diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 85 |
1 files changed, 80 insertions, 5 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 042c46afd..bc9951bf2 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -40,6 +40,7 @@ * @author Jean Cyr <jean.m.cyr@gmail.com> * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -68,6 +69,7 @@ #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> #include <uORB/topics/offboard_control_setpoint.h> +#include <drivers/drv_baro.h> #include <systemlib/err.h> #include <systemlib/systemlib.h> @@ -107,13 +109,16 @@ Navigator::Navigator() : _offboard_mission_sub(-1), _param_update_sub(-1), _pos_sp_triplet_pub(-1), + _mission_result_pub(-1), _vstatus{}, _control_mode{}, _global_pos{}, + _sensor_combined{}, _home_pos{}, _mission_item{}, _nav_caps{}, _pos_sp_triplet{}, + _mission_result{}, _mission_item_valid(false), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), _geofence{}, @@ -125,16 +130,23 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _offboard(this, "OFF"), + _dataLinkLoss(this, "DLL"), + _engineFailure(this, "EF"), + _gpsFailure(this, "GPSF"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), - _param_acceptance_radius(this, "ACC_RAD") + _param_acceptance_radius(this, "ACC_RAD"), + _param_datalinkloss_obc(this, "DLL_OBC") { /* Create a list of our possible navigation types */ _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; _navigation_mode_array[3] = &_offboard; + _navigation_mode_array[4] = &_dataLinkLoss; + _navigation_mode_array[5] = &_engineFailure; + _navigation_mode_array[6] = &_gpsFailure; updateParams(); } @@ -171,6 +183,12 @@ Navigator::global_position_update() } void +Navigator::sensor_combined_update() +{ + orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); +} + +void Navigator::home_position_update() { orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos); @@ -240,6 +258,7 @@ Navigator::task_main() /* do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); @@ -253,6 +272,7 @@ Navigator::task_main() vehicle_status_update(); vehicle_control_mode_update(); global_position_update(); + sensor_combined_update(); home_position_update(); navigation_capabilities_update(); params_update(); @@ -264,7 +284,7 @@ Navigator::task_main() const hrt_abstime mavlink_open_interval = 500000; /* wakeup source(s) */ - struct pollfd fds[6]; + struct pollfd fds[7]; /* Setup of loop */ fds[0].fd = _global_pos_sub; @@ -279,6 +299,8 @@ Navigator::task_main() fds[4].events = POLLIN; fds[5].fd = _param_update_sub; fds[5].events = POLLIN; + fds[6].fd = _sensor_combined_sub; + fds[6].events = POLLIN; while (!_task_should_exit) { @@ -303,6 +325,11 @@ Navigator::task_main() _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } + /* sensors combined updated */ + if (fds[6].revents & POLLIN) { + sensor_combined_update(); + } + /* parameters updated */ if (fds[5].revents & POLLIN) { params_update(); @@ -334,7 +361,18 @@ Navigator::task_main() global_position_update(); /* Check geofence violation */ - if (!_geofence.inside(&_global_pos)) { + bool inside = false; + if (_geofence.getAltitudeMode() == Geofence::GF_ALT_MODE_GPS) { + inside = _geofence.inside(_global_pos); + } else { + inside = _geofence.inside(_global_pos, _sensor_combined.baro_alt_meter); + } + if (!inside) { + /* inform other apps via the sp triplet */ + _pos_sp_triplet.geofence_violated = true; + if (_pos_sp_triplet.geofence_violated != true) { + _pos_sp_triplet_updated = true; + } /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { @@ -342,6 +380,11 @@ Navigator::task_main() _geofence_violation_warning_sent = true; } } else { + /* inform other apps via the sp triplet */ + _pos_sp_triplet.geofence_violated = false; + if (_pos_sp_triplet.geofence_violated != false) { + _pos_sp_triplet_updated = true; + } /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } @@ -359,6 +402,9 @@ Navigator::task_main() _can_loiter_at_sp = false; break; case NAVIGATION_STATE_AUTO_MISSION: + /* Some failsafe modes prohibit the fallback to mission + * usually this is done after some time to make sure + * that the full failsafe operation is performed */ _navigation_mode = &_mission; break; case NAVIGATION_STATE_AUTO_LOITER: @@ -367,8 +413,20 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_RTL: _navigation_mode = &_rtl; break; - case NAVIGATION_STATE_AUTO_RTGS: - _navigation_mode = &_rtl; /* TODO: change this to something else */ + case NAVIGATION_STATE_AUTO_RTGS: //XXX OBC: differentiate between rc loss and dl loss here + /* Use complex data link loss mode only when enabled via param + * otherwise use rtl */ + if (_param_datalinkloss_obc.get() != 0) { + _navigation_mode = &_dataLinkLoss; + } else { + _navigation_mode = &_rtl; /* TODO: change this to something else */ + } + break; + case NAVIGATION_STATE_AUTO_LANDENGFAIL: + _navigation_mode = &_engineFailure; + break; + case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + _navigation_mode = &_gpsFailure; break; case NAVIGATION_STATE_OFFBOARD: _navigation_mode = &_offboard; @@ -534,3 +592,20 @@ int navigator_main(int argc, char *argv[]) return 0; } + +void +Navigator::publish_mission_result() +{ + /* lazily publish the mission result only once available */ + if (_mission_result_pub > 0) { + /* publish mission result */ + orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result); + + } else { + /* advertise and publish */ + _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); + } + /* reset reached bool */ + _mission_result.reached = false; + _mission_result.finished = false; +} |