diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 1563 |
1 files changed, 1317 insertions, 246 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index f6c44444a..260356eca 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1,7 +1,10 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Jean Cyr <jean.m.cyr@gmail.com> + * @author Julian Oes <joes@student.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,6 +39,12 @@ * Implementation of the main navigation state machine. * * Handles missions, geo fencing and failsafe navigation behavior. + * Published the mission item 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 Anton Babushkin <anton.babushkin@me.com> */ #include <nuttx/config.h> @@ -48,26 +57,44 @@ #include <math.h> #include <poll.h> #include <time.h> +#include <sys/ioctl.h> +#include <drivers/device/device.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> -#include <uORB/topics/airspeed.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_set_triplet.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/home_position.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> #include <uORB/topics/parameter_update.h> #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 <geo/geo.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 <mavlink/mavlink_log.h> +#include <sys/types.h> +#include <sys/stat.h> + +#include "navigator_state.h" +#include "navigator_mission.h" +#include "mission_feasibility_checker.h" +#include "geofence.h" + + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; /** * navigator app start / stop handling function @@ -76,7 +103,7 @@ */ extern "C" __EXPORT int navigator_main(int argc, char *argv[]); -class Navigator +class Navigator : public StateTable { public: /** @@ -85,103 +112,175 @@ public: Navigator(); /** - * Destructor, also kills the sensors task. + * Destructor, also kills the navigators task. */ ~Navigator(); /** - * Start the sensors task. + * Start the navigator task. * * @return OK on success. */ int start(); + /** + * Display the navigator status. + */ + void status(); + + /** + * Add point to geofence + */ + void add_fence_point(int argc, char *argv[]); + + /** + * Load fence from file + */ + 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 _navigator_task; /**< task handle for sensor task */ - int _global_pos_sub; - int _att_sub; /**< vehicle attitude subscription */ - int _attitude_sub; /**< raw rc channels data subscription */ - int _airspeed_sub; /**< airspeed subscription */ + int _mavlink_fd; + + int _global_pos_sub; /**< global position subscription */ + int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ - int _params_sub; /**< notification of parameter updates */ - int _manual_control_sub; /**< notification of manual control updates */ - int _mission_sub; + int _params_sub; /**< notification of parameter updates */ + int _offboard_mission_sub; /**< notification of offboard mission updates */ + int _onboard_mission_sub; /**< notification of onboard mission updates */ + int _capabilities_sub; /**< notification of vehicle capabilities updates */ + int _control_mode_sub; /**< vehicle control mode subscription */ - orb_advert_t _triplet_pub; /**< position setpoint */ + orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ + orb_advert_t _mission_result_pub; /**< publish mission result topic */ - struct vehicle_attitude_s _att; /**< vehicle attitude */ - struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ - struct manual_control_setpoint_s _manual; /**< r/c channel data */ - struct airspeed_s _airspeed; /**< airspeed */ 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 vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */ + 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 */ + bool _mission_item_valid; /**< current mission item valid */ perf_counter_t _loop_perf; /**< loop performance counter */ - unsigned _mission_items_maxcount; /**< maximum number of mission items supported */ - struct mission_item_s * _mission_items; /**< storage for mission items */ - bool _mission_valid; /**< flag if mission is valid */ + Geofence _geofence; + bool _geofence_violation_warning_sent; + + bool _fence_valid; /**< flag if fence is valid */ + bool _inside_fence; /**< vehicle is inside fence */ + + struct navigation_capabilities_s _nav_caps; + + class Mission _mission; + + bool _global_pos_valid; /**< track changes of global_position.global_valid flag */ + 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) */ + + MissionFeasibilityChecker missionFeasiblityChecker; - /** manual control states */ - float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */ - float _loiter_hold_lat; - float _loiter_hold_lon; - float _loiter_hold_alt; - bool _loiter_hold; + uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */ + + bool _pos_sp_triplet_updated; + + char *nav_states_str[NAV_STATE_MAX]; struct { - float throttle_cruise; - } _parameters; /**< local copies of interesting parameters */ + 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 throttle_cruise; + 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_MISSION_CHANGED, + EVENT_HOME_POSITION_CHANGED, + MAX_EVENT + }; - } _parameter_handles; /**< handles for interesting parameters */ + /** + * 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. */ - int parameters_update(); + void parameters_update(); /** - * Update control outputs - * + * Retrieve global position */ - void control_update(); + void global_position_update(); /** - * Check for changes in vehicle status. + * Retrieve home position */ - void vehicle_status_poll(); + void home_position_update(); /** - * Check for position updates. + * Retreive navigation capabilities */ - void vehicle_attitude_poll(); + void navigation_capabilities_update(); /** - * Check for set triplet updates. + * Retrieve offboard mission. */ - void mission_poll(); + void offboard_mission_update(bool isrotaryWing); /** - * Control throttle. + * Retrieve onboard mission. */ - float control_throttle(float energy_error); + void onboard_mission_update(); /** - * Control pitch. + * Retrieve vehicle status */ - float control_pitch(float altitude_error); + void vehicle_status_update(); - void calculate_airspeed_errors(); - void calculate_gndspeed_undershoot(); - void calculate_altitude_error(); + /** + * Retrieve vehicle control mode + */ + void vehicle_control_mode_update(); /** * Shim for calling task_main from task_create. @@ -192,6 +291,64 @@ private: * Main sensor collection task. */ void task_main() __attribute__((noreturn)); + + 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(); + + /** + * Guards offboard mission + */ + bool offboard_mission_available(unsigned relative_index); + + /** + * Guards onboard mission + */ + bool onboard_mission_available(unsigned relative_index); + + /** + * Check if current mission item has been reached. + */ + bool check_mission_item_reached(); + + /** + * Perform actions when current mission item reached. + */ + void on_mission_item_reached(); + + /** + * Move to next waypoint + */ + void set_mission_item(); + + /** + * Switch to next RTL state + */ + void set_rtl_item(); + + /** + * Set position setpoint for mission 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_setpoint(position_setpoint_s *pos_sp); + + /** + * Publish a new mission item triplet for position controller + */ + void publish_position_setpoint_triplet(); }; namespace navigator @@ -208,37 +365,71 @@ Navigator *g_navigator; Navigator::Navigator() : +/* 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), - _att_sub(-1), - _airspeed_sub(-1), + _home_pos_sub(-1), _vstatus_sub(-1), + _control_mode_sub(-1), _params_sub(-1), - _manual_control_sub(-1), + _offboard_mission_sub(-1), + _onboard_mission_sub(-1), + _capabilities_sub(-1), /* publications */ - _triplet_pub(-1), + _pos_sp_triplet_pub(-1), + _mission_result_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), -/* states */ - _mission_items_maxcount(20), - _mission_valid(false), - _loiter_hold(false) -{ - _mission_items = (mission_item_s*)malloc(sizeof(mission_item_s) * _mission_items_maxcount); - if (!_mission_items) { - _mission_items_maxcount = 0; - warnx("no free RAM to allocate mission, rejecting any waypoints"); - } - - _parameter_handles.throttle_cruise = param_find("NAV_DUMMY"); - /* fetch initial parameter values */ - parameters_update(); +/* states */ + _rtl_state(RTL_STATE_NONE), + _fence_valid(false), + _inside_fence(true), + _mission(), + _global_pos_valid(false), + _reset_loiter_pos(true), + _waypoint_position_reached(false), + _waypoint_yaw_reached(false), + _time_first_inside_orbit(0), + _set_nav_state_timestamp(0), + _mission_item_valid(false), + _need_takeoff(true), + _do_takeoff(false), + _pos_sp_triplet_updated(false), + _geofence_violation_warning_sent(false) +{ + _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_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; + start_none(); } Navigator::~Navigator() @@ -266,69 +457,108 @@ Navigator::~Navigator() navigator::g_navigator = nullptr; } -int +void Navigator::parameters_update() { - - //param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise)); - - return OK; + /* read from param to clear updated flag */ + 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); + + _geofence.updateParams(); } void -Navigator::vehicle_status_poll() +Navigator::global_position_update() { - bool vstatus_updated; - - /* Check HIL state if vehicle status has changed */ - orb_check(_vstatus_sub, &vstatus_updated); + orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); +} - if (vstatus_updated) { +void +Navigator::home_position_update() +{ + orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos); +} - orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus); - } +void +Navigator::navigation_capabilities_update() +{ + orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps); } + void -Navigator::vehicle_attitude_poll() +Navigator::offboard_mission_update(bool isrotaryWing) { - /* check if there is a new position */ - bool att_updated; - orb_check(_att_sub, &att_updated); + 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; - if (att_updated) { - orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); + } 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); + _mission.set_current_offboard_mission_index(offboard_mission.current_index); + _mission.set_offboard_mission_count(offboard_mission.count); + + } else { + _mission.set_current_offboard_mission_index(0); + _mission.set_offboard_mission_count(0); } } void -Navigator::mission_poll() +Navigator::onboard_mission_update() { - /* check if there is a new setpoint */ - bool mission_updated; - orb_check(_mission_sub, &mission_updated); - - if (mission_updated) { + struct mission_s onboard_mission; - struct mission_s mission; - orb_copy(ORB_ID(mission), _mission_sub, &mission); + if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { - // XXX this is not optimal yet, but a first prototype / - // test implementation + _mission.set_current_onboard_mission_index(onboard_mission.current_index); + _mission.set_onboard_mission_count(onboard_mission.count); - if (mission.count <= _mission_items_maxcount) { - /* - * Perform an atomic copy & state update - */ - irqstate_t flags = irqsave(); + } else { + _mission.set_current_onboard_mission_index(0); + _mission.set_onboard_mission_count(0); + } +} - memcpy(_mission_items, mission.items, mission.count * sizeof(struct mission_item_s)); - _mission_valid = true; +void +Navigator::vehicle_status_update() +{ + if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) { + /* in case the commander is not be running */ + _vstatus.arming_state = ARMING_STATE_STANDBY; + } +} - irqrestore(flags); - } else { - warnx("mission larger than storage space"); - } +void +Navigator::vehicle_control_mode_update() +{ + if (orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode) != OK) { + /* in case the commander is not be running */ + _control_mode.flag_control_auto_enabled = false; + _control_mode.flag_armed = false; } } @@ -341,46 +571,90 @@ Navigator::task_main_trampoline(int argc, char *argv[]) void 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 + */ + struct stat buffer; + + if (stat(GEOFENCE_FILENAME, &buffer) == 0) { + warnx("Try to load geofence.txt"); + _geofence.loadFromFile(GEOFENCE_FILENAME); + + } else { + if (_geofence.clearDm() > 0) + warnx("Geofence cleared"); + else + warnx("Could not clear geofence"); + } + /* * do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - _mission_sub = orb_subscribe(ORB_ID(mission)); - _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + _offboard_mission_sub = orb_subscribe(ORB_ID(mission)); + _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); + _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)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); - _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + _home_pos_sub = orb_subscribe(ORB_ID(home_position)); + + /* copy all topics first time */ + vehicle_status_update(); + vehicle_control_mode_update(); + parameters_update(); + global_position_update(); + home_position_update(); + navigation_capabilities_update(); + offboard_mission_update(_vstatus.is_rotary_wing); + onboard_mission_update(); - /* rate limit vehicle status updates to 5Hz */ - orb_set_interval(_vstatus_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); - parameters_update(); + unsigned prevState = NAV_STATE_NONE; + hrt_abstime mavlink_open_time = 0; + const hrt_abstime mavlink_open_interval = 500000; /* wakeup source(s) */ - struct pollfd fds[2]; + struct pollfd fds[8]; /* Setup of loop */ fds[0].fd = _params_sub; fds[0].events = POLLIN; fds[1].fd = _global_pos_sub; fds[1].events = POLLIN; + fds[2].fd = _home_pos_sub; + fds[2].events = POLLIN; + fds[3].fd = _capabilities_sub; + fds[3].events = POLLIN; + fds[4].fd = _offboard_mission_sub; + fds[4].events = POLLIN; + fds[5].fd = _onboard_mission_sub; + fds[5].events = POLLIN; + fds[6].fd = _vstatus_sub; + fds[6].events = POLLIN; + fds[7].fd = _control_mode_sub; + fds[7].events = POLLIN; while (!_task_should_exit) { - /* wait for up to 500ms for data */ + /* 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) + if (pret == 0) { continue; + } /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { @@ -390,147 +664,218 @@ Navigator::task_main() perf_begin(_loop_perf); - /* check vehicle status for changes to publication state */ - vehicle_status_poll(); - - /* only update parameters if they changed */ - if (fds[0].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), _params_sub, &update); + if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) { + /* try to reopen the mavlink log device with specified interval */ + mavlink_open_time = hrt_abstime() + mavlink_open_interval; + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + } - /* update parameters from storage */ - parameters_update(); + /* vehicle control mode updated */ + if (fds[7].revents & POLLIN) { + vehicle_control_mode_update(); } - /* only run controller if position changed */ - if (fds[1].revents & POLLIN) { + /* vehicle status updated */ + if (fds[6].revents & POLLIN) { + vehicle_status_update(); + /* evaluate state machine from commander and set the navigator mode accordingly */ + if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { + bool stick_mode = false; - static uint64_t last_run = 0; - float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); + 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_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && + _vstatus.condition_home_position_valid) { + dispatch(EVENT_RTL_REQUESTED); + } - /* guard against too large deltaT's */ - if (deltaT > 1.0f) - deltaT = 0.01f; + stick_mode = true; - /* load local copies */ - orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); + } 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); + + } 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; + } + } + } - vehicle_attitude_poll(); + 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; - mission_poll(); + switch (_vstatus.set_nav_state) { + case NAV_STATE_NONE: + /* nothing to do */ + break; - math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy); - // Current waypoint - math::Vector2f next_wp(_global_triplet.current.lat / 1e7f, _global_triplet.current.lon / 1e7f); - // Global position - math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f); + case NAV_STATE_LOITER: + dispatch(EVENT_LOITER_REQUESTED); + break; - /* AUTONOMOUS FLIGHT */ + case NAV_STATE_MISSION: + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); - if (1 /* autonomous flight */) { + } else { + dispatch(EVENT_LOITER_REQUESTED); + } - /* execute navigation once we have a setpoint */ - if (_mission_valid) { + break; - // Next waypoint - math::Vector2f prev_wp; + case NAV_STATE_RTL: + if (!(_rtl_state == RTL_STATE_DESCEND && + (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && + _vstatus.condition_home_position_valid) { + dispatch(EVENT_RTL_REQUESTED); + } - if (_global_triplet.previous_valid) { - prev_wp.setX(_global_triplet.previous.lat / 1e7f); - prev_wp.setY(_global_triplet.previous.lon / 1e7f); + break; - } else { - /* - * No valid next waypoint, go for heading hold. - * This is automatically handled by the L1 library. - */ - prev_wp.setX(_global_triplet.current.lat / 1e7f); - prev_wp.setY(_global_triplet.current.lon / 1e7f); + case NAV_STATE_LAND: + if (myState != NAV_STATE_READY) { + 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) { + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); + + } else { + dispatch(EVENT_LOITER_REQUESTED); + } + } + } + } - /******** MAIN NAVIGATION STATE MACHINE ********/ + } else { + /* navigator shouldn't act */ + dispatch(EVENT_NONE_REQUESTED); + } + } - // XXX to be put in its own class + /* parameters updated */ + if (fds[0].revents & POLLIN) { + parameters_update(); + /* note that these new parameters won't be in effect until a mission triplet is published again */ + } - if (_global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) { - /* waypoint is a plain navigation waypoint */ - + /* navigation capabilities updated */ + if (fds[3].revents & POLLIN) { + navigation_capabilities_update(); + } - } else if (_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + /* offboard mission updated */ + if (fds[4].revents & POLLIN) { + offboard_mission_update(_vstatus.is_rotary_wing); + // XXX check if mission really changed + dispatch(EVENT_MISSION_CHANGED); + } - /* waypoint is a loiter waypoint */ - - } + /* onboard mission updated */ + if (fds[5].revents & POLLIN) { + onboard_mission_update(); + // XXX check if mission really changed + dispatch(EVENT_MISSION_CHANGED); + } - // XXX at this point we always want no loiter hold if a - // mission is active - _loiter_hold = false; + /* home position updated */ + if (fds[2].revents & POLLIN) { + home_position_update(); + // XXX check if home position really changed + dispatch(EVENT_HOME_POSITION_CHANGED); + } - } else { + /* global position updated */ + if (fds[1].revents & POLLIN) { + global_position_update(); - if (!_loiter_hold) { - _loiter_hold_lat = _global_pos.lat / 1e7f; - _loiter_hold_lon = _global_pos.lon / 1e7f; - _loiter_hold_alt = _global_pos.alt; - _loiter_hold = true; - } + /* publish position setpoint triplet on each position update if navigator active */ + if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { + _pos_sp_triplet_updated = true; - //_parameters.loiter_hold_radius + if (myState == NAV_STATE_LAND && _global_pos.global_valid && !_global_pos_valid) { + /* got global position when landing, update setpoint */ + start_land(); } - } else if (0/* seatbelt mode enabled */) { - - /** SEATBELT FLIGHT **/ - continue; - - } else { - - /** MANUAL FLIGHT **/ + _global_pos_valid = _global_pos.global_valid; - /* no flight mode applies, do not publish an attitude setpoint */ - continue; + /* 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(); + } + } } - /******** MAIN NAVIGATION STATE MACHINE ********/ - - if (_global_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { - // XXX define launch position and return - - } else if (_global_triplet.current.nav_cmd == NAV_CMD_LAND) { - // XXX flared descent on final approach + /* 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) - } else if (_global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) { - - /* apply minimum pitch if altitude has not yet been reached */ - if (_global_pos.alt < _global_triplet.current.altitude) { - _att_sp.pitch_body = math::max(_att_sp.pitch_body, _global_triplet.current.param1); + /* 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; } - } - - /* lazily publish the setpoint only once available */ - if (_triplet_pub > 0) { - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_global_position_set_triplet), _triplet_pub, &_global_triplet); } else { - /* advertise and publish */ - _triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &_global_triplet); + /* Reset the _geofence_violation_warning_sent field */ + _geofence_violation_warning_sent = false; } + } + + /* publish position setpoint triplet if updated */ + if (_pos_sp_triplet_updated) { + _pos_sp_triplet_updated = false; + publish_position_setpoint_triplet(); + } + + /* notify user about state changes */ + if (myState != prevState) { + mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]); + prevState = myState; + /* reset time counter on state changes */ + _time_first_inside_orbit = 0; } perf_end(_loop_perf); } - warnx("exiting.\n"); + warnx("exiting."); _navigator_task = -1; _exit(0); @@ -543,11 +888,11 @@ Navigator::start() /* start the task */ _navigator_task = task_spawn_cmd("navigator", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2048, - (main_t)&Navigator::task_main_trampoline, - nullptr); + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2048, + (main_t)&Navigator::task_main_trampoline, + nullptr); if (_navigator_task < 0) { warn("task start failed"); @@ -557,20 +902,745 @@ Navigator::start() return OK; } +void +Navigator::status() +{ + warnx("Global position is %svalid", _global_pos.global_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"); +// 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; + } +} + +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}, + /* 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}, + }, + { + /* 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}, + }, + { + /* 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}, + }, + { + /* 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}, + }, + { + /* 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_home), NAV_STATE_LAND}, + /* 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 + }, + { + /* 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() +{ + _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; +} + +void +Navigator::start_ready() +{ + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.current.valid = true; + _pos_sp_triplet.next.valid = false; + + _pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE; + + _mission_item_valid = false; + + _reset_loiter_pos = true; + _do_takeoff = false; + + if (_rtl_state != RTL_STATE_DESCEND) { + /* reset RTL state if landed not at home */ + _rtl_state = RTL_STATE_NONE; + } + + _pos_sp_triplet_updated = true; +} + +void +Navigator::start_loiter() +{ + _do_takeoff = false; + + /* set loiter position if needed */ + if (_reset_loiter_pos || !_pos_sp_triplet.current.valid) { + _reset_loiter_pos = false; + + _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) { + _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 { + _pos_sp_triplet.current.alt = _global_pos.alt; + mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude"); + } + + } + _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; + _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; + + _pos_sp_triplet_updated = true; +} + +void +Navigator::start_mission() +{ + _need_takeoff = true; + + set_mission_item(); +} + +void +Navigator::set_mission_item() +{ + /* copy current mission to previous item */ + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + + _reset_loiter_pos = true; + _do_takeoff = false; + + int ret; + bool onboard; + unsigned index; + + ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index); + + if (ret == OK) { + /* reset time counter for new item */ + _time_first_inside_orbit = 0; + + _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 (_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); + } + + /* 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; + + /* move current position setpoint to next */ + memcpy(&_pos_sp_triplet.next, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); + + /* set current setpoint to takeoff */ + + _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.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 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_valid = false; + _pos_sp_triplet.current.valid = false; + warnx("ERROR: current WP can't be set"); + } + + if (!_do_takeoff) { + mission_item_s item_next; + ret = _mission.get_next_mission_item(&item_next); + + if (ret == OK) { + position_setpoint_from_mission_item(&_pos_sp_triplet.next, &item_next); + + } else { + /* this will fail for the last WP */ + _pos_sp_triplet.next.valid = false; + } + } + + _pos_sp_triplet_updated = true; +} + +void +Navigator::start_rtl() +{ + _do_takeoff = false; + + /* 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; + + } else { + _rtl_state = RTL_STATE_RETURN; + } + } + + /* 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_loiter_pos = true; + set_rtl_item(); +} + +void +Navigator::start_land() +{ + /* 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; + _mission_item.altitude = _global_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; +} + +void +Navigator::start_land_home() +{ + /* 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); + + _pos_sp_triplet.next.valid = false; +} + +void +Navigator::set_rtl_item() +{ + /*reset time counter for new RTL item */ + _time_first_inside_orbit = 0; + + 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_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(&_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 at %.1fm above home", _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_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; + } + + default: { + mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state); + start_loiter(); + break; + } + } + + _pos_sp_triplet_updated = true; +} + +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; + } + + 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_valid) { + return false; + } + + if (_mission_item.nav_cmd == NAV_CMD_LAND) { + 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) { + + return false; + } + + uint64_t now = hrt_absolute_time(); + + if (!_waypoint_position_reached) { + float 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; + } + + float dist = -1.0f; + 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; + + 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; + } + } + } + + if (!_waypoint_yaw_reached) { + 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.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; + } + } + + /* 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, "[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.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; + +} + +void +Navigator::on_mission_item_reached() +{ + if (myState == NAV_STATE_MISSION) { + if (_do_takeoff) { + /* 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()) { + 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 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); + } +} + +void +Navigator::publish_position_setpoint_triplet() +{ + /* update navigation state */ + _pos_sp_triplet.nav_state = static_cast<nav_state_t>(myState); + + /* 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); + } +} + +void Navigator::add_fence_point(int argc, char *argv[]) +{ + _geofence.addPoint(argc, argv); +} + +void Navigator::load_fence_from_file(const char *filename) +{ + _geofence.loadFromFile(filename); +} + + +static void usage() +{ + errx(1, "usage: navigator {start|stop|status|fence|fencefile}"); +} + int navigator_main(int argc, char *argv[]) { - if (argc < 1) - errx(1, "usage: navigator {start|stop|status}"); + if (argc < 2) { + usage(); + } if (!strcmp(argv[1], "start")) { - if (navigator::g_navigator != nullptr) + if (navigator::g_navigator != nullptr) { errx(1, "already running"); + } navigator::g_navigator = new Navigator; - if (navigator::g_navigator == nullptr) + if (navigator::g_navigator == nullptr) { errx(1, "alloc failed"); + } if (OK != navigator::g_navigator->start()) { delete navigator::g_navigator; @@ -578,27 +1648,28 @@ int navigator_main(int argc, char *argv[]) err(1, "start failed"); } - exit(0); + return 0; } - if (!strcmp(argv[1], "stop")) { - if (navigator::g_navigator == nullptr) - errx(1, "not running"); + if (navigator::g_navigator == nullptr) + errx(1, "not running"); + if (!strcmp(argv[1], "stop")) { delete navigator::g_navigator; navigator::g_navigator = nullptr; - exit(0); - } - if (!strcmp(argv[1], "status")) { - if (navigator::g_navigator) { - errx(0, "running"); + } else if (!strcmp(argv[1], "status")) { + navigator::g_navigator->status(); - } else { - errx(1, "not running"); - } + } 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); + + } else { + usage(); } - warnx("unrecognized command"); - return 1; + return 0; } |