From 2a09473e5fc73bf2f59f0d27b0b5c38b2c91812f Mon Sep 17 00:00:00 2001 From: Ban Siesta Date: Fri, 19 Dec 2014 22:26:31 +0000 Subject: topics: move geofence status to its own topic --- src/modules/uORB/topics/geofence_result.h | 65 +++++++++++++++++++++++++++++++ src/modules/uORB/topics/mission_result.h | 11 +++--- 2 files changed, 71 insertions(+), 5 deletions(-) create mode 100644 src/modules/uORB/topics/geofence_result.h (limited to 'src/modules/uORB/topics') diff --git a/src/modules/uORB/topics/geofence_result.h b/src/modules/uORB/topics/geofence_result.h new file mode 100644 index 000000000..b07e04499 --- /dev/null +++ b/src/modules/uORB/topics/geofence_result.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (C) 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 geofence_result.h + * Status of the plance concerning the geofence + * + * @author Ban Siesta + */ + +#ifndef TOPIC_GEOFENCE_RESULT_H +#define TOPIC_GEOFENCE_RESULT_H + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct geofence_result_s +{ + bool geofence_violated; /**< true if the geofence is violated */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(geofence_result); + +#endif diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index c7d25d1f0..17ddaa01d 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Lorenz Meier + * Copyright (C) 2012-2014 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 @@ -37,6 +34,11 @@ /** * @file mission_result.h * Mission results that navigator needs to pass on to commander and mavlink. + * + * @author Thomas Gubler + * @author Julian Oes + * @author Lorenz Meier + * @author Ban Siesta */ #ifndef TOPIC_MISSION_RESULT_H @@ -58,7 +60,6 @@ struct mission_result_s bool reached; /**< true if mission has been reached */ bool finished; /**< true if mission has been completed */ bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/ - bool geofence_violated; /**< true if the geofence is violated */ bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */ }; -- cgit v1.2.3 From 180e17de335f337b17c0c411d0eb430cec760619 Mon Sep 17 00:00:00 2001 From: Ban Siesta Date: Fri, 19 Dec 2014 23:38:55 +0000 Subject: navigator: report using mission result if a DO_JUMP waypoint has been changed --- src/modules/mavlink/mavlink_mission.cpp | 8 +++++++- src/modules/navigator/mission.cpp | 12 ++++++++++++ src/modules/navigator/mission.h | 6 ++++++ src/modules/uORB/topics/mission_result.h | 3 +++ 4 files changed, 28 insertions(+), 1 deletion(-) (limited to 'src/modules/uORB/topics') diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 34c088778..859d380fe 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -309,6 +309,12 @@ MavlinkMissionManager::send(const hrt_abstime now) send_mission_current(_current_seq); + if (mission_result.item_do_jump_changed) { + /* send a mission item again if the remaining DO_JUMPs has changed */ + send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, + (uint16_t)mission_result.item_changed_index); + } + } else { if (_slow_rate_limiter.check(now)) { send_mission_current(_current_seq); @@ -808,7 +814,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s * case NAV_CMD_DO_JUMP: mavlink_mission_item->param1 = mission_item->do_jump_mission_index; - mavlink_mission_item->param2 = mission_item->do_jump_repeat_count; + mavlink_mission_item->param2 = mission_item->do_jump_repeat_count - mission_item->do_jump_current_count; break; default: diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 3f0a6bb51..9b0a092da 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -630,6 +630,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s "ERROR DO JUMP waypoint could not be written"); return false; } + report_do_jump_mission_changed(*mission_index_ptr, + mission_item_tmp.do_jump_repeat_count); } /* set new mission item index and repeat * we don't have to validate here, if it's invalid, we should realize this later .*/ @@ -700,6 +702,16 @@ Mission::save_offboard_mission_state() dm_unlock(DM_KEY_MISSION_STATE); } +void +Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining) +{ + /* inform about the change */ + _navigator->get_mission_result()->item_do_jump_changed = true; + _navigator->get_mission_result()->item_changed_index = index; + _navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining; + _navigator->set_mission_result_updated(); +} + void Mission::set_mission_item_reached() { diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index ea7cc0927..a8a644b0f 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -38,6 +38,7 @@ * @author Julian Oes * @author Thomas Gubler * @author Anton Babushkin + * @author Ban Siesta */ #ifndef NAVIGATOR_MISSION_H @@ -130,6 +131,11 @@ private: */ void save_offboard_mission_state(); + /** + * Inform about a changed mission item after a DO_JUMP + */ + void report_do_jump_mission_changed(int index, int do_jumps_remaining); + /** * Set a mission item as reached */ diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index 17ddaa01d..2ddc529a3 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -61,6 +61,9 @@ struct mission_result_s bool finished; /**< true if mission has been completed */ bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/ bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */ + bool item_do_jump_changed; /**< true if the number of do jumps remaining has changed */ + unsigned item_changed_index; /**< indicate which item has changed */ + unsigned item_do_jump_remaining;/**< set to the number of do jumps remaining for that item */ }; /** -- cgit v1.2.3