From b1008842204418f5d8cd0475547ecfb8f378b4c7 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 17 Aug 2014 12:07:02 +0200 Subject: geofence: support AMSL mode --- src/modules/navigator/geofence.cpp | 22 ++++++++++++------ src/modules/navigator/geofence.h | 40 +++++++++++++++++++++----------- src/modules/navigator/geofence_params.c | 12 ++++++++++ src/modules/navigator/navigator.h | 8 +++++++ src/modules/navigator/navigator_main.cpp | 27 +++++++++++++++++++-- 5 files changed, 86 insertions(+), 23 deletions(-) (limited to 'src/modules/navigator') diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 266215308..2b9ce752b 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -62,7 +62,8 @@ Geofence::Geofence() : _altitude_min(0), _altitude_max(0), _verticesCount(0), - param_geofence_on(this, "ON") + _param_geofence_on(this, "ON"), + _param_altitude_mode(this, "ALTMODE") { /* Load initial params */ updateParams(); @@ -74,19 +75,26 @@ Geofence::~Geofence() } -bool Geofence::inside(const struct vehicle_global_position_s *vehicle) +bool Geofence::inside(const struct vehicle_global_position_s &global_position) { - double lat = vehicle->lat / 1e7d; - double lon = vehicle->lon / 1e7d; - //float alt = vehicle->alt; + double lat = global_position.lat / 1e7d; + double lon = global_position.lon / 1e7d; - return inside(lat, lon, vehicle->alt); + return inside(lat, lon, global_position.alt); +} + +bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl) { + + double lat = global_position.lat / 1e7d; + double lon = global_position.lon / 1e7d; + + return inside(lat, lon, baro_altitude_amsl); } bool Geofence::inside(double lat, double lon, float altitude) { /* Return true if geofence is disabled */ - if (param_geofence_on.get() != 1) + if (_param_geofence_on.get() != 1) return true; if (valid()) { diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 2eb126ab5..e2c0f08d8 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -42,6 +42,8 @@ #define GEOFENCE_H_ #include +#include +#include #include #include @@ -49,29 +51,25 @@ class Geofence : public control::SuperBlock { -private: - orb_advert_t _fence_pub; /**< publish fence topic */ - - float _altitude_min; - float _altitude_max; - - unsigned _verticesCount; - - /* Params */ - control::BlockParamInt param_geofence_on; public: Geofence(); ~Geofence(); + /* Altitude mode, corresponding to the param GF_ALTMODE */ + enum { + GF_ALT_MODE_GPS = 0, + GF_ALT_MODE_AMSL = 1 + }; + /** - * Return whether craft is inside geofence. + * Return whether system is inside geofence. * * Calculate whether point is inside arbitrary polygon * @param craft pointer craft coordinates - * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected - * @return true: craft is inside fence, false:craft is outside fence + * @return true: system is inside fence, false: system is outside fence */ - bool inside(const struct vehicle_global_position_s *craft); + bool inside(const struct vehicle_global_position_s &global_position); + bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl); bool inside(double lat, double lon, float altitude); int clearDm(); @@ -88,6 +86,20 @@ public: int loadFromFile(const char *filename); bool isEmpty() {return _verticesCount == 0;} + + int getAltitudeMode() { return _param_altitude_mode.get(); } + +private: + orb_advert_t _fence_pub; /**< publish fence topic */ + + float _altitude_min; + float _altitude_max; + + unsigned _verticesCount; + + /* Params */ + control::BlockParamInt _param_geofence_on; + control::BlockParamInt _param_altitude_mode; }; diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 653b1ad84..29b42cd54 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -58,3 +58,15 @@ * @group Geofence */ PARAM_DEFINE_INT32(GF_ON, 1); + +/** + * Geofence altitude mode + * + * Select which altitude reference should be used + * 0 = GPS, 1 = AMSL + * + * @min 0 + * @max 1 + * @group Geofence + */ +PARAM_DEFINE_INT32(GF_ALTMODE, 1); diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 536977972..59a6752a9 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -120,6 +120,7 @@ public: struct vehicle_status_s* get_vstatus() { return &_vstatus; } struct vehicle_control_mode_s* get_control_mode() { return &_control_mode; } struct vehicle_global_position_s* get_global_position() { return &_global_pos; } + struct sensor_combined_s* get_sensor_combined() { return &_sensor_combined; } struct home_position_s* get_home_position() { return &_home_pos; } struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } struct mission_result_s* get_mission_result() { return &_mission_result; } @@ -141,6 +142,7 @@ private: int _mavlink_fd; /**< the file descriptor to send messages over mavlink */ int _global_pos_sub; /**< global position subscription */ + int _sensor_combined_sub; /**< sensor combined subscription */ int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ @@ -156,6 +158,7 @@ private: vehicle_status_s _vstatus; /**< vehicle status */ vehicle_control_mode_s _control_mode; /**< vehicle control mode */ vehicle_global_position_s _global_pos; /**< global vehicle position */ + sensor_combined_s _sensor_combined; /**< sensor values */ home_position_s _home_pos; /**< home position for RTL */ mission_item_s _mission_item; /**< current mission item */ navigation_capabilities_s _nav_caps; /**< navigation capabilities */ @@ -195,6 +198,11 @@ private: */ void global_position_update(); + /** + * Retrieve sensor values + */ + void sensor_combined_update(); + /** * Retrieve home position */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 18bfc2cec..d77acf74e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -69,6 +69,7 @@ #include #include #include +#include #include #include @@ -112,6 +113,7 @@ Navigator::Navigator() : _vstatus{}, _control_mode{}, _global_pos{}, + _sensor_combined{}, _home_pos{}, _mission_item{}, _nav_caps{}, @@ -178,6 +180,12 @@ Navigator::global_position_update() orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); } +void +Navigator::sensor_combined_update() +{ + orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); +} + void Navigator::home_position_update() { @@ -248,6 +256,7 @@ 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)); @@ -261,6 +270,7 @@ Navigator::task_main() vehicle_status_update(); vehicle_control_mode_update(); global_position_update(); + sensor_combined_update(); home_position_update(); navigation_capabilities_update(); params_update(); @@ -272,7 +282,7 @@ 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; @@ -287,6 +297,8 @@ 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) { @@ -311,6 +323,11 @@ 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(); @@ -342,7 +359,13 @@ 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) { -- cgit v1.2.3