diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 1027 |
1 files changed, 336 insertions, 691 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 87c893079..74694447a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -34,16 +34,17 @@ * @file navigator_main.cpp * Implementation of the main navigation state machine. * - * Handles missions, geo fencing and failsafe navigation behavior. - * Published the mission item triplet for the position controller. + * Handles mission items, geo fencing and failsafe navigation behavior. + * Published the position setpoint triplet for the position controller. * * @author Lorenz Meier <lm@inf.ethz.ch> * @author Jean Cyr <jean.m.cyr@gmail.com> - * @author Julian Oes <joes@student.ethz.ch> + * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> */ #include <nuttx/config.h> + #include <stdio.h> #include <stdlib.h> #include <string.h> @@ -54,9 +55,13 @@ #include <poll.h> #include <time.h> #include <sys/ioctl.h> +#include <sys/types.h> +#include <sys/stat.h> + #include <drivers/device/device.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> + #include <uORB/uORB.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/home_position.h> @@ -67,20 +72,19 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> + #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/state_table.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> #include <geo/geo.h> -#include <mathlib/mathlib.h> #include <dataman/dataman.h> +#include <mathlib/mathlib.h> #include <mavlink/mavlink_log.h> -#include <sys/types.h> -#include <sys/stat.h> -#include "navigator_state.h" -#include "navigator_mission.h" +#include "mission.h" +#include "rtl.h" #include "mission_feasibility_checker.h" #include "geofence.h" @@ -126,19 +130,19 @@ public: /** * Add point to geofence */ - void add_fence_point(int argc, char *argv[]); + void add_fence_point(int argc, char *argv[]); /** * Load fence from file */ - void load_fence_from_file(const char *filename); + void load_fence_from_file(const char *filename); 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 */ @@ -150,93 +154,70 @@ private: int _control_mode_sub; /**< vehicle control mode subscription */ orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ - orb_advert_t _mission_result_pub; /**< publish mission result topic */ - struct vehicle_status_s _vstatus; /**< vehicle status */ - 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 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 */ + vehicle_status_s _vstatus; /**< vehicle status */ + vehicle_control_mode_s _control_mode; /**< vehicle control mode */ + 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 */ + position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ - perf_counter_t _loop_perf; /**< loop performance counter */ + bool _mission_item_valid; /**< flags if the current mission item is valid */ - Geofence _geofence; - bool _geofence_violation_warning_sent; + perf_counter_t _loop_perf; /**< loop performance counter */ - bool _fence_valid; /**< flag if fence is valid */ - bool _inside_fence; /**< vehicle is inside fence */ + Geofence _geofence; /**< class that handles the geofence */ + bool _geofence_violation_warning_sent; /**< prevents spaming to mavlink */ - struct navigation_capabilities_s _nav_caps; + bool _fence_valid; /**< flag if fence is valid */ + bool _inside_fence; /**< vehicle is inside fence */ - class Mission _mission; - bool _mission_item_valid; /**< current mission item valid */ - bool _global_pos_valid; /**< track changes of global_position */ - bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */ - bool _waypoint_position_reached; - bool _waypoint_yaw_reached; - uint64_t _time_first_inside_orbit; - bool _need_takeoff; /**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */ - bool _do_takeoff; /**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */ + Mission _mission; /**< class that handles the missions */ - MissionFeasibilityChecker missionFeasiblityChecker; + RTL _rtl; /**< class that handles RTL */ - uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */ + 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 _pos_sp_triplet_updated; + MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */ - const char *nav_states_str[NAV_STATE_MAX]; + bool _update_triplet; /**< flags if position setpoint triplet needs to be published */ struct { - float min_altitude; float acceptance_radius; float loiter_radius; int onboard_mission_enabled; float takeoff_alt; - float land_alt; - float rtl_alt; - float rtl_land_delay; } _parameters; /**< local copies of parameters */ struct { - param_t min_altitude; param_t acceptance_radius; param_t loiter_radius; param_t onboard_mission_enabled; param_t takeoff_alt; - param_t land_alt; - param_t rtl_alt; - param_t rtl_land_delay; } _parameter_handles; /**< handles for parameters */ enum Event { EVENT_NONE_REQUESTED, - EVENT_READY_REQUESTED, EVENT_LOITER_REQUESTED, EVENT_MISSION_REQUESTED, EVENT_RTL_REQUESTED, - EVENT_LAND_REQUESTED, + EVENT_TAKEN_OFF, + EVENT_LANDED, EVENT_MISSION_CHANGED, EVENT_HOME_POSITION_CHANGED, + EVENT_MISSION_ITEM_REACHED, MAX_EVENT - }; + }; /**< possible events that can be thrown at state machine */ /** * State machine transition table */ static StateTable::Tran const myTable[NAV_STATE_MAX][MAX_EVENT]; - enum RTLState { - RTL_STATE_NONE = 0, - RTL_STATE_CLIMB, - RTL_STATE_RETURN, - RTL_STATE_DESCEND - }; - - enum RTLState _rtl_state; - /** * Update our local parameter cache. */ @@ -260,7 +241,7 @@ private: /** * Retrieve offboard mission. */ - void offboard_mission_update(bool isrotaryWing); + void offboard_mission_update(); /** * Retrieve onboard mission. @@ -287,37 +268,21 @@ private: */ void task_main(); - void publish_safepoints(unsigned points); - /** * Functions that are triggered when a new state is entered. */ - void start_none(); - void start_ready(); - void start_loiter(); - void start_mission(); - void start_rtl(); - void start_land(); - void start_land_home(); - - /** - * Fork for state transitions - */ - void request_loiter_or_ready(); - void request_mission_if_available(); + bool start_none_on_ground(); + bool start_none_in_air(); + bool start_auto_on_ground(); + bool start_loiter(); + bool start_mission(); + bool advance_mission(); + bool start_rtl(); + bool advance_rtl(); + bool start_land(); /** - * 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(); @@ -327,32 +292,24 @@ private: bool check_mission_item_reached(); /** - * Perform actions when current mission item reached. - */ - void on_mission_item_reached(); - - /** - * Move to next waypoint + * Set mission items by accessing the mission class. + * If failing, tell the state machine to loiter. */ - void set_mission_item(); + 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 position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item); + 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(); }; @@ -371,14 +328,11 @@ Navigator *g_navigator; Navigator::Navigator() : -/* state machine transition table */ + /* state machine transition table */ StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT), - _task_should_exit(false), _navigator_task(-1), _mavlink_fd(-1), - -/* subscriptions */ _global_pos_sub(-1), _home_pos_sub(-1), _vstatus_sub(-1), @@ -387,53 +341,38 @@ Navigator::Navigator() : _onboard_mission_sub(-1), _capabilities_sub(-1), _control_mode_sub(-1), - -/* publications */ _pos_sp_triplet_pub(-1), - -/* performance counters */ + _vstatus({}), + _control_mode({}), + _global_pos({}), + _home_pos({}), + _mission_item({}), + _nav_caps({}), + _pos_sp_triplet({}), + _mission_item_valid(false), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), - + _geofence({}), _geofence_violation_warning_sent(false), _fence_valid(false), _inside_fence(true), - _mission(), - _mission_item_valid(false), - _global_pos_valid(false), - _reset_loiter_pos(true), + _mission({}), + _rtl({}), _waypoint_position_reached(false), _waypoint_yaw_reached(false), _time_first_inside_orbit(0), - _need_takeoff(true), - _do_takeoff(false), - _set_nav_state_timestamp(0), - _pos_sp_triplet_updated(false), -/* states */ - _rtl_state(RTL_STATE_NONE) + _update_triplet(false), + _parameters({}), + _parameter_handles({}) { - _parameter_handles.min_altitude = param_find("NAV_MIN_ALT"); _parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD"); _parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD"); _parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN"); _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"); - - memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_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; - start_none(); + myState = NAV_STATE_NONE_ON_GROUND; + + start_none_on_ground(); } Navigator::~Navigator() @@ -468,16 +407,12 @@ Navigator::parameters_update() struct parameter_update_s update; orb_copy(ORB_ID(parameter_update), _params_sub, &update); - param_get(_parameter_handles.min_altitude, &(_parameters.min_altitude)); param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius)); param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius)); param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled)); 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); + _mission.set_onboard_mission_allowed((bool)_parameters.onboard_mission_enabled); _geofence.updateParams(); } @@ -492,6 +427,8 @@ void Navigator::home_position_update() { orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos); + + _rtl.set_home_position(&_home_pos); } void @@ -502,7 +439,7 @@ Navigator::navigation_capabilities_update() void -Navigator::offboard_mission_update(bool isrotaryWing) +Navigator::offboard_mission_update() { struct mission_s offboard_mission; @@ -519,19 +456,17 @@ Navigator::offboard_mission_update(bool isrotaryWing) dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } - missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence); + missionFeasiblityChecker.checkMissionFeasible(_vstatus.is_rotary_wing, dm_current, (size_t)offboard_mission.count, _geofence); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); _mission.set_offboard_mission_count(offboard_mission.count); - _mission.set_current_offboard_mission_index(offboard_mission.current_index); + _mission.command_current_offboard_mission_index(offboard_mission.current_index); } else { _mission.set_offboard_mission_count(0); - _mission.set_current_offboard_mission_index(0); + _mission.command_current_offboard_mission_index(0); } - - _mission.publish_mission_result(); } void @@ -542,11 +477,11 @@ Navigator::onboard_mission_update() if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) { _mission.set_onboard_mission_count(onboard_mission.count); - _mission.set_current_onboard_mission_index(onboard_mission.current_index); + _mission.command_current_onboard_mission_index(onboard_mission.current_index); } else { _mission.set_onboard_mission_count(0); - _mission.set_current_onboard_mission_index(0); + _mission.command_current_onboard_mission_index(0); } } @@ -580,12 +515,9 @@ Navigator::task_main() { /* inform about start */ warnx("Initializing.."); - fflush(stdout); _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(_mavlink_fd, "[navigator] started"); - /* Try to load the geofence: * if /fs/microsd/etc/geofence.txt load from this file * else clear geofence data in datamanager @@ -622,13 +554,12 @@ Navigator::task_main() global_position_update(); home_position_update(); navigation_capabilities_update(); - offboard_mission_update(_vstatus.is_rotary_wing); + offboard_mission_update(); onboard_mission_update(); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); - unsigned prevState = NAV_STATE_NONE; hrt_abstime mavlink_open_time = 0; const hrt_abstime mavlink_open_interval = 500000; @@ -658,13 +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; } @@ -686,65 +616,40 @@ Navigator::task_main() if (fds[6].revents & POLLIN) { vehicle_status_update(); - /* evaluate state requested by commander */ - if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { - /* publish position setpoint triplet on each status update if navigator active */ - _pos_sp_triplet_updated = true; - - if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { - /* commander requested new navigation mode, try to set it */ - switch (_vstatus.set_nav_state) { - case NAV_STATE_NONE: - /* nothing to do */ - break; - - case NAV_STATE_LOITER: - request_loiter_or_ready(); - break; - - case NAV_STATE_MISSION: - request_mission_if_available(); - break; - - case NAV_STATE_RTL: - 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 NAV_STATE_LAND: - dispatch(EVENT_LAND_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) { - request_mission_if_available(); - } - } + /* commander requested new navigation mode, forward it to state machine */ + switch (_vstatus.set_nav_state) { + case NAVIGATION_STATE_NONE: + dispatch(EVENT_NONE_REQUESTED); + break; - /* check if waypoint has been reached in MISSION, RTL and LAND modes */ - if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) { - if (check_mission_item_reached()) { - on_mission_item_reached(); - } - } + case NAVIGATION_STATE_LOITER: + dispatch(EVENT_LOITER_REQUESTED); + break; - } else { - /* navigator shouldn't act */ - dispatch(EVENT_NONE_REQUESTED); + case NAVIGATION_STATE_MISSION: + dispatch(EVENT_MISSION_REQUESTED); + break; + + case NAVIGATION_STATE_RTL: + dispatch(EVENT_RTL_REQUESTED); + break; + + case NAVIGATION_STATE_LAND: + /* TODO: add and test this */ + // dispatch(EVENT_LAND_REQUESTED); + break; + + default: + warnx("ERROR: Requested navigation state not supported"); + break; } - _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; + /* commander sets in-air/on-ground flag as well */ + if (_vstatus.condition_landed) { + dispatch(EVENT_LANDED); + } else { + dispatch(EVENT_TAKEN_OFF); + } } /* parameters updated */ @@ -760,74 +665,49 @@ Navigator::task_main() /* offboard mission updated */ if (fds[4].revents & POLLIN) { - offboard_mission_update(_vstatus.is_rotary_wing); - // XXX check if mission really changed + offboard_mission_update(); + /* TODO: check if mission really changed */ dispatch(EVENT_MISSION_CHANGED); } /* onboard mission updated */ if (fds[5].revents & POLLIN) { onboard_mission_update(); - // XXX check if mission really changed + /* TODO: check if mission really changed */ dispatch(EVENT_MISSION_CHANGED); } /* home position updated */ if (fds[2].revents & POLLIN) { home_position_update(); - // XXX check if home position really changed + /* TODO check if home position really changed */ dispatch(EVENT_HOME_POSITION_CHANGED); } /* global position updated */ if (fds[1].revents & POLLIN) { global_position_update(); - - if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { - /* publish position setpoint triplet on each position update if navigator active */ - _pos_sp_triplet_updated = true; - - if (myState == NAV_STATE_LAND && !_global_pos_valid) { - /* got global position when landing, update setpoint */ - start_land(); - } - - /* check if waypoint has been reached in MISSION, RTL and LAND modes */ - if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) { - if (check_mission_item_reached()) { - on_mission_item_reached(); - } - } + if (check_mission_item_reached()) { + dispatch(EVENT_MISSION_ITEM_REACHED); } /* Check geofence violation */ 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) { 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; } } - _global_pos_valid = _vstatus.condition_global_position_valid; - - /* publish position setpoint triplet if updated */ - if (_pos_sp_triplet_updated) { - _pos_sp_triplet_updated = false; + if (_update_triplet ) { publish_position_setpoint_triplet(); - } - - /* notify user about state changes */ - if (myState != prevState) { - mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]); - prevState = myState; + _update_triplet = false; } perf_end(_loop_perf); @@ -863,19 +743,21 @@ Navigator::start() void Navigator::status() { - warnx("Global position: %svalid", _global_pos_valid ? "" : "in"); - - if (_global_pos_valid) { - 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.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)); - } + /* TODO: add this again */ + // warnx("Global position is %svalid", _global_pos_valid ? "" : "in"); + + // if (_global_pos.global_valid) { + // 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.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"); + /* 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); @@ -885,8 +767,12 @@ Navigator::status() } switch (myState) { - case NAV_STATE_NONE: - warnx("State: None"); + case NAV_STATE_NONE_ON_GROUND: + warnx("State: None on ground"); + break; + + case NAV_STATE_NONE_IN_AIR: + warnx("State: None in air"); break; case NAV_STATE_LOITER: @@ -901,6 +787,10 @@ Navigator::status() warnx("State: RTL"); break; + case NAV_STATE_LAND: + warnx("State: Land"); + break; + default: warnx("State: Unknown"); break; @@ -909,141 +799,142 @@ Navigator::status() StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { { - /* NAV_STATE_NONE */ - /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE}, - /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, + /* NAV_STATE_NONE_ON_GROUND */ + /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, + /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_auto_on_ground), NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, + /* EVENT_TAKEN_OFF */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, + /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, + /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, + }, + { + /* NAV_STATE_NONE_IN_AIR */ + /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, /* 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}, + /* EVENT_TAKEN_OFF */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, + /* EVENT_LANDED */ {ACTION(&Navigator::start_none_on_ground), NAV_STATE_NONE_ON_GROUND}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, + /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, }, { - /* 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 */ {NO_ACTION, NAV_STATE_READY}, - /* 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}, + /* NAV_STATE_AUTO_ON_GROUND */ + /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_TAKEN_OFF */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, + /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, }, { /* NAV_STATE_LOITER */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, - /* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* 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_TAKEN_OFF */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_LOITER}, }, { /* NAV_STATE_MISSION */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, - /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* 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_TAKEN_OFF */ {NO_ACTION, NAV_STATE_MISSION}, + /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_MISSION}, /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION}, + /* EVENT_MISSION_ITEM_REACHED */ {ACTION(&Navigator::advance_mission), NAV_STATE_MISSION}, }, { /* NAV_STATE_RTL */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, - /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* 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_home), NAV_STATE_LAND}, + /* EVENT_TAKEN_OFF */ {NO_ACTION, NAV_STATE_RTL}, + /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_RTL}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL}, - /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, // TODO need to reset rtl_state + /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_MISSION_ITEM_REACHED */ {ACTION(&Navigator::advance_rtl), NAV_STATE_RTL}, }, { /* NAV_STATE_LAND */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, - /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* 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_TAKEN_OFF */ {NO_ACTION, NAV_STATE_LAND}, + /* EVENT_LANDED */ {ACTION(&Navigator::start_auto_on_ground), NAV_STATE_AUTO_ON_GROUND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LAND}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LAND}, + /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_LAND}, }, }; -void -Navigator::start_none() +bool +Navigator::start_none_on_ground() { reset_reached(); _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; - _pos_sp_triplet_updated = true; + _update_triplet = true; + return true; } -void -Navigator::start_ready() +bool +Navigator::start_none_in_air() { reset_reached(); _pos_sp_triplet.previous.valid = false; - _pos_sp_triplet.current.valid = true; + _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; - _pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE; + _update_triplet = true; + return true; +} - _mission_item_valid = false; +bool +Navigator::start_auto_on_ground() +{ + reset_reached(); - _reset_loiter_pos = true; - _do_takeoff = false; + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.current.valid = true; + _pos_sp_triplet.next.valid = false; - if (_rtl_state != RTL_STATE_DESCEND) { - /* reset RTL state if landed not at home */ - _rtl_state = RTL_STATE_NONE; - } + _pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE; - _pos_sp_triplet_updated = true; + _update_triplet = true; + return true; } -void +bool Navigator::start_loiter() { - reset_reached(); - - _do_takeoff = false; - - /* set loiter position if needed */ - if (_reset_loiter_pos || !_pos_sp_triplet.current.valid) { - _reset_loiter_pos = false; + /* if no existing item available, use current position */ + if (!(_pos_sp_triplet.current.valid && _waypoint_position_reached)) { _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 - - 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 && !_vstatus.is_rotary_wing) { - _pos_sp_triplet.current.alt = min_alt_amsl; - mavlink_log_info(_mavlink_fd, "#audio: loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); - - } else { - _pos_sp_triplet.current.alt = _global_pos.alt; - mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude"); - } - + _pos_sp_triplet.current.alt = _global_pos.alt; } _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; _pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius; @@ -1051,167 +942,146 @@ Navigator::start_loiter() _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = true; _pos_sp_triplet.next.valid = false; - _mission_item_valid = false; - _pos_sp_triplet_updated = true; + mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude"); + + _update_triplet = true; + return true; } -void +bool Navigator::start_mission() { - _need_takeoff = true; + /* start fresh */ + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.current.valid = false; + _pos_sp_triplet.next.valid = false; - set_mission_item(); + return set_mission_items(); } -void -Navigator::set_mission_item() +bool +Navigator::advance_mission() { - reset_reached(); + /* tell mission to move by one */ + _mission.move_to_next(); - /* copy current mission to previous item */ - memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + /* now try to set the new mission items, if it fails, it will dispatch loiter */ + return set_mission_items(); +} - _reset_loiter_pos = true; - _do_takeoff = false; +bool +Navigator::set_mission_items() +{ + if (_pos_sp_triplet.current.valid) { + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + _pos_sp_triplet.previous.valid = true; + } - int ret; bool onboard; - unsigned index; + int index; - ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index); + /* if we fail to set the current mission, continue to loiter */ + if (!_mission.get_current_mission_item(&_mission_item, &onboard, &index)) { - if (ret == OK) { - _mission.report_current_offboard_mission_item(); + dispatch(EVENT_LOITER_REQUESTED); + return false; + } - _mission_item_valid = true; - position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); - - 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 we got an RTL mission item, switch to RTL mode and give up */ + if (_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { + dispatch(EVENT_RTL_REQUESTED); + return false; + } - if (_vstatus.is_rotary_wing) { - if (_need_takeoff && ( - _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 = _pos_sp_triplet.current.alt; - - if (_vstatus.condition_landed) { - /* takeoff to at least NAV_TAKEOFF_ALT from ground if landed */ - takeoff_alt_amsl = fmaxf(takeoff_alt_amsl, _global_pos.alt + _parameters.takeoff_alt); - } + _mission_item_valid = true; - /* check if we really need takeoff */ - 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; + /* convert the current mission item and set it valid */ + mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); + _pos_sp_triplet.current.valid = true; - /* move current position setpoint to next */ - memcpy(&_pos_sp_triplet.next, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); - /* set current setpoint to takeoff */ + mission_item_s next_mission_item; - _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; - } + bool last_wp = false; + /* now try to set the next mission item as well, if there is no more next + * this means we're heading to the last waypoint */ + if (_mission.get_next_mission_item(&next_mission_item)) { + /* convert the next mission item and set it valid */ + mission_item_to_position_setpoint(&next_mission_item, &_pos_sp_triplet.next); + _pos_sp_triplet.next.valid = true; + } else { + last_wp = true; + } - } else if (_mission_item.nav_cmd == NAV_CMD_LAND) { - /* will need takeoff after landing */ - _need_takeoff = true; - } - } + /* notify user about what happened */ + mavlink_log_info(_mavlink_fd, "#audio: heading to %s%swaypoint %d", + (last_wp ? "last " : "" ), (onboard ? "onboard " : ""), index); - if (_do_takeoff) { - mavlink_log_info(_mavlink_fd, "#audio: takeoff to %.1fm above home", (double)(_pos_sp_triplet.current.alt - _home_pos.alt)); + _update_triplet = true; - } else { - if (onboard) { - mavlink_log_info(_mavlink_fd, "#audio: heading to onboard WP %d", index); + reset_reached(); - } else { - mavlink_log_info(_mavlink_fd, "#audio: heading to offboard WP %d", index); - } - } + return true; +} - } else { - /* since a mission is not advanced without WPs available, this is not supposed to happen */ - _mission_item_valid = false; - _pos_sp_triplet.current.valid = false; - warnx("ERROR: current WP can't be set"); - } +bool +Navigator::start_rtl() +{ + if (_rtl.get_current_rtl_item(&_global_pos, &_mission_item)) { - if (!_do_takeoff) { - mission_item_s item_next; - ret = _mission.get_next_mission_item(&item_next); + _mission_item_valid = true; - if (ret == OK) { - position_setpoint_from_mission_item(&_pos_sp_triplet.next, &item_next); + mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); + _pos_sp_triplet.current.valid = true; - } else { - /* this will fail for the last WP */ - _pos_sp_triplet.next.valid = false; - } + reset_reached(); + + _update_triplet = true; + return true; } - _pos_sp_triplet_updated = true; + /* if RTL doesn't work, fallback to loiter */ + dispatch(EVENT_LOITER_REQUESTED); + return false; } -void -Navigator::start_rtl() +bool +Navigator::advance_rtl() { - _do_takeoff = false; + /* tell mission to move by one */ + _rtl.move_to_next(); - /* decide if we need climb */ - if (_rtl_state == RTL_STATE_NONE) { - if (_global_pos.alt < _home_pos.alt + _parameters.rtl_alt) { - _rtl_state = RTL_STATE_CLIMB; + /* now try to set the new mission items, if it fails, it will dispatch loiter */ + if (_rtl.get_current_rtl_item(&_global_pos, &_mission_item)) { - } else { - _rtl_state = RTL_STATE_RETURN; - } - } + _mission_item_valid = true; + + mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); + _pos_sp_triplet.current.valid = true; - /* if switching directly to return state, reset altitude setpoint */ - if (_rtl_state == RTL_STATE_RETURN) { - _mission_item.altitude_is_relative = false; - _mission_item.altitude = _global_pos.alt; + reset_reached(); + + _update_triplet = true; + return true; } - _reset_loiter_pos = true; - set_rtl_item(); + dispatch(EVENT_LOITER_REQUESTED); + return false; } -void +bool Navigator::start_land() { + /* TODO: verify/test */ + reset_reached(); /* this state can be requested by commander even if no global position available, * in his case controller must perform landing without position control */ - _do_takeoff = false; - _reset_loiter_pos = true; memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); - _mission_item_valid = true; - _mission_item.lat = _global_pos.lat; _mission_item.lon = _global_pos.lon; _mission_item.altitude_is_relative = false; @@ -1226,185 +1096,22 @@ Navigator::start_land() _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; -} - -void -Navigator::start_land_home() -{ - reset_reached(); - - /* land to home position, should be called when hovering above home, from RTL state */ - _do_takeoff = false; - _reset_loiter_pos = true; - - 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); + mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); _pos_sp_triplet.next.valid = false; -} - -void -Navigator::set_rtl_item() -{ - reset_reached(); - - switch (_rtl_state) { - case RTL_STATE_CLIMB: { - 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_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, "#audio: RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt)); - break; - } - - case RTL_STATE_RETURN: { - 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 - if (_pos_sp_triplet.previous.valid) { - /* if previous setpoint is valid then use it to calculate heading to home */ - _mission_item.yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, _mission_item.lat, _mission_item.lon); - - } else { - /* else use current position */ - _mission_item.yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, _mission_item.lat, _mission_item.lon); - } - _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, "#audio: RTL: return at %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt)); - break; - } - - case RTL_STATE_DESCEND: { - 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_LOITER_TIME_LIMIT; - _mission_item.acceptance_radius = _parameters.acceptance_radius; - _mission_item.time_inside = _parameters.rtl_land_delay < 0.0f ? 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, "#audio: RTL: descend to %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt)); - break; - } - - default: { - mavlink_log_critical(_mavlink_fd, "#audio: [navigator] error: unknown RTL state: %d", _rtl_state); - start_loiter(); - break; - } - } - - _pos_sp_triplet_updated = true; -} - -void -Navigator::request_loiter_or_ready() -{ - /* XXX workaround: no landing detector for fixedwing yet */ - if (_vstatus.condition_landed && _vstatus.is_rotary_wing) { - dispatch(EVENT_READY_REQUESTED); - - } else { - dispatch(EVENT_LOITER_REQUESTED); - } -} - -void -Navigator::request_mission_if_available() -{ - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); - - } else { - request_loiter_or_ready(); - } + _update_triplet = true; + return true; } void -Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item) +Navigator::mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp) { 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; if (_pos_sp_triplet.previous.valid) { /* if previous setpoint is valid then use it to calculate heading to home */ @@ -1414,9 +1121,6 @@ Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_ /* else use current position */ sp->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, sp->lat, sp->lon); } - sp->loiter_radius = _parameters.loiter_radius; - sp->loiter_direction = 1; - sp->pitch_min = 0.0f; } else { sp->lat = item->lat; @@ -1456,14 +1160,14 @@ Navigator::check_mission_item_reached() return _vstatus.condition_landed; } - /* XXX 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) && - _mission_item.loiter_radius > 0.01f) { + /* 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) && + // _mission_item.loiter_radius > 0.01f) { - return false; - } + // return false; + // } uint64_t now = hrt_absolute_time(); @@ -1481,22 +1185,19 @@ Navigator::check_mission_item_reached() float dist_xy = -1.0f; float dist_z = -1.0f; - /* 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; + float altitude_amsl = _mission_item.altitude_is_relative + ? _mission_item.altitude + _home_pos.alt : _mission_item.altitude; - 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 = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl, + _global_pos.lat, _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 */ + if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { + + /* require only altitude for takeoff */ + if (_global_pos.alt > altitude_amsl - acceptance_radius) { _waypoint_position_reached = true; } - } else { if (dist >= 0.0f && dist <= acceptance_radius) { _waypoint_position_reached = true; @@ -1505,11 +1206,14 @@ Navigator::check_mission_item_reached() } if (_waypoint_position_reached && !_waypoint_yaw_reached) { - if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) { + + /* TODO: removed takeoff, why? */ + if (_vstatus.is_rotary_wing && isfinite(_mission_item.yaw)) { + /* 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; } @@ -1520,24 +1224,23 @@ Navigator::check_mission_item_reached() /* check if the current waypoint was reached */ if (_waypoint_position_reached && _waypoint_yaw_reached) { + if (_time_first_inside_orbit == 0) { _time_first_inside_orbit = now; if (_mission_item.time_inside > 0.01f) { - mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", (double)_mission_item.time_inside); + mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", + (double)_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.time_inside * 1e6) || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) { - reset_reached(); return true; } } - return false; - } void @@ -1550,62 +1253,6 @@ Navigator::reset_reached() } void -Navigator::on_mission_item_reached() -{ - if (myState == NAV_STATE_MISSION) { - - _mission.report_mission_item_reached(); - - if (_do_takeoff) { - /* takeoff completed */ - _do_takeoff = false; - mavlink_log_info(_mavlink_fd, "#audio: takeoff completed"); - - } else { - /* advance by one mission item */ - _mission.move_to_next(); - } - - if (_mission.current_mission_available()) { - 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"); - request_loiter_or_ready(); - } - - } else if (myState == NAV_STATE_RTL) { - /* RTL completed */ - if (_rtl_state == RTL_STATE_DESCEND) { - /* hovering above home position, land if needed or loiter */ - mavlink_log_info(_mavlink_fd, "[navigator] RTL completed"); - - if (_mission_item.autocontinue) { - dispatch(EVENT_LAND_REQUESTED); - - } else { - _reset_loiter_pos = false; - dispatch(EVENT_LOITER_REQUESTED); - } - - } else { - /* next RTL step */ - _rtl_state = (RTLState)(_rtl_state + 1); - set_rtl_item(); - } - - } else if (myState == NAV_STATE_LAND) { - /* landing completed */ - mavlink_log_info(_mavlink_fd, "[navigator] landing completed"); - dispatch(EVENT_READY_REQUESTED); - } - _mission.publish_mission_result(); -} - -void Navigator::publish_position_setpoint_triplet() { /* update navigation state */ @@ -1613,11 +1260,9 @@ Navigator::publish_position_setpoint_triplet() /* lazily publish the position setpoint triplet only once available */ if (_pos_sp_triplet_pub > 0) { - /* publish the position setpoint triplet */ orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet); } else { - /* advertise and publish */ _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet); } } |