefslogtreecommitdiff
path: root/src/modules/navigator/mission.h
diff options
context:
space:
mode:
Diffstat (limited to 'src/modules/navigator/mission.h')
-rw-r--r--src/modules/navigator/mission.h163
1 files changed, 163 insertions, 0 deletions
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
new file mode 100644
index 000000000..4da6a1155
--- /dev/null
+++ b/src/modules/navigator/mission.h
@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ * 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 mission.h
+ *
+ * Navigator mode to access missions
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#ifndef NAVIGATOR_MISSION_H
+#define NAVIGATOR_MISSION_H
+
+#include <drivers/drv_hrt.h>
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <dataman/dataman.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/home_position.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+
+#include "navigator_mode.h"
+#include "mission_block.h"
+#include "mission_feasibility_checker.h"
+
+class Navigator;
+
+class Mission : public MissionBlock
+{
+public:
+ Mission(Navigator *navigator, const char *name);
+
+ virtual ~Mission();
+
+ virtual void on_inactive();
+
+ virtual void on_activation();
+
+ virtual void on_active();
+
+private:
+ /**
+ * Update onboard mission topic
+ */
+ void update_onboard_mission();
+
+ /**
+ * Update offboard mission topic
+ */
+ void update_offboard_mission();
+
+ /**
+ * Move on to next mission item or switch to loiter
+ */
+ void advance_mission();
+
+ /**
+ * Check distance to first waypoint (with lat/lon)
+ * @return true only if it's not too far from home (< MIS_DIST_1WP)
+ */
+ bool check_dist_1wp();
+
+ /**
+ * Set new mission items
+ */
+ void set_mission_items();
+
+ /**
+ * Read current or next mission item from the dataman and watch out for DO_JUMPS
+ * @return true if successful
+ */
+ bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item);
+
+ /**
+ * Save current offboard mission state to dataman
+ */
+ void save_offboard_mission_state();
+
+ /**
+ * Report that a mission item has been reached
+ */
+ void report_mission_item_reached();
+
+ /**
+ * Rport the current mission item
+ */
+ void report_current_offboard_mission_item();
+
+ /**
+ * Report that the mission is finished if one exists or that none exists
+ */
+ void report_mission_finished();
+
+ /**
+ * Publish the mission result so commander and mavlink know what is going on
+ */
+ void publish_mission_result();
+
+ control::BlockParamInt _param_onboard_enabled;
+ control::BlockParamFloat _param_takeoff_alt;
+ control::BlockParamFloat _param_dist_1wp;
+
+ struct mission_s _onboard_mission;
+ struct mission_s _offboard_mission;
+
+ int _current_onboard_mission_index;
+ int _current_offboard_mission_index;
+ bool _need_takeoff;
+ bool _takeoff;
+
+ orb_advert_t _mission_result_pub;
+ struct mission_result_s _mission_result;
+
+ enum {
+ MISSION_TYPE_NONE,
+ MISSION_TYPE_ONBOARD,
+ MISSION_TYPE_OFFBOARD
+ } _mission_type;
+
+ bool _inited;
+ bool _dist_1wp_ok;
+
+ MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+};
+
+#endif