diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 120 |
1 files changed, 47 insertions, 73 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index bcb3c8d0a..12fd35a0a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -177,7 +177,7 @@ private: class Mission _mission; bool _mission_item_valid; /**< current mission item valid */ - bool _global_pos_valid; /**< track changes of global_position.global_valid flag */ + 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; @@ -690,84 +690,56 @@ Navigator::task_main() if (fds[6].revents & POLLIN) { vehicle_status_update(); - /* evaluate state machine from commander and set the navigator mode accordingly */ + /* evaluate state requested by commander */ if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { - 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) { - /* switch to RTL if not already landed after RTL and home position set */ - if (!(_rtl_state == RTL_STATE_DESCEND && - (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && - _vstatus.condition_home_position_valid) { - dispatch(EVENT_RTL_REQUESTED); - } + /* publish position setpoint triplet on each status update if navigator active */ + _pos_sp_triplet_updated = true; - stick_mode = 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; - } else { - /* MISSION switch */ - if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) { - request_loiter_or_ready(); - stick_mode = true; + case NAV_STATE_LOITER: + request_loiter_or_ready(); + break; - } else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) { - request_mission_if_available(); - stick_mode = true; - } + case NAV_STATE_MISSION: + request_mission_if_available(); + break; - 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 */ - request_mission_if_available(); - stick_mode = true; + 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); } - } - } - - 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; - - case NAV_STATE_LOITER: - request_loiter_or_ready(); - break; - case NAV_STATE_MISSION: - request_mission_if_available(); - break; + 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); - } + case NAV_STATE_LAND: + dispatch(EVENT_LAND_REQUESTED); - break; + break; - case NAV_STATE_LAND: - dispatch(EVENT_LAND_REQUESTED); - - break; + default: + warnx("ERROR: Requested navigation state not supported"); + 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(); + } + } - } 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(); - } + /* 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(); } } @@ -775,6 +747,8 @@ Navigator::task_main() /* navigator shouldn't act */ dispatch(EVENT_NONE_REQUESTED); } + + _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; } /* parameters updated */ @@ -813,17 +787,15 @@ Navigator::task_main() if (fds[1].revents & POLLIN) { global_position_update(); - /* publish position setpoint triplet on each position update if navigator active */ 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.global_valid && !_global_pos_valid) { + if (myState == NAV_STATE_LAND && !_global_pos_valid) { /* got global position when landing, update setpoint */ start_land(); } - _global_pos_valid = _global_pos.global_valid; - /* 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()) { @@ -848,6 +820,8 @@ Navigator::task_main() } } + _global_pos_valid = _vstatus.condition_global_position_valid; + /* publish position setpoint triplet if updated */ if (_pos_sp_triplet_updated) { _pos_sp_triplet_updated = false; @@ -893,9 +867,9 @@ Navigator::start() void Navigator::status() { - warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in"); + warnx("Global position: %svalid", _global_pos_valid ? "" : "in"); - if (_global_pos.global_valid) { + 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)); |