1 files changed, 282 insertions, 0 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
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+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file navigator_rtl.cpp
+ * Helper class to access RTL
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/home_position.h>
+
+#include "navigator.h"
+#include "rtl.h"
+
+RTL::RTL(Navigator *navigator, const char *name) :
+	NavigatorMode(navigator, name),
+	MissionBlock(navigator),
+	_rtl_state(RTL_STATE_NONE),
+	_param_return_alt(this, "RETURN_ALT"),
+	_param_descend_alt(this, "DESCEND_ALT"),
+	_param_land_delay(this, "LAND_DELAY"),
+	_param_acceptance_radius(this, "ACCEPT_RAD")
+{
+	/* load initial params */
+	updateParams();
+	/* initial reset */
+	reset();
+}
+
+RTL::~RTL()
+{
+}
+
+void
+RTL::reset()
+{
+	_first_run = true;
+	_rtl_state = RTL_STATE_NONE;
+}
+
+bool
+RTL::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+{
+	bool updated = false;
+
+	if (_first_run) {
+		set_rtl_item(pos_sp_triplet);
+		updated = true;
+		_first_run = false;
+	}
+
+	if ((_rtl_state == RTL_STATE_CLIMB
+	     || _rtl_state == RTL_STATE_RETURN)
+	    && is_mission_item_reached()) {
+		advance_rtl();
+		set_rtl_item(pos_sp_triplet);
+		updated = true;
+	}
+
+	return updated;
+}
+
+void
+RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
+{
+	/* make sure we have the latest params */
+	updateParams();
+
+	/* decide where to enter the RTL procedure when we switch into it */
+	if (_rtl_state == RTL_STATE_NONE) {
+		/* for safety reasons don't go into RTL if landed */
+		if (_navigator->get_vstatus()->condition_landed) {
+			_rtl_state = RTL_STATE_FINISHED;
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
+		/* if lower than return altitude, climb up first */
+		} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+			   + _param_return_alt.get()) {
+			_rtl_state = RTL_STATE_CLIMB;
+		/* otherwise go straight to return */
+		} else {
+			_rtl_state = RTL_STATE_RETURN;
+		}
+	}
+
+	/* if switching directly to return state, set altitude setpoint to current altitude */
+	if (_rtl_state == RTL_STATE_RETURN) {
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_global_position()->alt;
+	}
+
+	switch (_rtl_state) {
+	case RTL_STATE_CLIMB: {
+
+		float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
+
+		_mission_item.lat = _navigator->get_global_position()->lat;
+		_mission_item.lon = _navigator->get_global_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = climb_alt;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(false);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home",
+			(int)(climb_alt - _navigator->get_home_position()->alt));
+		break;
+	}
+	case RTL_STATE_RETURN: {
+
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+
+		/* TODO: add this again */
+		// 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 = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(false);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home",
+			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
+		break;
+	}
+	case RTL_STATE_DESCEND: {
+
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = _param_land_delay.get() > -0.001f;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(true);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home",
+			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
+		break;
+	}
+
+	case RTL_STATE_LAND: {
+
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LAND;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(false);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home");
+		break;
+	}
+
+	case RTL_STATE_FINISHED: {
+		/* nothing to do, report fail */
+	}
+
+	default:
+		break;
+	}
+
+	if (_rtl_state == RTL_STATE_FINISHED) {
+		pos_sp_triplet->current.valid = false;
+		pos_sp_triplet->next.valid = false;
+	} else {
+		/* if not finished, convert mission item to current position setpoint and make it valid */
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+		reset_mission_item_reached();
+		pos_sp_triplet->current.valid = true;
+		pos_sp_triplet->next.valid = false;
+	}
+}
+
+void
+RTL::advance_rtl()
+{
+	switch (_rtl_state) {
+	case RTL_STATE_CLIMB:
+		_rtl_state = RTL_STATE_RETURN;
+		break;
+
+	case RTL_STATE_RETURN:
+		_rtl_state = RTL_STATE_DESCEND;
+		break;
+
+	case RTL_STATE_DESCEND:
+		/* only go to land if autoland is enabled */
+		if (_param_land_delay.get() < 0) {
+			_rtl_state = RTL_STATE_FINISHED;
+		} else {
+			_rtl_state = RTL_STATE_LAND;
+		}
+		break;
+
+	case RTL_STATE_LAND:
+		_rtl_state = RTL_STATE_FINISHED;
+		break;
+
+	case RTL_STATE_FINISHED:
+		break;
+
+	default:
+		break;
+	}
+}