diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 1025 |
1 files changed, 595 insertions, 430 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 63952be6e..9c5e62be7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -62,7 +62,7 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/home_position.h> -#include <uORB/topics/mission_item_triplet.h> +#include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/mission_result.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_control_mode.h> @@ -150,7 +150,7 @@ private: int _onboard_mission_sub; /**< notification of onboard mission updates */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ - orb_advert_t _triplet_pub; /**< publish position setpoint triplet */ + orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ orb_advert_t _mission_result_pub; /**< publish mission result topic */ orb_advert_t _control_mode_pub; /**< publish vehicle control mode topic */ @@ -158,16 +158,18 @@ private: struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct home_position_s _home_pos; /**< home position for RTL */ - struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */ + struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ struct mission_result_s _mission_result; /**< mission result for commander/mavlink */ + struct mission_item_s _mission_item; /**< current mission item */ + bool _mission_item_valid; /**< current mission item valid */ perf_counter_t _loop_perf; /**< loop performance counter */ - + Geofence _geofence; bool _geofence_violation_warning_sent; bool _fence_valid; /**< flag if fence is valid */ - bool _inside_fence; /**< vehicle is inside fence */ + bool _inside_fence; /**< vehicle is inside fence */ struct navigation_capabilities_s _nav_caps; @@ -184,6 +186,8 @@ private: uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */ + char *nav_states_str[NAV_STATE_MAX]; + struct { float min_altitude; float acceptance_radius; @@ -192,6 +196,7 @@ private: float takeoff_alt; float land_alt; float rtl_alt; + float rtl_land_delay; } _parameters; /**< local copies of parameters */ struct { @@ -202,6 +207,7 @@ private: param_t takeoff_alt; param_t land_alt; param_t rtl_alt; + param_t rtl_land_delay; } _parameter_handles; /**< handles for parameters */ enum Event { @@ -210,6 +216,7 @@ private: EVENT_LOITER_REQUESTED, EVENT_MISSION_REQUESTED, EVENT_RTL_REQUESTED, + EVENT_LAND_REQUESTED, EVENT_MISSION_CHANGED, EVENT_HOME_POSITION_CHANGED, MAX_EVENT @@ -286,7 +293,7 @@ private: void start_loiter(); void start_mission(); void start_rtl(); - void finish_rtl(); + void start_land(); /** * Guards offboard mission @@ -311,7 +318,7 @@ private: /** * Move to next waypoint */ - void advance_mission(); + void set_mission_item(); /** * Switch to next RTL state @@ -319,35 +326,24 @@ private: void set_rtl_item(); /** - * Helper function to get a loiter item + * Set position setpoint for mission item */ - void get_loiter_item(mission_item_s *item); + void position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item); /** * Helper function to get a takeoff item */ - void get_takeoff_item(mission_item_s *item); + void get_takeoff_setpoint(position_setpoint_s *pos_sp); /** * Publish a new mission item triplet for position controller */ - void publish_mission_item_triplet(); + void publish_position_setpoint_triplet(); /** * Publish vehicle_control_mode topic for controllers */ void publish_control_mode(); - - - /** - * Compare two mission items if they are equivalent - * Two mission items can be considered equivalent for the purpose of the navigator even if some fields differ. - * - * @return true if equivalent, false otherwise - */ - bool cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b); - - void add_home_pos_to_rtl(struct mission_item_s *new_mission_item); }; namespace navigator @@ -362,7 +358,7 @@ namespace navigator Navigator *g_navigator; } -Navigator::Navigator() : +Navigator::Navigator() : /* state machine transition table */ StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT), @@ -381,7 +377,7 @@ Navigator::Navigator() : _capabilities_sub(-1), /* publications */ - _triplet_pub(-1), + _pos_sp_triplet_pub(-1), _mission_result_pub(-1), _control_mode_pub(-1), @@ -398,6 +394,7 @@ Navigator::Navigator() : _waypoint_yaw_reached(false), _time_first_inside_orbit(0), _set_nav_state_timestamp(0), + _mission_item_valid(false), _need_takeoff(true), _do_takeoff(false), _geofence_violation_warning_sent(false) @@ -409,15 +406,19 @@ Navigator::Navigator() : _parameter_handles.takeoff_alt = param_find("NAV_TAKEOFF_ALT"); _parameter_handles.land_alt = param_find("NAV_LAND_ALT"); _parameter_handles.rtl_alt = param_find("NAV_RTL_ALT"); + _parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T"); - _mission_item_triplet.previous_valid = false; - _mission_item_triplet.current_valid = false; - _mission_item_triplet.next_valid = false; - memset(&_mission_item_triplet.previous, 0, sizeof(struct mission_item_s)); - memset(&_mission_item_triplet.current, 0, sizeof(struct mission_item_s)); - memset(&_mission_item_triplet.next, 0, sizeof(struct mission_item_s)); - + memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s)); memset(&_mission_result, 0, sizeof(struct mission_result_s)); + memset(&_mission_item, 0, sizeof(struct mission_item_s)); + + memset(&nav_states_str, 0, sizeof(nav_states_str)); + nav_states_str[0] = "NONE"; + nav_states_str[1] = "READY"; + nav_states_str[2] = "LOITER"; + nav_states_str[3] = "MISSION"; + nav_states_str[4] = "RTL"; + nav_states_str[5] = "LAND"; /* Initialize state machine */ myState = NAV_STATE_NONE; @@ -463,6 +464,7 @@ Navigator::parameters_update() param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt)); param_get(_parameter_handles.land_alt, &(_parameters.land_alt)); param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt)); + param_get(_parameter_handles.rtl_land_delay, &(_parameters.rtl_land_delay)); _mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled); @@ -472,7 +474,6 @@ Navigator::parameters_update() void Navigator::global_position_update() { - /* load local copies */ orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); } @@ -493,16 +494,20 @@ void Navigator::offboard_mission_update(bool isrotaryWing) { struct mission_s offboard_mission; + if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) { /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ dm_item_t dm_current; + if (offboard_mission.dataman_id == 0) { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } + missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); @@ -519,6 +524,7 @@ void Navigator::onboard_mission_update() { struct mission_s onboard_mission; + if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { _mission.set_current_onboard_mission_index(onboard_mission.current_index); @@ -561,11 +567,13 @@ Navigator::task_main() * else clear geofence data in datamanager */ struct stat buffer; - if( stat (GEOFENCE_FILENAME, &buffer) == 0 ) { + + if (stat(GEOFENCE_FILENAME, &buffer) == 0) { warnx("Try to load geofence.txt"); _geofence.loadFromFile(GEOFENCE_FILENAME); + } else { - if (_geofence.clearDm() > 0 ) + if (_geofence.clearDm() > 0) warnx("Geofence cleared"); else warnx("Could not clear geofence"); @@ -581,7 +589,7 @@ Navigator::task_main() _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _home_pos_sub = orb_subscribe(ORB_ID(home_position)); - + /* copy all topics first time */ vehicle_status_update(); parameters_update(); @@ -647,87 +655,122 @@ Navigator::task_main() vehicle_status_update(); pub_control_mode = true; - /* Evaluate state machine from commander and set the navigator mode accordingly */ - if (_vstatus.main_state == MAIN_STATE_AUTO && - (_vstatus.arming_state == ARMING_STATE_ARMED || _vstatus.arming_state == ARMING_STATE_ARMED_ERROR)) { - bool stick_mode = false; - if (!_vstatus.rc_signal_lost) { - /* RC signal available, use control switches to set mode */ - /* RETURN switch, overrides MISSION switch */ - if (_vstatus.return_switch == RETURN_SWITCH_RETURN) { - if (myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) { - dispatch(EVENT_RTL_REQUESTED); - } - stick_mode = true; - } else { - /* MISSION switch */ - if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) { - dispatch(EVENT_LOITER_REQUESTED); - stick_mode = true; - } else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) { - /* switch to mission only if available */ - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); + /* evaluate state machine from commander and set the navigator mode accordingly */ + if (_vstatus.arming_state == ARMING_STATE_ARMED || _vstatus.arming_state == ARMING_STATE_ARMED_ERROR) { + if (_vstatus.failsafe_state == FAILSAFE_STATE_NORMAL) { + if (_vstatus.main_state == MAIN_STATE_AUTO) { + bool stick_mode = false; + + if (!_vstatus.rc_signal_lost) { + /* RC signal available, use control switches to set mode */ + /* RETURN switch, overrides MISSION switch */ + if (_vstatus.return_switch == RETURN_SWITCH_RETURN) { + if (myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) { + dispatch(EVENT_RTL_REQUESTED); + } + + stick_mode = true; + } else { - dispatch(EVENT_LOITER_REQUESTED); + /* MISSION switch */ + if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) { + dispatch(EVENT_LOITER_REQUESTED); + stick_mode = true; + + } else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) { + /* switch to mission only if available */ + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); + + } else { + dispatch(EVENT_LOITER_REQUESTED); + } + + stick_mode = true; + } + + if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) { + /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ + dispatch(EVENT_LOITER_REQUESTED); + stick_mode = true; + } } - stick_mode = true; } - if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) { - /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ - dispatch(EVENT_LOITER_REQUESTED); - stick_mode = true; - } - } - } - if (!stick_mode) { - if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { - /* commander requested new navigation mode, try to set it */ - _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; + if (!stick_mode) { + if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { + /* commander requested new navigation mode, try to set it */ + _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; - switch (_vstatus.set_nav_state) { - case NAV_STATE_NONE: - /* nothing to do */ - break; + switch (_vstatus.set_nav_state) { + case NAV_STATE_NONE: + /* nothing to do */ + break; - case NAV_STATE_LOITER: - dispatch(EVENT_LOITER_REQUESTED); - break; + case NAV_STATE_LOITER: + dispatch(EVENT_LOITER_REQUESTED); + break; - case NAV_STATE_MISSION: - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); - } else { - dispatch(EVENT_LOITER_REQUESTED); - } - break; + case NAV_STATE_MISSION: + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); - case NAV_STATE_RTL: - if (myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) { - dispatch(EVENT_RTL_REQUESTED); - } - break; + } else { + dispatch(EVENT_LOITER_REQUESTED); + } - default: - warnx("ERROR: Requested navigation state not supported"); - break; - } + break; + + case NAV_STATE_RTL: + if (myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) { + dispatch(EVENT_RTL_REQUESTED); + } + + break; + + default: + warnx("ERROR: Requested navigation state not supported"); + break; + } - } else { - /* on first switch to AUTO try mission by default, if none is available fallback to loiter */ - if (myState == NAV_STATE_NONE) { - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); } else { - dispatch(EVENT_LOITER_REQUESTED); + /* on first switch to AUTO try mission by default, if none is available fallback to loiter */ + if (myState == NAV_STATE_NONE) { + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); + + } else { + dispatch(EVENT_LOITER_REQUESTED); + } + } } } + + } else { + /* not in AUTO mode */ + dispatch(EVENT_NONE_REQUESTED); + } + + } else if (_vstatus.failsafe_state == FAILSAFE_STATE_RTL) { + /* RTL on failsafe */ + if (myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) { + + dispatch(EVENT_RTL_REQUESTED); + } + + } else if (_vstatus.failsafe_state == FAILSAFE_STATE_LAND) { + /* LAND on failsafe */ + if (myState != NAV_STATE_READY) { + dispatch(EVENT_LAND_REQUESTED); } + + } else { + /* shouldn't act */ + dispatch(EVENT_NONE_REQUESTED); } } else { - /* not in AUTO */ + /* not armed */ dispatch(EVENT_NONE_REQUESTED); } } @@ -746,7 +789,7 @@ Navigator::task_main() /* offboard mission updated */ if (fds[4].revents & POLLIN) { offboard_mission_update(_vstatus.is_rotary_wing); - // XXX check if mission really changed + // XXX check if mission really changed dispatch(EVENT_MISSION_CHANGED); } @@ -767,6 +810,7 @@ Navigator::task_main() /* global position updated */ if (fds[1].revents & POLLIN) { global_position_update(); + /* only check if waypoint has been reached in MISSION and RTL modes */ if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL) { if (check_mission_item_reached()) { @@ -775,15 +819,15 @@ Navigator::task_main() } /* Check geofence violation */ - if(!_geofence.inside(&_global_pos)) { + if (!_geofence.inside(&_global_pos)) { //xxx: publish geofence violation here (or change local flag depending on which app handles the flight termination) /* Issue a warning about the geofence violation once */ - if (!_geofence_violation_warning_sent) - { + if (!_geofence_violation_warning_sent) { mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation"); _geofence_violation_warning_sent = true; } + } else { /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; @@ -792,7 +836,7 @@ Navigator::task_main() /* notify user about state changes */ if (myState != prevState) { - mavlink_log_info(_mavlink_fd, "[navigator] nav state %d -> %d", prevState, myState); + mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]); prevState = myState; pub_control_mode = true; } @@ -833,128 +877,153 @@ Navigator::start() } void -Navigator::status() +Navigator::status() { warnx("Global position is %svalid", _global_pos.valid ? "" : "in"); + if (_global_pos.valid) { - warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon / 1e7d, _global_pos.lat / 1e7d); + warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat); warnx("Altitude %5.5f meters, altitude above home %5.5f meters", - (double)_global_pos.alt, (double)_global_pos.relative_alt); - warnx("Ground velocity in m/s, x %5.5f, y %5.5f, z %5.5f", - (double)_global_pos.vx, (double)_global_pos.vy, (double)_global_pos.vz); + (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt)); + warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f", + (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d); warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F)); } + if (_fence_valid) { warnx("Geofence is valid"); // 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); + } else { warnx("Geofence not set"); } switch (myState) { - case NAV_STATE_NONE: - warnx("State: None"); - break; - case NAV_STATE_LOITER: - warnx("State: Loiter"); - break; - case NAV_STATE_MISSION: - warnx("State: Mission"); - break; - case NAV_STATE_RTL: - warnx("State: RTL"); - break; - default: - warnx("State: Unknown"); - break; + case NAV_STATE_NONE: + warnx("State: None"); + break; + + case NAV_STATE_LOITER: + warnx("State: Loiter"); + break; + + case NAV_STATE_MISSION: + warnx("State: Mission"); + break; + + case NAV_STATE_RTL: + warnx("State: RTL"); + break; + + default: + warnx("State: Unknown"); + break; } } StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { - { - /* STATE_NONE */ + { + /* NAV_STATE_NONE */ /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE}, /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, }, - { - /* STATE_READY */ - /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE}, + { + /* NAV_STATE_READY */ + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, /* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, }, { - /* STATE_LOITER */ + /* NAV_STATE_LOITER */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, /* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, }, - { - /* STATE_MISSION */ + { + /* NAV_STATE_MISSION */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION}, }, - { - /* STATE_RTL */ + { + /* NAV_STATE_RTL */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL}, - /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, // TODO need to reset rtl_state + }, + { + /* NAV_STATE_LAND */ + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, + /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_LAND}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LAND}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LAND}, }, }; void Navigator::start_none() { - _mission_item_triplet.previous_valid = false; - _mission_item_triplet.current_valid = false; - _mission_item_triplet.next_valid = false; + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.current.valid = false; + _pos_sp_triplet.next.valid = false; + _mission_item_valid = false; _reset_loiter_pos = true; _do_takeoff = false; _rtl_state = RTL_STATE_NONE; - publish_mission_item_triplet(); + publish_position_setpoint_triplet(); } void Navigator::start_ready() { - _mission_item_triplet.previous_valid = false; - _mission_item_triplet.current_valid = false; - _mission_item_triplet.next_valid = false; + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.current.valid = false; + _pos_sp_triplet.next.valid = false; + _mission_item_valid = false; _reset_loiter_pos = true; _do_takeoff = false; - // TODO check if (_rtl_state != RTL_STATE_LAND) { + /* allow RTL if landed not at home */ _rtl_state = RTL_STATE_NONE; } - publish_mission_item_triplet(); + publish_position_setpoint_triplet(); } void @@ -963,33 +1032,41 @@ Navigator::start_loiter() _do_takeoff = false; /* set loiter position if needed */ - if (_reset_loiter_pos || !_mission_item_triplet.current_valid) { + if (_reset_loiter_pos || !_pos_sp_triplet.current.valid) { _reset_loiter_pos = false; - _mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d; - _mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d; - _mission_item_triplet.current.yaw = NAN; // NAN means to use current yaw + _pos_sp_triplet.current.lat = _global_pos.lat; + _pos_sp_triplet.current.lon = _global_pos.lon; + _pos_sp_triplet.current.yaw = NAN; // NAN means to use current yaw - _mission_item_triplet.current.altitude_is_relative = false; - float min_alt_amsl = _parameters.min_altitude + _home_pos.altitude; + float min_alt_amsl = _parameters.min_altitude + _home_pos.alt; /* use current altitude if above min altitude set by parameter */ if (_global_pos.alt < min_alt_amsl) { - _mission_item_triplet.current.altitude = min_alt_amsl; + _pos_sp_triplet.current.alt = min_alt_amsl; mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); + } else { - _mission_item_triplet.current.altitude = _global_pos.alt; + _pos_sp_triplet.current.alt = _global_pos.alt; mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude"); } - } - _mission_item_triplet.previous_valid = false; - _mission_item_triplet.current_valid = true; - _mission_item_triplet.next_valid = false; + _pos_sp_triplet.current.type = SETPOINT_TYPE_NORMAL; - get_loiter_item(&_mission_item_triplet.current); + if (_rtl_state == RTL_STATE_LAND) { + /* if RTL landing was interrupted, avoid landing from MIN_ALT on next RTL */ + _rtl_state = RTL_STATE_DESCEND; + } + } - publish_mission_item_triplet(); + _pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius; + _pos_sp_triplet.current.loiter_direction = 1; + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.current.valid = true; + _pos_sp_triplet.next.valid = false; + _mission_item_valid = false; + + publish_position_setpoint_triplet(); } void @@ -997,16 +1074,14 @@ Navigator::start_mission() { _need_takeoff = true; - mavlink_log_info(_mavlink_fd, "[navigator] mission started"); - advance_mission(); + set_mission_item(); } void -Navigator::advance_mission() +Navigator::set_mission_item() { /* copy current mission to previous item */ - memcpy(&_mission_item_triplet.previous, &_mission_item_triplet.current, sizeof(mission_item_s)); - _mission_item_triplet.previous_valid = _mission_item_triplet.current_valid; + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); _reset_loiter_pos = true; _do_takeoff = false; @@ -1015,36 +1090,34 @@ Navigator::advance_mission() bool onboard; unsigned index; - ret = _mission.get_current_mission_item(&_mission_item_triplet.current, &onboard, &index); + ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index); if (ret == OK) { - _mission_item_triplet.current_valid = true; - add_home_pos_to_rtl(&_mission_item_triplet.current); + _mission_item_valid = true; + position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); - if (_mission_item_triplet.current.nav_cmd != NAV_CMD_RETURN_TO_LAUNCH && - _mission_item_triplet.current.nav_cmd != NAV_CMD_LOITER_TIME_LIMIT && - _mission_item_triplet.current.nav_cmd != NAV_CMD_LOITER_TURN_COUNT && - _mission_item_triplet.current.nav_cmd != NAV_CMD_LOITER_UNLIMITED) { + if (_mission_item.nav_cmd != NAV_CMD_RETURN_TO_LAUNCH && + _mission_item.nav_cmd != NAV_CMD_LOITER_TIME_LIMIT && + _mission_item.nav_cmd != NAV_CMD_LOITER_TURN_COUNT && + _mission_item.nav_cmd != NAV_CMD_LOITER_UNLIMITED) { /* don't reset RTL state on RTL or LOITER items */ _rtl_state = RTL_STATE_NONE; } if (_vstatus.is_rotary_wing) { if (_need_takeoff && ( - _mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF || - _mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT || - _mission_item_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH || - _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED - )) { + _mission_item.nav_cmd == NAV_CMD_TAKEOFF || + _mission_item.nav_cmd == NAV_CMD_WAYPOINT || + _mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH || + _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED + )) { /* do special TAKEOFF handling for VTOL */ _need_takeoff = false; /* calculate desired takeoff altitude AMSL */ - float takeoff_alt_amsl = _mission_item_triplet.current.altitude; - if (_mission_item_triplet.current.altitude_is_relative) - takeoff_alt_amsl += _home_pos.altitude; + float takeoff_alt_amsl = _pos_sp_triplet.current.alt; if (_vstatus.condition_landed) { /* takeoff to at least NAV_TAKEOFF_ALT from ground if landed */ @@ -1052,210 +1125,305 @@ Navigator::advance_mission() } /* check if we really need takeoff */ - if (_vstatus.condition_landed || _global_pos.alt < takeoff_alt_amsl - _mission_item_triplet.current.acceptance_radius) { + if (_vstatus.condition_landed || _global_pos.alt < takeoff_alt_amsl - _mission_item.acceptance_radius) { /* force TAKEOFF if landed or waypoint altitude is more than current */ _do_takeoff = true; - /* move current mission item to next */ - memcpy(&_mission_item_triplet.next, &_mission_item_triplet.current, sizeof(mission_item_s)); - _mission_item_triplet.next_valid = true; + /* move current position setpoint to next */ + memcpy(&_pos_sp_triplet.next, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); - /* set current item to TAKEOFF */ - get_takeoff_item(&_mission_item_triplet.current); + /* set current setpoint to takeoff */ - _mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d; - _mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d; - _mission_item_triplet.current.altitude = takeoff_alt_amsl; - _mission_item_triplet.current.altitude_is_relative = false; + _pos_sp_triplet.current.lat = _global_pos.lat; + _pos_sp_triplet.current.lon = _global_pos.lon; + _pos_sp_triplet.current.alt = takeoff_alt_amsl; + _pos_sp_triplet.current.yaw = NAN; + _pos_sp_triplet.current.type = SETPOINT_TYPE_TAKEOFF; } - } else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) { + + } else if (_mission_item.nav_cmd == NAV_CMD_LAND) { /* will need takeoff after landing */ _need_takeoff = true; } } if (_do_takeoff) { - mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm", _mission_item_triplet.current.altitude); + mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt); + } else { if (onboard) { mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index); + } else { mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index); } } + } else { /* since a mission is not advanced without WPs available, this is not supposed to happen */ - _mission_item_triplet.current_valid = false; + _mission_item_valid = false; + _pos_sp_triplet.current.valid = false; warnx("ERROR: current WP can't be set"); } if (!_do_takeoff) { - ret = _mission.get_next_mission_item(&_mission_item_triplet.next); + mission_item_s item_next; + ret = _mission.get_next_mission_item(&item_next); if (ret == OK) { - add_home_pos_to_rtl(&_mission_item_triplet.next); - _mission_item_triplet.next_valid = true; + position_setpoint_from_mission_item(&_pos_sp_triplet.next, &item_next); + } else { /* this will fail for the last WP */ - _mission_item_triplet.next_valid = false; + _pos_sp_triplet.next.valid = false; } } - publish_mission_item_triplet(); + publish_position_setpoint_triplet(); } void Navigator::start_rtl() { - _reset_loiter_pos = true; _do_takeoff = false; - if (_rtl_state == RTL_STATE_NONE) - _rtl_state = RTL_STATE_CLIMB; - mavlink_log_info(_mavlink_fd, "[navigator] RTL started"); + if (_rtl_state == RTL_STATE_NONE) { + if (_global_pos.alt < _home_pos.alt + _parameters.rtl_alt) { + _rtl_state = RTL_STATE_CLIMB; + + } else { + _rtl_state = RTL_STATE_RETURN; + + if (_reset_loiter_pos) { + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _global_pos.alt; + } + } + } + + _reset_loiter_pos = true; set_rtl_item(); } void +Navigator::start_land() +{ + _do_takeoff = false; + _reset_loiter_pos = true; + + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.next.valid = false; + + _pos_sp_triplet.current.valid = true; + _pos_sp_triplet.current.type = SETPOINT_TYPE_LAND; + _pos_sp_triplet.current.lat = _global_pos.lat; + _pos_sp_triplet.current.lon = _global_pos.lon; + _pos_sp_triplet.current.alt = _global_pos.alt; + _pos_sp_triplet.current.loiter_direction = 1; + _pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius; + _pos_sp_triplet.current.yaw = NAN; +} + +void Navigator::set_rtl_item() { switch (_rtl_state) { case RTL_STATE_CLIMB: { - memcpy(&_mission_item_triplet.previous, &_mission_item_triplet.current, sizeof(mission_item_s)); - _mission_item_triplet.previous_valid = _mission_item_triplet.current_valid; - - _mission_item_triplet.current_valid = true; - _mission_item_triplet.next_valid = false; - - float climb_alt = _home_pos.altitude + _parameters.rtl_alt; - if (_vstatus.condition_landed) - climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt); - - _mission_item_triplet.current.altitude_is_relative = false; - _mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d; - _mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d; - _mission_item_triplet.current.altitude = climb_alt; - _mission_item_triplet.current.yaw = NAN; - _mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; - _mission_item_triplet.current.loiter_direction = 1; - _mission_item_triplet.current.nav_cmd = NAV_CMD_TAKEOFF; - _mission_item_triplet.current.acceptance_radius = _parameters.acceptance_radius; - _mission_item_triplet.current.time_inside = 0.0f; - _mission_item_triplet.current.pitch_min = 0.0f; - _mission_item_triplet.current.autocontinue = true; - _mission_item_triplet.current.origin = ORIGIN_ONBOARD; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm", climb_alt - _home_pos.altitude); - break; - } + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + + float climb_alt = _home_pos.alt + _parameters.rtl_alt; + + if (_vstatus.condition_landed) { + climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt); + } + + _mission_item_valid = true; + + _mission_item.lat = _global_pos.lat; + _mission_item.lon = _global_pos.lon; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = climb_alt; + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _parameters.loiter_radius; + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_TAKEOFF; + _mission_item.acceptance_radius = _parameters.acceptance_radius; + _mission_item.time_inside = 0.0f; + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); + + _pos_sp_triplet.next.valid = false; + + mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt); + break; + } + case RTL_STATE_RETURN: { - memcpy(&_mission_item_triplet.previous, &_mission_item_triplet.current, sizeof(mission_item_s)); - _mission_item_triplet.previous_valid = _mission_item_triplet.current_valid; - - _mission_item_triplet.current_valid = true; - _mission_item_triplet.next_valid = false; - - _mission_item_triplet.current.altitude_is_relative = false; - _mission_item_triplet.current.lat = _home_pos.lat; - _mission_item_triplet.current.lon = _home_pos.lon; - // don't change altitude setpoint - _mission_item_triplet.current.yaw = NAN; - _mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; - _mission_item_triplet.current.loiter_direction = 1; - _mission_item_triplet.current.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item_triplet.current.acceptance_radius = _parameters.acceptance_radius; - _mission_item_triplet.current.time_inside = 0.0f; - _mission_item_triplet.current.pitch_min = 0.0f; - _mission_item_triplet.current.autocontinue = true; - _mission_item_triplet.current.origin = ORIGIN_ONBOARD; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: return"); - break; - } + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + + _mission_item_valid = true; + + _mission_item.lat = _home_pos.lat; + _mission_item.lon = _home_pos.lon; + // don't change altitude + _mission_item.yaw = NAN; // TODO set heading to home + _mission_item.loiter_radius = _parameters.loiter_radius; + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.acceptance_radius = _parameters.acceptance_radius; + _mission_item.time_inside = 0.0f; + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); + + _pos_sp_triplet.next.valid = false; + + mavlink_log_info(_mavlink_fd, "[navigator] RTL: return"); + break; + } + case RTL_STATE_DESCEND: { - memcpy(&_mission_item_triplet.previous, &_mission_item_triplet.current, sizeof(mission_item_s)); - _mission_item_triplet.previous_valid = _mission_item_triplet.current_valid; - - _mission_item_triplet.current_valid = true; - _mission_item_triplet.next_valid = false; - - float descend_alt = _home_pos.altitude + _parameters.land_alt; - - _mission_item_triplet.current.altitude_is_relative = false; - _mission_item_triplet.current.lat = _home_pos.lat; - _mission_item_triplet.current.lon = _home_pos.lon; - _mission_item_triplet.current.altitude = descend_alt; - _mission_item_triplet.current.yaw = NAN; - _mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; - _mission_item_triplet.current.loiter_direction = 1; - _mission_item_triplet.current.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item_triplet.current.acceptance_radius = _parameters.acceptance_radius; - _mission_item_triplet.current.time_inside = 0.0f; - _mission_item_triplet.current.pitch_min = 0.0f; - _mission_item_triplet.current.autocontinue = true; - _mission_item_triplet.current.origin = ORIGIN_ONBOARD; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm", descend_alt - _home_pos.altitude); - break; - } + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + + _mission_item_valid = true; + + _mission_item.lat = _home_pos.lat; + _mission_item.lon = _home_pos.lon; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _home_pos.alt + _parameters.land_alt; + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _parameters.loiter_radius; + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.acceptance_radius = _parameters.acceptance_radius; + _mission_item.time_inside = _parameters.rtl_land_delay < 0.0 ? 0.0f : _parameters.rtl_land_delay; + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = _parameters.rtl_land_delay > -0.001f; + _mission_item.origin = ORIGIN_ONBOARD; + + position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); + + _pos_sp_triplet.next.valid = false; + + mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt); + break; + } + case RTL_STATE_LAND: { - memcpy(&_mission_item_triplet.previous, &_mission_item_triplet.current, sizeof(mission_item_s)); - _mission_item_triplet.previous_valid = _mission_item_triplet.current_valid; - - _mission_item_triplet.current_valid = true; - _mission_item_triplet.next_valid = false; - - _mission_item_triplet.current.altitude_is_relative = false; - _mission_item_triplet.current.lat = _home_pos.lat; - _mission_item_triplet.current.lon = _home_pos.lon; - _mission_item_triplet.current.altitude = _home_pos.altitude; - _mission_item_triplet.current.yaw = NAN; - _mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; - _mission_item_triplet.current.loiter_direction = 1; - _mission_item_triplet.current.nav_cmd = NAV_CMD_LAND; - _mission_item_triplet.current.acceptance_radius = _parameters.acceptance_radius; - _mission_item_triplet.current.time_inside = 0.0f; - _mission_item_triplet.current.pitch_min = 0.0f; - _mission_item_triplet.current.autocontinue = true; - _mission_item_triplet.current.origin = ORIGIN_ONBOARD; - mavlink_log_info(_mavlink_fd, "[navigator] RTL: land"); - break; - } + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + + _mission_item_valid = true; + + _mission_item.lat = _home_pos.lat; + _mission_item.lon = _home_pos.lon; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _home_pos.alt; + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _parameters.loiter_radius; + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LAND; + _mission_item.acceptance_radius = _parameters.acceptance_radius; + _mission_item.time_inside = 0.0f; + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); + + _pos_sp_triplet.next.valid = false; + + mavlink_log_info(_mavlink_fd, "[navigator] RTL: land"); + break; + } + default: { - mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state); - start_loiter(); - break; + mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state); + start_loiter(); + break; + } } + + publish_position_setpoint_triplet(); +} + +void +Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item) +{ + sp->valid = true; + + if (item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { + /* set home position for RTL item */ + sp->lat = _home_pos.lat; + sp->lon = _home_pos.lon; + sp->alt = _home_pos.alt + _parameters.rtl_alt; + + } else { + sp->lat = item->lat; + sp->lon = item->lon; + sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.alt : item->altitude; } - publish_mission_item_triplet(); + sp->yaw = item->yaw; + sp->loiter_radius = item->loiter_radius; + sp->loiter_direction = item->loiter_direction; + sp->pitch_min = item->pitch_min; + + if (item->nav_cmd == NAV_CMD_TAKEOFF) { + sp->type = SETPOINT_TYPE_TAKEOFF; + + } else if (item->nav_cmd == NAV_CMD_LAND) { + sp->type = SETPOINT_TYPE_LAND; + + } else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + sp->type = SETPOINT_TYPE_LOITER; + + } else { + sp->type = SETPOINT_TYPE_NORMAL; + } } bool Navigator::check_mission_item_reached() { /* only check if there is actually a mission item to check */ - if (!_mission_item_triplet.current_valid) { + if (!_mission_item_valid) { return false; } - if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) { - return _vstatus.condition_landed; + if (_mission_item.nav_cmd == NAV_CMD_LAND) { + if (_vstatus.is_rotary_wing) { + return _vstatus.condition_landed; + + } else { + /* For fw there is currently no landing detector: + * make sure control is not stopped when overshooting the landing waypoint */ + return false; + } } /* XXX TODO count turns */ - if ((_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && - _mission_item_triplet.current.loiter_radius > 0.01f) { + 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) && + _mission_item.loiter_radius > 0.01f) { return false; - } + } uint64_t now = hrt_absolute_time(); if (!_waypoint_position_reached) { float acceptance_radius; - if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.acceptance_radius > 0.01f) { - acceptance_radius = _mission_item_triplet.current.acceptance_radius; + if (_mission_item.nav_cmd == NAV_CMD_WAYPOINT && _mission_item.acceptance_radius > 0.01f) { + acceptance_radius = _mission_item.acceptance_radius; } else { acceptance_radius = _parameters.acceptance_radius; @@ -1265,20 +1433,22 @@ Navigator::check_mission_item_reached() float dist_xy = -1.0f; float dist_z = -1.0f; - /* current relative or AMSL altitude depending on mission item altitude_is_relative flag */ - float wp_alt_amsl = _mission_item_triplet.current.altitude; - if (_mission_item_triplet.current.altitude_is_relative) - _mission_item_triplet.current.altitude += _home_pos.altitude; + /* calculate AMSL altitude for this waypoint */ + float wp_alt_amsl = _mission_item.altitude; + + if (_mission_item.altitude_is_relative) + wp_alt_amsl += _home_pos.alt; - dist = get_distance_to_point_global_wgs84(_mission_item_triplet.current.lat, _mission_item_triplet.current.lon, wp_alt_amsl, - (double)_global_pos.lat / 1e7d, (double)_global_pos.lon / 1e7d, _global_pos.alt, - &dist_xy, &dist_z); + dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, + (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, + &dist_xy, &dist_z); if (_do_takeoff) { if (_global_pos.alt > wp_alt_amsl - acceptance_radius) { /* require only altitude for takeoff */ _waypoint_position_reached = true; } + } else { if (dist >= 0.0f && dist <= acceptance_radius) { _waypoint_position_reached = true; @@ -1287,12 +1457,14 @@ Navigator::check_mission_item_reached() } if (!_waypoint_yaw_reached) { - if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item_triplet.current.yaw)) { + if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) { /* check yaw if defined only for rotary wing except takeoff */ - float yaw_err = _wrap_pi(_mission_item_triplet.current.yaw - _global_pos.yaw); + float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); + if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */ _waypoint_yaw_reached = true; } + } else { _waypoint_yaw_reached = true; } @@ -1302,20 +1474,22 @@ Navigator::check_mission_item_reached() if (_waypoint_position_reached && _waypoint_yaw_reached) { if (_time_first_inside_orbit == 0) { _time_first_inside_orbit = now; - if (_mission_item_triplet.current.time_inside > 0.01f) { - mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", _mission_item_triplet.current.time_inside); + + if (_mission_item.time_inside > 0.01f) { + mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside); } } - + /* check if the MAV was long enough inside the waypoint orbit */ - if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item_triplet.current.time_inside * 1e6) - || _mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) { + if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item.time_inside * 1e6) + || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) { _time_first_inside_orbit = 0; _waypoint_yaw_reached = false; _waypoint_position_reached = false; return true; } } + return false; } @@ -1328,30 +1502,36 @@ Navigator::on_mission_item_reached() /* takeoff completed */ _do_takeoff = false; mavlink_log_info(_mavlink_fd, "[navigator] takeoff completed"); + } else { /* advance by one mission item */ _mission.move_to_next(); } if (_mission.current_mission_available()) { - advance_mission(); + set_mission_item(); + } else { /* if no more mission items available then finish mission */ /* loiter at last waypoint */ _reset_loiter_pos = false; mavlink_log_info(_mavlink_fd, "[navigator] mission completed"); + if (_vstatus.condition_landed) { dispatch(EVENT_READY_REQUESTED); + } else { dispatch(EVENT_LOITER_REQUESTED); } } + } else { /* RTL finished */ if (_rtl_state == RTL_STATE_LAND) { /* landed at home position */ mavlink_log_info(_mavlink_fd, "[navigator] RTL completed, landed"); dispatch(EVENT_READY_REQUESTED); + } else { /* next RTL step */ _rtl_state = (RTLState)(_rtl_state + 1); @@ -1361,67 +1541,16 @@ Navigator::on_mission_item_reached() } void -Navigator::get_loiter_item(struct mission_item_s *item) -{ - //item->altitude_is_relative - //item->lat - //item->lon - //item->altitude - //item->yaw - item->loiter_radius = _parameters.loiter_radius; - item->loiter_direction = 1; - item->nav_cmd = NAV_CMD_LOITER_UNLIMITED; - item->acceptance_radius = _parameters.acceptance_radius; - item->time_inside = 0.0f; - item->pitch_min = 0.0f; - item->autocontinue = false; - item->origin = ORIGIN_ONBOARD; - -} - -void -Navigator::get_takeoff_item(mission_item_s *item) -{ - //item->altitude_is_relative - //item->lat - //item->lon - //item->altitude - item->yaw = NAN; - item->loiter_radius = _parameters.loiter_radius; - item->loiter_direction = 1; - item->nav_cmd = NAV_CMD_TAKEOFF; - item->acceptance_radius = _parameters.acceptance_radius; - item->time_inside = 0.0f; - item->pitch_min = 0.0; - item->autocontinue = true; - item->origin = ORIGIN_ONBOARD; -} - -void -Navigator::add_home_pos_to_rtl(struct mission_item_s *new_mission_item) -{ - if (new_mission_item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { - /* append the home position to RTL item */ - new_mission_item->lat = _home_pos.lat; - new_mission_item->lon = _home_pos.lon; - new_mission_item->altitude = _home_pos.altitude + _parameters.rtl_alt; - new_mission_item->altitude_is_relative = false; - new_mission_item->loiter_radius = _parameters.loiter_radius; - new_mission_item->acceptance_radius = _parameters.acceptance_radius; - } -} - -void -Navigator::publish_mission_item_triplet() +Navigator::publish_position_setpoint_triplet() { /* lazily publish the mission triplet only once available */ - if (_triplet_pub > 0) { + if (_pos_sp_triplet_pub > 0) { /* publish the mission triplet */ - orb_publish(ORB_ID(mission_item_triplet), _triplet_pub, &_mission_item_triplet); + orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet); } else { /* advertise and publish */ - _triplet_pub = orb_advertise(ORB_ID(mission_item_triplet), &_mission_item_triplet); + _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet); } } @@ -1436,42 +1565,85 @@ Navigator::publish_control_mode() _control_mode.flag_system_hil_enabled = _vstatus.hil_state == HIL_STATE_ON; _control_mode.flag_control_offboard_enabled = false; - _control_mode.flag_control_flighttermination_enabled = false; + _control_mode.flag_control_termination_enabled = false; + + /* set this flag when navigator has control */ + bool navigator_enabled = false; + + switch (_vstatus.failsafe_state) { + case FAILSAFE_STATE_NORMAL: + switch (_vstatus.main_state) { + case MAIN_STATE_MANUAL: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = _vstatus.is_rotary_wing; + _control_mode.flag_control_attitude_enabled = _vstatus.is_rotary_wing; + _control_mode.flag_control_altitude_enabled = false; + _control_mode.flag_control_climb_rate_enabled = false; + _control_mode.flag_control_position_enabled = false; + _control_mode.flag_control_velocity_enabled = false; + break; - switch (_vstatus.main_state) { - case MAIN_STATE_MANUAL: - _control_mode.flag_control_manual_enabled = true; - _control_mode.flag_control_rates_enabled = _vstatus.is_rotary_wing; - _control_mode.flag_control_attitude_enabled = _vstatus.is_rotary_wing; - _control_mode.flag_control_altitude_enabled = false; - _control_mode.flag_control_climb_rate_enabled = false; - _control_mode.flag_control_position_enabled = false; - _control_mode.flag_control_velocity_enabled = false; + case MAIN_STATE_SEATBELT: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + _control_mode.flag_control_position_enabled = false; + _control_mode.flag_control_velocity_enabled = false; + break; + + case MAIN_STATE_EASY: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + _control_mode.flag_control_position_enabled = true; + _control_mode.flag_control_velocity_enabled = true; + break; + + case MAIN_STATE_AUTO: + navigator_enabled = true; + break; + + default: + break; + } + + break; + + case FAILSAFE_STATE_RTL: + navigator_enabled = true; + break; + + case FAILSAFE_STATE_LAND: + navigator_enabled = true; break; - case MAIN_STATE_SEATBELT: - _control_mode.flag_control_manual_enabled = true; - _control_mode.flag_control_rates_enabled = true; - _control_mode.flag_control_attitude_enabled = true; - _control_mode.flag_control_altitude_enabled = true; - _control_mode.flag_control_climb_rate_enabled = true; + case FAILSAFE_STATE_TERMINATION: + navigator_enabled = true; + /* disable all controllers on termination */ + _control_mode.flag_control_manual_enabled = false; + _control_mode.flag_control_rates_enabled = false; + _control_mode.flag_control_attitude_enabled = false; _control_mode.flag_control_position_enabled = false; _control_mode.flag_control_velocity_enabled = false; + _control_mode.flag_control_altitude_enabled = false; + _control_mode.flag_control_climb_rate_enabled = false; + _control_mode.flag_control_termination_enabled = true; break; - case MAIN_STATE_EASY: - _control_mode.flag_control_manual_enabled = true; - _control_mode.flag_control_rates_enabled = true; - _control_mode.flag_control_attitude_enabled = true; - _control_mode.flag_control_altitude_enabled = true; - _control_mode.flag_control_climb_rate_enabled = true; - _control_mode.flag_control_position_enabled = true; - _control_mode.flag_control_velocity_enabled = true; + default: break; + } - case MAIN_STATE_AUTO: + /* navigator has control, set control mode flags according to nav state*/ + if (navigator_enabled) { _control_mode.flag_control_manual_enabled = false; - if (myState == NAV_STATE_READY) { + + switch (myState) { + case NAV_STATE_READY: /* disable all controllers, armed but idle */ _control_mode.flag_control_rates_enabled = false; _control_mode.flag_control_attitude_enabled = false; @@ -1479,18 +1651,28 @@ Navigator::publish_control_mode() _control_mode.flag_control_velocity_enabled = false; _control_mode.flag_control_altitude_enabled = false; _control_mode.flag_control_climb_rate_enabled = false; - } else { + break; + + case NAV_STATE_LAND: + /* land with or without position control */ + _control_mode.flag_control_manual_enabled = false; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_position_enabled = _vstatus.condition_global_position_valid; + _control_mode.flag_control_velocity_enabled = _vstatus.condition_global_position_valid; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + break; + + default: _control_mode.flag_control_rates_enabled = true; _control_mode.flag_control_attitude_enabled = true; _control_mode.flag_control_position_enabled = true; _control_mode.flag_control_velocity_enabled = true; _control_mode.flag_control_altitude_enabled = true; _control_mode.flag_control_climb_rate_enabled = true; + break; } - break; - - default: - break; } _control_mode.timestamp = hrt_absolute_time(); @@ -1506,24 +1688,6 @@ Navigator::publish_control_mode() } } -bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b) { - if (a.altitude_is_relative == b.altitude_is_relative && - fabs(a.lat - b.lat) < FLT_EPSILON && - fabs(a.lon - b.lon) < FLT_EPSILON && - fabsf(a.altitude - b.altitude) < FLT_EPSILON && - fabsf(a.yaw - b.yaw) < FLT_EPSILON && - fabsf(a.loiter_radius - b.loiter_radius) < FLT_EPSILON && - a.loiter_direction == b.loiter_direction && - a.nav_cmd == b.nav_cmd && - fabsf(a.acceptance_radius - b.acceptance_radius) < FLT_EPSILON && - fabsf(a.time_inside - b.time_inside) < FLT_EPSILON && - a.autocontinue == b.autocontinue) { - return true; - } else { - return false; - } -} - void Navigator::add_fence_point(int argc, char *argv[]) { _geofence.addPoint(argc, argv); @@ -1579,8 +1743,9 @@ int navigator_main(int argc, char *argv[]) } else if (!strcmp(argv[1], "fence")) { navigator::g_navigator->add_fence_point(argc - 2, argv + 2); + } else if (!strcmp(argv[1], "fencefile")) { - navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME); + navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME); } else { usage(); |