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Diffstat (limited to 'src/modules/navigator/rtl.cpp')
-rw-r--r-- | src/modules/navigator/rtl.cpp | 253 |
1 files changed, 253 insertions, 0 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp new file mode 100644 index 000000000..b8ea06275 --- /dev/null +++ b/src/modules/navigator/rtl.cpp @@ -0,0 +1,253 @@ +/**************************************************************************** + * + * 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 "rtl.h" + + +RTL::RTL() : + SuperBlock(NULL, "RTL"), + _mavlink_fd(-1), + _rtl_state(RTL_STATE_NONE), + _home_position({}), + _param_return_alt(this, "RETURN_ALT"), + _param_descend_alt(this, "DESCEND_ALT"), + _param_land_delay(this, "LAND_DELAY"), + _loiter_radius(50), + _acceptance_radius(50) +{ + /* load initial params */ + updateParams(); +} + +RTL::~RTL() +{ +} + +void +RTL::set_home_position(const home_position_s *new_home_position) +{ + memcpy(&_home_position, new_home_position, sizeof(home_position_s)); +} + +bool +RTL::get_current_rtl_item(const vehicle_global_position_s *global_position, mission_item_s *new_mission_item) +{ + /* Open mavlink fd */ + if (_mavlink_fd < 0) { + /* try to open the mavlink log device every once in a while */ + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + } + + /* decide if we need climb */ + if (_rtl_state == RTL_STATE_NONE) { + if (global_position->alt < _home_position.alt + _param_return_alt.get()) { + _rtl_state = RTL_STATE_CLIMB; + + } else { + _rtl_state = RTL_STATE_RETURN; + } + } + + /* if switching directly to return state, set altitude setpoint to current altitude */ + if (_rtl_state == RTL_STATE_RETURN) { + new_mission_item->altitude_is_relative = false; + new_mission_item->altitude = global_position->alt; + } + + switch (_rtl_state) { + case RTL_STATE_CLIMB: { + + float climb_alt = _home_position.alt + _param_return_alt.get(); + + /* TODO understand and fix this */ + // if (_vstatus.condition_landed) { + // climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt); + // } + + new_mission_item->lat = global_position->lat; + new_mission_item->lon = global_position->lon; + new_mission_item->altitude_is_relative = false; + new_mission_item->altitude = climb_alt; + new_mission_item->yaw = NAN; + new_mission_item->loiter_radius = _loiter_radius; + new_mission_item->loiter_direction = 1; + new_mission_item->nav_cmd = NAV_CMD_WAYPOINT; + new_mission_item->acceptance_radius = _acceptance_radius; + new_mission_item->time_inside = 0.0f; + new_mission_item->pitch_min = 0.0f; + new_mission_item->autocontinue = true; + new_mission_item->origin = ORIGIN_ONBOARD; + + mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %d meters above home", + (int)(climb_alt - _home_position.alt)); + break; + } + case RTL_STATE_RETURN: { + + new_mission_item->lat = _home_position.lat; + new_mission_item->lon = _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 */ + // new_mission_item->yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, new_mission_item->lat, new_mission_item->lon); + + // } else { + // /* else use current position */ + // new_mission_item->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, new_mission_item->lat, new_mission_item->lon); + // } + new_mission_item->loiter_radius = _loiter_radius; + new_mission_item->loiter_direction = 1; + new_mission_item->nav_cmd = NAV_CMD_WAYPOINT; + new_mission_item->acceptance_radius = _acceptance_radius; + new_mission_item->time_inside = 0.0f; + new_mission_item->pitch_min = 0.0f; + new_mission_item->autocontinue = true; + new_mission_item->origin = ORIGIN_ONBOARD; + + mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %d meters above home", + (int)(new_mission_item->altitude - _home_position.alt)); + break; + } + + case RTL_STATE_DESCEND: { + + new_mission_item->lat = _home_position.lat; + new_mission_item->lon = _home_position.lon; + new_mission_item->altitude_is_relative = false; + new_mission_item->altitude = _home_position.alt + _param_descend_alt.get(); + new_mission_item->yaw = NAN; + new_mission_item->loiter_radius = _loiter_radius; + new_mission_item->loiter_direction = 1; + new_mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + new_mission_item->acceptance_radius = _acceptance_radius; + new_mission_item->time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get(); + new_mission_item->pitch_min = 0.0f; + new_mission_item->autocontinue = _param_land_delay.get() > -0.001f; + new_mission_item->origin = ORIGIN_ONBOARD; + + mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %d meters above home", + (int)(new_mission_item->altitude - _home_position.alt)); + break; + } + + case RTL_STATE_LAND: { + + new_mission_item->lat = _home_position.lat; + new_mission_item->lon = _home_position.lon; + new_mission_item->altitude_is_relative = false; + new_mission_item->altitude = _home_position.alt; + new_mission_item->yaw = NAN; + new_mission_item->loiter_radius = _loiter_radius; + new_mission_item->loiter_direction = 1; + new_mission_item->nav_cmd = NAV_CMD_LAND; + new_mission_item->acceptance_radius = _acceptance_radius; + new_mission_item->time_inside = 0.0f; + new_mission_item->pitch_min = 0.0f; + new_mission_item->autocontinue = true; + new_mission_item->origin = ORIGIN_ONBOARD; + + mavlink_log_info(_mavlink_fd, "#audio: RTL: land at home"); + break; + } + + case RTL_STATE_FINISHED: { + /* nothing to do, report fail */ + return false; + } + + default: + return false; + } + + return true; +} + +bool +RTL::get_next_rtl_item(mission_item_s *new_mission_item) +{ + /* TODO implement */ + return false; +} + +void +RTL::move_to_next() +{ + 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; + } +} |