From 456e628e129b446d18246ab8ad312a15beea5996 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 28 Jun 2014 00:54:27 +0200 Subject: navigator: NavigatorMode and MissionBlock API cleanup --- src/modules/navigator/loiter.cpp | 18 ++++++--- src/modules/navigator/loiter.h | 14 +------ src/modules/navigator/mission.cpp | 14 +++++-- src/modules/navigator/mission.h | 14 +------ src/modules/navigator/mission_block.cpp | 65 ++++++++++++++++++-------------- src/modules/navigator/mission_block.h | 14 +++---- src/modules/navigator/navigator_main.cpp | 6 +-- src/modules/navigator/navigator_mode.cpp | 34 +++++++++++++++-- src/modules/navigator/navigator_mode.h | 12 +++++- src/modules/navigator/rtl.cpp | 62 ++++++++++++++---------------- src/modules/navigator/rtl.h | 20 ++-------- 11 files changed, 144 insertions(+), 129 deletions(-) (limited to 'src/modules') diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 542483fb1..5e7067b0e 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -65,14 +65,22 @@ Loiter::~Loiter() { } -bool -Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Loiter::on_inactive() { - /* set loiter item, don't reuse an existing position setpoint */ - return set_loiter_item(pos_sp_triplet); } void -Loiter::on_inactive() +Loiter::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + set_loiter_item(pos_sp_triplet); + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; +} + +bool +Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) { + return false; } diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h index 65ff5c31e..5ce86d2a7 100644 --- a/src/modules/navigator/loiter.h +++ b/src/modules/navigator/loiter.h @@ -50,24 +50,14 @@ class Loiter : public MissionBlock { public: - /** - * Constructor - */ Loiter(Navigator *navigator, const char *name); - /** - * Destructor - */ ~Loiter(); - /** - * This function is called while the mode is inactive - */ virtual void on_inactive(); - /** - * This function is called while the mode is active - */ + virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); }; diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 72255103b..395669698 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -82,8 +82,6 @@ Mission::~Mission() void Mission::on_inactive() { - _first_run = true; - /* check anyway if missions have changed so that feedback to groundstation is given */ bool onboard_updated; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); @@ -98,6 +96,12 @@ Mission::on_inactive() } } +void +Mission::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + set_mission_items(pos_sp_triplet); +} + bool Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) { @@ -117,10 +121,9 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) } /* reset mission items if needed */ - if (onboard_updated || offboard_updated || _first_run) { + if (onboard_updated || offboard_updated) { set_mission_items(pos_sp_triplet); updated = true; - _first_run = false; } /* lets check if we reached the current mission item */ @@ -255,6 +258,9 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); set_loiter_item(pos_sp_triplet); + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; reset_mission_item_reached(); report_mission_finished(); } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index 6e4761946..38a4f7612 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -65,24 +65,14 @@ class Navigator; class Mission : public MissionBlock { public: - /** - * Constructor - */ Mission(Navigator *navigator, const char *name); - /** - * Destructor - */ virtual ~Mission(); - /** - * This function is called while the mode is inactive - */ virtual void on_inactive(); - /** - * This function is called while the mode is active - */ + virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); private: diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 9b8d3d9c7..acf3ad569 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -45,6 +45,7 @@ #include #include +#include #include @@ -207,36 +208,44 @@ MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_ } } -bool +void MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet) { - /* don't change setpoint if 'can_loiter_at_sp' flag set */ - if (!(_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) { - /* use current position */ - pos_sp_triplet->current.lat = _navigator->get_global_position()->lat; - pos_sp_triplet->current.lon = _navigator->get_global_position()->lon; - pos_sp_triplet->current.alt = _navigator->get_global_position()->alt; - pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */ - - _navigator->set_can_loiter_at_sp(true); - } + if (_navigator->get_vstatus()->condition_landed) { + /* landed, don't takeoff, but switch to IDLE mode */ + _mission_item.nav_cmd = NAV_CMD_IDLE; - if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER - || pos_sp_triplet->current.loiter_radius != _navigator->get_loiter_radius() - || pos_sp_triplet->current.loiter_direction != 1 - || pos_sp_triplet->previous.valid - || !pos_sp_triplet->current.valid - || pos_sp_triplet->next.valid) { - /* position setpoint triplet should be updated */ - pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER; - pos_sp_triplet->current.loiter_radius = _navigator->get_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; - return true; - } + _navigator->set_can_loiter_at_sp(false); + + mavlink_log_info(_navigator->get_mavlink_fd(), "landed, switch to IDLE"); + + } else { + _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; - return false; + if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) { + /* use current position setpoint */ + _mission_item.lat = pos_sp_triplet->current.lat; + _mission_item.lon = pos_sp_triplet->current.lon; + _mission_item.altitude = pos_sp_triplet->current.alt; + + } else { + /* use current position */ + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.altitude = _navigator->get_global_position()->alt; + } + + _mission_item.altitude_is_relative = false; + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.loiter_direction = 1; + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.time_inside = 0.0f; + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = false; + _mission_item.origin = ORIGIN_ONBOARD; + + _navigator->set_can_loiter_at_sp(true); + mavlink_log_info(_navigator->get_mavlink_fd(), "switch to LOITER"); + } } diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h index f99002752..4f79238f4 100644 --- a/src/modules/navigator/mission_block.h +++ b/src/modules/navigator/mission_block.h @@ -64,6 +64,7 @@ public: */ virtual ~MissionBlock(); +protected: /** * Check if mission item has been reached * @return true if successfully reached @@ -88,19 +89,16 @@ public: void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet); /** - * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position - * - * @param the position setpoint triplet to set - * @return true if setpoint has changed + * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position */ - bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet); + // TODO remove argument, get position setpoint from navigator, add to arguments pointer to mission item instead + void set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet); + mission_item_s _mission_item; + bool _mission_item_valid; bool _waypoint_position_reached; bool _waypoint_yaw_reached; hrt_abstime _time_first_inside_orbit; - - mission_item_s _mission_item; - bool _mission_item_valid; }; #endif diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 546602741..266114e38 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -371,11 +371,7 @@ Navigator::task_main() /* iterate through navigation modes and set active/inactive for each */ for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { - if (_navigation_mode == _navigation_mode_array[i]) { - _update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet); - } else { - _navigation_mode_array[i]->on_inactive(); - } + _update_triplet = _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i], &_pos_sp_triplet); } /* if nothing is running, set position setpoint triplet invalid */ diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index 25e767c2b..6361ea9c8 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -33,9 +33,10 @@ /** * @file navigator_mode.cpp * - * Helper class for different modes in navigator + * Base class for different modes in navigator * * @author Julian Oes + * @author Anton Babushkin */ #include "navigator_mode.h" @@ -55,16 +56,41 @@ NavigatorMode::~NavigatorMode() { } +bool +NavigatorMode::run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet) { + if (active) { + if (_first_run) { + /* first run */ + _first_run = false; + on_activation(pos_sp_triplet); + return true; + + } else { + /* periodic updates when active */ + on_active(pos_sp_triplet); + } + + } else { + /* periodic updates when inactive */ + _first_run = true; + on_inactive(); + } +} + void NavigatorMode::on_inactive() { - _first_run = true; +} + +void +NavigatorMode::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + /* invalidate position setpoint by default */ + pos_sp_triplet->current.valid = false; } bool NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) { - pos_sp_triplet->current.valid = false; - _first_run = false; return false; } diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h index cbb53d91b..5c36af1fe 100644 --- a/src/modules/navigator/navigator_mode.h +++ b/src/modules/navigator/navigator_mode.h @@ -33,9 +33,10 @@ /** * @file navigator_mode.h * - * Helper class for different modes in navigator + * Base class for different modes in navigator * * @author Julian Oes + * @author Anton Babushkin */ #ifndef NAVIGATOR_MODE_H @@ -65,11 +66,18 @@ public: */ virtual ~NavigatorMode(); + bool run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet); + /** * This function is called while the mode is inactive */ virtual void on_inactive(); + /** + * This function is called one time when mode become active, poos_sp_triplet must be initialized here + */ + virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet); + /** * This function is called while the mode is active * @@ -80,6 +88,8 @@ public: protected: Navigator *_navigator; + +private: bool _first_run; }; diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 043f773a4..7cf6bb1a8 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -75,53 +75,49 @@ RTL::~RTL() void RTL::on_inactive() { - _first_run = true; - /* reset RTL state only if setpoint moved */ if (!_navigator->get_can_loiter_at_sp()) { _rtl_state = RTL_STATE_NONE; } } -bool -RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) { - bool updated = false; - - if (_first_run) { - _first_run = false; - - /* 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_LANDED; - 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 { - /* set altitude setpoint to current altitude */ - _rtl_state = RTL_STATE_RETURN; - _mission_item.altitude_is_relative = false; - _mission_item.altitude = _navigator->get_global_position()->alt; - } + /* 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_LANDED; + 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 { + /* set altitude setpoint to current altitude */ + _rtl_state = RTL_STATE_RETURN; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _navigator->get_global_position()->alt; } + } - set_rtl_item(pos_sp_triplet); - updated = true; + set_rtl_item(pos_sp_triplet); +} - } else if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) { +bool +RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) { advance_rtl(); set_rtl_item(pos_sp_triplet); - updated = true; + return true; } - return updated; + return false; } void diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index b4b729e89..9c8b3fdfc 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -57,29 +57,15 @@ class Navigator; class RTL : public MissionBlock { public: - /** - * Constructor - */ RTL(Navigator *navigator, const char *name); - /** - * Destructor - */ ~RTL(); - /** - * This function is called while the mode is inactive - */ - void on_inactive(); + virtual void on_inactive(); - /** - * This function is called while the mode is active - * - * @param position setpoint triplet that needs to be set - * @return true if updated - */ - bool on_active(position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(position_setpoint_triplet_s *pos_sp_triplet); + virtual bool on_active(position_setpoint_triplet_s *pos_sp_triplet); private: /** -- cgit v1.2.3 From 12be974bd67676ef243d069593b179108976da22 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 29 Jun 2014 13:07:38 +0200 Subject: navigator: whitespace fix --- src/modules/navigator/mission.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 395669698..ab99a6b7e 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -255,7 +255,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: no mission available"); } _mission_type = MISSION_TYPE_NONE; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); set_loiter_item(pos_sp_triplet); pos_sp_triplet->previous.valid = false; -- cgit v1.2.3 From 0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 29 Jun 2014 14:09:22 +0200 Subject: navigator: API changes, reparing to move manual modes to navigator, WIP --- src/modules/navigator/loiter.cpp | 21 ++++++++----- src/modules/navigator/loiter.h | 4 +-- src/modules/navigator/mission.cpp | 42 ++++++++++++------------- src/modules/navigator/mission.h | 6 ++-- src/modules/navigator/mission_block.cpp | 53 +++++++++++++++----------------- src/modules/navigator/mission_block.h | 4 +-- src/modules/navigator/navigator.h | 4 ++- src/modules/navigator/navigator_main.cpp | 11 ++++--- src/modules/navigator/navigator_mode.cpp | 19 ++++++------ src/modules/navigator/navigator_mode.h | 9 ++---- 10 files changed, 87 insertions(+), 86 deletions(-) (limited to 'src/modules') diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 5e7067b0e..f827e70c9 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -36,6 +36,7 @@ * Helper class to loiter * * @author Julian Oes + * @author Anton Babushkin */ #include @@ -51,14 +52,13 @@ #include #include "loiter.h" +#include "navigator.h" Loiter::Loiter(Navigator *navigator, const char *name) : MissionBlock(navigator, name) { /* load initial params */ updateParams(); - /* initial reset */ - on_inactive(); } Loiter::~Loiter() @@ -71,16 +71,23 @@ Loiter::on_inactive() } void -Loiter::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +Loiter::on_activation() { - set_loiter_item(pos_sp_triplet); + /* set current mission item to loiter */ + set_loiter_item(&_mission_item); + + /* convert mission item to current setpoint */ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); pos_sp_triplet->previous.valid = false; mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; + + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); + + _navigator->set_position_setpoint_triplet_updated(); } -bool -Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Loiter::on_active() { - return false; } diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h index 5ce86d2a7..37ab57a07 100644 --- a/src/modules/navigator/loiter.h +++ b/src/modules/navigator/loiter.h @@ -56,9 +56,9 @@ public: virtual void on_inactive(); - virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(); - virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_active(); }; #endif diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index ab99a6b7e..1e86b1b6c 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -54,8 +54,8 @@ #include #include -#include "navigator.h" #include "mission.h" +#include "navigator.h" Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), @@ -97,16 +97,14 @@ Mission::on_inactive() } void -Mission::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +Mission::on_activation() { - set_mission_items(pos_sp_triplet); + set_mission_items(); } -bool -Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Mission::on_active() { - bool updated = false; - /* check if anything has changed */ bool onboard_updated; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); @@ -122,18 +120,18 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) /* reset mission items if needed */ if (onboard_updated || offboard_updated) { - set_mission_items(pos_sp_triplet); - updated = true; + set_mission_items(); + + _navigator->set_position_setpoint_triplet_updated(); } /* lets check if we reached the current mission item */ if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { advance_mission(); - set_mission_items(pos_sp_triplet); - updated = true; - } + set_mission_items(); - return updated; + _navigator->set_position_setpoint_triplet_updated(); + } } void @@ -223,8 +221,10 @@ Mission::advance_mission() } void -Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) +Mission::set_mission_items() { + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + set_previous_pos_setpoint(pos_sp_triplet); /* try setting onboard mission item */ @@ -235,7 +235,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: onboard mission running"); } _mission_type = MISSION_TYPE_ONBOARD; - _navigator->set_can_loiter_at_sp(false); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); /* try setting offboard mission item */ } else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) { @@ -245,7 +245,8 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: offboard mission running"); } _mission_type = MISSION_TYPE_OFFBOARD; - _navigator->set_can_loiter_at_sp(false); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); + } else { if (_mission_type != MISSION_TYPE_NONE) { mavlink_log_info(_navigator->get_mavlink_fd(), @@ -255,12 +256,15 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: no mission available"); } _mission_type = MISSION_TYPE_NONE; + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); - set_loiter_item(pos_sp_triplet); + set_loiter_item(&_mission_item); + pos_sp_triplet->previous.valid = false; mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; + reset_mission_item_reached(); report_mission_finished(); } @@ -279,7 +283,6 @@ Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current &new_mission_item)) { /* convert the current mission item and set it valid */ mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); - current_pos_sp->valid = true; reset_mission_item_reached(); @@ -306,7 +309,6 @@ Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *curren if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) { /* convert the current mission item and set it valid */ mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); - current_pos_sp->valid = true; reset_mission_item_reached(); @@ -330,7 +332,6 @@ Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp) if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) { /* convert next mission item to position setpoint */ mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - next_pos_sp->valid = true; return; } } @@ -358,7 +359,6 @@ Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp) if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) { /* convert next mission item to position setpoint */ mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - next_pos_sp->valid = true; return; } } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index 38a4f7612..ac293990f 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -71,9 +71,9 @@ public: virtual void on_inactive(); - virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(); - virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_active(); private: /** @@ -94,7 +94,7 @@ private: /** * Set new mission items */ - void set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet); + void set_mission_items(); /** * Try to set the current position setpoint from an onboard mission item diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index acf3ad569..bf3c934a6 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -58,8 +58,7 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) : _waypoint_position_reached(false), _waypoint_yaw_reached(false), _time_first_inside_orbit(0), - _mission_item({0}), - _mission_item_valid(false) + _mission_item({0}) { } @@ -70,6 +69,10 @@ MissionBlock::~MissionBlock() bool MissionBlock::is_mission_item_reached() { + if (_mission_item.nav_cmd == NAV_CMD_IDLE) { + return false; + } + if (_mission_item.nav_cmd == NAV_CMD_LAND) { return _navigator->get_vstatus()->condition_landed; } @@ -83,7 +86,6 @@ MissionBlock::is_mission_item_reached() hrt_abstime now = hrt_absolute_time(); if (!_waypoint_position_reached) { - float dist = -1.0f; float dist_xy = -1.0f; float dist_z = -1.0f; @@ -209,43 +211,38 @@ MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_ } void -MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet) +MissionBlock::set_loiter_item(struct mission_item_s *item) { if (_navigator->get_vstatus()->condition_landed) { /* landed, don't takeoff, but switch to IDLE mode */ - _mission_item.nav_cmd = NAV_CMD_IDLE; - - _navigator->set_can_loiter_at_sp(false); - - mavlink_log_info(_navigator->get_mavlink_fd(), "landed, switch to IDLE"); + item->nav_cmd = NAV_CMD_IDLE; } else { - _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; + item->nav_cmd = NAV_CMD_LOITER_UNLIMITED; + + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) { /* use current position setpoint */ - _mission_item.lat = pos_sp_triplet->current.lat; - _mission_item.lon = pos_sp_triplet->current.lon; - _mission_item.altitude = pos_sp_triplet->current.alt; + item->lat = pos_sp_triplet->current.lat; + item->lon = pos_sp_triplet->current.lon; + item->altitude = pos_sp_triplet->current.alt; } else { /* use current position */ - _mission_item.lat = _navigator->get_global_position()->lat; - _mission_item.lon = _navigator->get_global_position()->lon; - _mission_item.altitude = _navigator->get_global_position()->alt; + item->lat = _navigator->get_global_position()->lat; + item->lon = _navigator->get_global_position()->lon; + item->altitude = _navigator->get_global_position()->alt; } - _mission_item.altitude_is_relative = false; - _mission_item.yaw = NAN; - _mission_item.loiter_radius = _navigator->get_loiter_radius(); - _mission_item.loiter_direction = 1; - _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = 0.0f; - _mission_item.pitch_min = 0.0f; - _mission_item.autocontinue = false; - _mission_item.origin = ORIGIN_ONBOARD; - - _navigator->set_can_loiter_at_sp(true); - mavlink_log_info(_navigator->get_mavlink_fd(), "switch to LOITER"); + item->altitude_is_relative = false; + item->yaw = NAN; + item->loiter_radius = _navigator->get_loiter_radius(); + item->loiter_direction = 1; + item->acceptance_radius = _navigator->get_acceptance_radius(); + item->time_inside = 0.0f; + item->pitch_min = 0.0f; + item->autocontinue = false; + item->origin = ORIGIN_ONBOARD; } } diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h index 4f79238f4..22f42cc31 100644 --- a/src/modules/navigator/mission_block.h +++ b/src/modules/navigator/mission_block.h @@ -91,11 +91,9 @@ protected: /** * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position */ - // TODO remove argument, get position setpoint from navigator, add to arguments pointer to mission item instead - void set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet); + void set_loiter_item(struct mission_item_s *item); mission_item_s _mission_item; - bool _mission_item_valid; bool _waypoint_position_reached; bool _waypoint_yaw_reached; hrt_abstime _time_first_inside_orbit; diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 184ecd365..5dcd8859e 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -103,6 +103,7 @@ public: * Setters */ void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; } + void set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; } /** * Getters @@ -110,6 +111,7 @@ public: struct vehicle_status_s* get_vstatus() { return &_vstatus; } struct vehicle_global_position_s* get_global_position() { return &_global_pos; } struct home_position_s* get_home_position() { return &_home_pos; } + struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } Geofence& get_geofence() { return _geofence; } @@ -162,7 +164,7 @@ private: NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */ bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */ - bool _update_triplet; /**< flags if position SP triplet needs to be published */ + bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */ control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 266114e38..bb48db829 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -121,7 +121,7 @@ Navigator::Navigator() : _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), - _update_triplet(false), + _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD") { @@ -371,20 +371,21 @@ Navigator::task_main() /* iterate through navigation modes and set active/inactive for each */ for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { - _update_triplet = _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i], &_pos_sp_triplet); + _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); } /* if nothing is running, set position setpoint triplet invalid */ if (_navigation_mode == nullptr) { + // TODO publish empty sp only once _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; - _update_triplet = true; + _pos_sp_triplet_updated = true; } - if (_update_triplet) { + if (_pos_sp_triplet_updated) { publish_position_setpoint_triplet(); - _update_triplet = false; + _pos_sp_triplet_updated = false; } perf_end(_loop_perf); diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index 6361ea9c8..f43215665 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -40,6 +40,7 @@ */ #include "navigator_mode.h" +#include "navigator.h" NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) : SuperBlock(NULL, name), @@ -56,18 +57,17 @@ NavigatorMode::~NavigatorMode() { } -bool -NavigatorMode::run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet) { +void +NavigatorMode::run(bool active) { if (active) { if (_first_run) { /* first run */ _first_run = false; - on_activation(pos_sp_triplet); - return true; + on_activation(); } else { /* periodic updates when active */ - on_active(pos_sp_triplet); + on_active(); } } else { @@ -83,14 +83,13 @@ NavigatorMode::on_inactive() } void -NavigatorMode::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +NavigatorMode::on_activation() { /* invalidate position setpoint by default */ - pos_sp_triplet->current.valid = false; + _navigator->get_position_setpoint_triplet()->current.valid = false; } -bool -NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +NavigatorMode::on_active() { - return false; } diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h index 5c36af1fe..a7ba79bba 100644 --- a/src/modules/navigator/navigator_mode.h +++ b/src/modules/navigator/navigator_mode.h @@ -66,7 +66,7 @@ public: */ virtual ~NavigatorMode(); - bool run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet); + void run(bool active); /** * This function is called while the mode is inactive @@ -76,15 +76,12 @@ public: /** * This function is called one time when mode become active, poos_sp_triplet must be initialized here */ - virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(); /** * This function is called while the mode is active - * - * @param position setpoint triplet to set - * @return true if position setpoint triplet has been changed */ - virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_active(); protected: Navigator *_navigator; -- cgit v1.2.3 From adf230ce4efe30087e751f143dab1df33a7d3b70 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 29 Jun 2014 15:35:34 +0200 Subject: navigator: more API changes, duplicate code removed --- src/modules/navigator/mission.cpp | 166 ++++++++++++++------------------ src/modules/navigator/mission.h | 10 +- src/modules/navigator/mission_block.cpp | 5 +- src/modules/navigator/mission_block.h | 2 +- src/modules/navigator/rtl.cpp | 25 ++--- src/modules/navigator/rtl.h | 6 +- 6 files changed, 95 insertions(+), 119 deletions(-) (limited to 'src/modules') diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 1e86b1b6c..fbfd1259d 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -225,29 +225,27 @@ Mission::set_mission_items() { struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - set_previous_pos_setpoint(pos_sp_triplet); + /* set previous position setpoint to current */ + set_previous_pos_setpoint(); /* try setting onboard mission item */ - if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) { + if (set_mission_item(true, false, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_ONBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: onboard mission running"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running"); } _mission_type = MISSION_TYPE_ONBOARD; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); /* try setting offboard mission item */ - } else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) { + } else if (set_mission_item(false, false, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { - mavlink_log_info(_navigator->get_mavlink_fd(), - "#audio: offboard mission running"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running"); } _mission_type = MISSION_TYPE_OFFBOARD; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); } else { + /* no mission available, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: mission finished"); @@ -257,126 +255,108 @@ Mission::set_mission_items() } _mission_type = MISSION_TYPE_NONE; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); - + /* set loiter mission item */ set_loiter_item(&_mission_item); + /* update position setpoint triplet */ pos_sp_triplet->previous.valid = false; mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); + reset_mission_item_reached(); report_mission_finished(); + + _navigator->set_position_setpoint_triplet_updated(); + return; } -} -bool -Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp) -{ - /* make sure param is up to date */ - updateParams(); - if (_param_onboard_enabled.get() > 0 && - _current_onboard_mission_index >= 0&& - _current_onboard_mission_index < (int)_onboard_mission.count) { - struct mission_item_s new_mission_item; - if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, true, &_current_onboard_mission_index, - &new_mission_item)) { - /* convert the current mission item and set it valid */ - mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); + /* new current mission item set */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + _navigator->set_can_loiter_at_sp(false); + reset_mission_item_reached(); + + if (_mission_type == MISSION_TYPE_OFFBOARD) { + report_current_offboard_mission_item(); + } + // TODO: report onboard mission item somehow - reset_mission_item_reached(); + /* try to read next mission item */ + struct mission_item_s mission_item_next; + if (!set_mission_item(_mission_type == MISSION_TYPE_ONBOARD, true, &mission_item_next)) { + /* got next mission item, update setpoint triplet */ + mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next); - /* TODO: report this somehow */ - memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s)); - return true; - } + } else { + /* next mission item is not available */ + pos_sp_triplet->next.valid = false; } - return false; + + _navigator->set_position_setpoint_triplet_updated(); } bool -Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp) +Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item) { - if (_current_offboard_mission_index >= 0 && - _current_offboard_mission_index < (int)_offboard_mission.count) { - dm_item_t dm_current; - if (_offboard_mission.dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - struct mission_item_s new_mission_item; - if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) { - /* convert the current mission item and set it valid */ - mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); + /* make sure param is up to date */ + updateParams(); - reset_mission_item_reached(); + /* select onboard/offboard mission */ + int *mission_index_ptr; + struct mission_s *mission; + dm_item_t dm_item; + int mission_index_next; - report_current_offboard_mission_item(); - memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s)); - return true; + if (onboard) { + /* onboard mission */ + if (!_param_onboard_enabled.get()) { + return false; } - } - return false; -} -void -Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp) -{ - int next_temp_mission_index = _onboard_mission.current_index + 1; + mission_index_next = _current_onboard_mission_index + 1; + mission_index_ptr = next_item ? &mission_index_next : &_current_onboard_mission_index; - /* try if there is a next onboard mission */ - if (_onboard_mission.current_index >= 0 && - next_temp_mission_index < (int)_onboard_mission.count) { - struct mission_item_s new_mission_item; - if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) { - /* convert next mission item to position setpoint */ - mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - return; - } - } + mission = &_onboard_mission; - /* give up */ - next_pos_sp->valid = false; - return; -} + dm_item = DM_KEY_WAYPOINTS_ONBOARD; + + } else { + /* offboard mission */ + mission_index_next = _current_offboard_mission_index + 1; + mission_index_ptr = next_item ? &mission_index_next : &_current_offboard_mission_index; + + mission = &_offboard_mission; -void -Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp) -{ - /* try if there is a next offboard mission */ - int next_temp_mission_index = _offboard_mission.current_index + 1; - warnx("next index: %d, count; %d", next_temp_mission_index, _offboard_mission.count); - if (_offboard_mission.current_index >= 0 && - next_temp_mission_index < (int)_offboard_mission.count) { - dm_item_t dm_current; if (_offboard_mission.dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1; } + } + + if (*mission_index_ptr >= 0 && *mission_index_ptr < (int)mission->count) { struct mission_item_s new_mission_item; - if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) { - /* convert next mission item to position setpoint */ - mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - return; + + if (read_mission_item(dm_item, true, mission_index_ptr, &new_mission_item)) { + memcpy(&mission_item, &new_mission_item, sizeof(struct mission_item_s)); + return true; } } - /* give up */ - next_pos_sp->valid = false; - return; + return false; } bool -Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index, +Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index_ptr, struct mission_item_s *new_mission_item) { /* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */ - for (int i=0; i<10; i++) { + for (int i = 0; i < 10; i++) { const ssize_t len = sizeof(struct mission_item_s); /* read mission item from datamanager */ - if (dm_read(dm_item, *mission_index, new_mission_item, len) != len) { + if (dm_read(dm_item, *mission_index_ptr, new_mission_item, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ mavlink_log_critical(_navigator->get_mavlink_fd(), "#audio: ERROR waypoint could not be read"); @@ -394,7 +374,7 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio if (is_current) { (new_mission_item->do_jump_current_count)++; /* save repeat count */ - if (dm_write(dm_item, *mission_index, DM_PERSIST_IN_FLIGHT_RESET, + if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, new_mission_item, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ @@ -405,12 +385,12 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio } /* set new mission item index and repeat * we don't have to validate here, if it's invalid, we should realize this later .*/ - *mission_index = new_mission_item->do_jump_mission_index; + *mission_index_ptr = new_mission_item->do_jump_mission_index; } else { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: DO JUMP repetitions completed"); /* no more DO_JUMPS, therefore just try to continue with next mission item */ - (*mission_index)++; + (*mission_index_ptr)++; } } else { diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index ac293990f..7d07860de 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -97,16 +97,10 @@ private: void set_mission_items(); /** - * Try to set the current position setpoint from an onboard mission item + * Try to set given mission item from an offboard/onboard mission item * @return true if mission item successfully set */ - bool is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp); - - /** - * Try to set the current position setpoint from an offboard mission item - * @return true if mission item successfully set - */ - bool is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp); + bool set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item); /** * Try to set the next position setpoint from an onboard mission item diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index bf3c934a6..cbf7ac987 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -202,9 +202,10 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite } void -MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet) +MissionBlock::set_previous_pos_setpoint() { - /* reuse current setpoint as previous setpoint */ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + if (pos_sp_triplet->current.valid) { memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s)); } diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h index 22f42cc31..adf50bc39 100644 --- a/src/modules/navigator/mission_block.h +++ b/src/modules/navigator/mission_block.h @@ -86,7 +86,7 @@ protected: /** * Set previous position setpoint to current setpoint */ - void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet); + void set_previous_pos_setpoint(); /** * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 7cf6bb1a8..6d7afcf4b 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -82,7 +82,7 @@ RTL::on_inactive() } void -RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +RTL::on_activation() { /* decide where to enter the RTL procedure when we switch into it */ if (_rtl_state == RTL_STATE_NONE) { @@ -105,28 +105,27 @@ RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) } } - set_rtl_item(pos_sp_triplet); + set_rtl_item(); } -bool -RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +RTL::on_active() { if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) { advance_rtl(); - set_rtl_item(pos_sp_triplet); - return true; + set_rtl_item(); } - - return false; } void -RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) +RTL::set_rtl_item() { + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + /* make sure we have the latest params */ updateParams(); - set_previous_pos_setpoint(pos_sp_triplet); + set_previous_pos_setpoint(); _navigator->set_can_loiter_at_sp(false); switch (_rtl_state) { @@ -273,11 +272,13 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) break; } + reset_mission_item_reached(); + /* 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; + + _navigator->set_position_setpoint_triplet_updated(); } void diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index 9c8b3fdfc..5928f1f07 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -63,15 +63,15 @@ public: virtual void on_inactive(); - virtual void on_activation(position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(); - virtual bool on_active(position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_active(); private: /** * Set the RTL item */ - void set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet); + void set_rtl_item(); /** * Move to next RTL item -- cgit v1.2.3 From a4315aee2ee69068c9a13568091805e20d0b04c5 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 30 Jun 2014 10:47:08 +0200 Subject: navigator: mission mode fixed --- src/modules/navigator/mission.cpp | 63 ++++++++++++++++----------------------- src/modules/navigator/mission.h | 21 ++----------- 2 files changed, 27 insertions(+), 57 deletions(-) (limited to 'src/modules') diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index fbfd1259d..f207776a9 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -70,9 +70,9 @@ Mission::Mission(Navigator *navigator, const char *name) : { /* load initial params */ updateParams(); + /* set initial mission items */ on_inactive(); - } Mission::~Mission() @@ -121,16 +121,12 @@ Mission::on_active() /* reset mission items if needed */ if (onboard_updated || offboard_updated) { set_mission_items(); - - _navigator->set_position_setpoint_triplet_updated(); } /* lets check if we reached the current mission item */ if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { advance_mission(); set_mission_items(); - - _navigator->set_position_setpoint_triplet_updated(); } } @@ -223,13 +219,16 @@ Mission::advance_mission() void Mission::set_mission_items() { + /* make sure param is up to date */ + updateParams(); + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); /* set previous position setpoint to current */ set_previous_pos_setpoint(); /* try setting onboard mission item */ - if (set_mission_item(true, false, &_mission_item)) { + if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_ONBOARD) { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running"); @@ -237,7 +236,7 @@ Mission::set_mission_items() _mission_type = MISSION_TYPE_ONBOARD; /* try setting offboard mission item */ - } else if (set_mission_item(false, false, &_mission_item)) { + } else if (read_mission_item(false, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running"); @@ -284,7 +283,8 @@ Mission::set_mission_items() /* try to read next mission item */ struct mission_item_s mission_item_next; - if (!set_mission_item(_mission_type == MISSION_TYPE_ONBOARD, true, &mission_item_next)) { + + if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) { /* got next mission item, update setpoint triplet */ mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next); @@ -297,11 +297,8 @@ Mission::set_mission_items() } bool -Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item) +Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item) { - /* make sure param is up to date */ - updateParams(); - /* select onboard/offboard mission */ int *mission_index_ptr; struct mission_s *mission; @@ -310,12 +307,8 @@ Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *m if (onboard) { /* onboard mission */ - if (!_param_onboard_enabled.get()) { - return false; - } - mission_index_next = _current_onboard_mission_index + 1; - mission_index_ptr = next_item ? &mission_index_next : &_current_onboard_mission_index; + mission_index_ptr = is_current ? &_current_onboard_mission_index : &mission_index_next; mission = &_onboard_mission; @@ -324,7 +317,7 @@ Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *m } else { /* offboard mission */ mission_index_next = _current_offboard_mission_index + 1; - mission_index_ptr = next_item ? &mission_index_next : &_current_offboard_mission_index; + mission_index_ptr = is_current ? &_current_offboard_mission_index : &mission_index_next; mission = &_offboard_mission; @@ -336,27 +329,20 @@ Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *m } } - if (*mission_index_ptr >= 0 && *mission_index_ptr < (int)mission->count) { - struct mission_item_s new_mission_item; - - if (read_mission_item(dm_item, true, mission_index_ptr, &new_mission_item)) { - memcpy(&mission_item, &new_mission_item, sizeof(struct mission_item_s)); - return true; - } + if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { + /* mission item index out of bounds */ + return false; } - return false; -} -bool -Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index_ptr, - struct mission_item_s *new_mission_item) -{ /* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */ for (int i = 0; i < 10; i++) { const ssize_t len = sizeof(struct mission_item_s); + /* read mission item to temp storage first to not overwrite current mission item if data damaged */ + struct mission_item_s mission_item_tmp; + /* read mission item from datamanager */ - if (dm_read(dm_item, *mission_index_ptr, new_mission_item, len) != len) { + if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ mavlink_log_critical(_navigator->get_mavlink_fd(), "#audio: ERROR waypoint could not be read"); @@ -364,18 +350,17 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio } /* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */ - if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) { + if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) { /* do DO_JUMP as many times as requested */ - if (new_mission_item->do_jump_current_count < new_mission_item->do_jump_repeat_count) { + if (mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) { /* only raise the repeat count if this is for the current mission item * but not for the next mission item */ if (is_current) { - (new_mission_item->do_jump_current_count)++; + (mission_item_tmp.do_jump_current_count)++; /* save repeat count */ - if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, - new_mission_item, len) != len) { + if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), @@ -385,7 +370,8 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio } /* set new mission item index and repeat * we don't have to validate here, if it's invalid, we should realize this later .*/ - *mission_index_ptr = new_mission_item->do_jump_mission_index; + *mission_index_ptr = mission_item_tmp.do_jump_mission_index; + } else { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: DO JUMP repetitions completed"); @@ -395,6 +381,7 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio } else { /* if it's not a DO_JUMP, then we were successful */ + memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s)); return true; } } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index 7d07860de..29e4d41f6 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -97,27 +97,10 @@ private: void set_mission_items(); /** - * Try to set given mission item from an offboard/onboard mission item - * @return true if mission item successfully set - */ - bool set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item); - - /** - * Try to set the next position setpoint from an onboard mission item - */ - void get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp); - - /** - * Try to set the next position setpoint from an offboard mission item - */ - void get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp); - - /** - * Read a mission item from the dataman and watch out for DO_JUMPS + * Read current or next mission item from the dataman and watch out for DO_JUMPS * @return true if successful */ - bool read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index, - struct mission_item_s *new_mission_item); + bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item); /** * Report that a mission item has been reached -- cgit v1.2.3 From 59775efaad782a1e4f5e346832407c71f1355c89 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 30 Jun 2014 12:02:29 +0200 Subject: navigator: takeoff on start of mission implemented --- src/modules/navigator/mission.cpp | 133 ++++++++++++++++++++++++++++++-------- src/modules/navigator/mission.h | 3 + 2 files changed, 109 insertions(+), 27 deletions(-) (limited to 'src/modules') diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index f207776a9..2e5047e2c 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -60,13 +60,16 @@ Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), _param_onboard_enabled(this, "ONBOARD_EN"), + _param_takeoff_alt(this, "TAKEOFF_ALT"), _onboard_mission({0}), _offboard_mission({0}), _current_onboard_mission_index(-1), _current_offboard_mission_index(-1), _mission_result_pub(-1), _mission_result({0}), - _mission_type(MISSION_TYPE_NONE) + _mission_type(MISSION_TYPE_NONE), + _need_takeoff(true), + _takeoff(false) { /* load initial params */ updateParams(); @@ -94,6 +97,10 @@ Mission::on_inactive() if (offboard_updated) { update_offboard_mission(); } + + if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) { + _need_takeoff = true; + } } void @@ -127,6 +134,12 @@ Mission::on_active() if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { advance_mission(); set_mission_items(); + + } else { + /* if waypoint position reached allow loiter on the setpoint */ + if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) { + _navigator->set_can_loiter_at_sp(true); + } } } @@ -148,6 +161,7 @@ Mission::update_onboard_mission() } /* otherwise, just leave it */ } + } else { _onboard_mission.count = 0; _onboard_mission.current_index = 0; @@ -164,10 +178,12 @@ Mission::update_offboard_mission() if (_offboard_mission.current_index >= 0 && _offboard_mission.current_index < (int)_offboard_mission.count) { _current_offboard_mission_index = _offboard_mission.current_index; + } else { /* if less WPs available, reset to first WP */ if (_current_offboard_mission_index >= (int)_offboard_mission.count) { _current_offboard_mission_index = 0; + /* if not initialized, set it to 0 */ } else if (_current_offboard_mission_index < 0) { _current_offboard_mission_index = 0; @@ -181,6 +197,7 @@ Mission::update_offboard_mission() if (_offboard_mission.dataman_id == 0) { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } @@ -189,11 +206,13 @@ Mission::update_offboard_mission() (size_t)_offboard_mission.count, _navigator->get_geofence(), _navigator->get_home_position()->alt); + } else { _offboard_mission.count = 0; _offboard_mission.current_index = 0; _current_offboard_mission_index = 0; } + report_current_offboard_mission_item(); } @@ -201,18 +220,23 @@ Mission::update_offboard_mission() void Mission::advance_mission() { - switch (_mission_type) { - case MISSION_TYPE_ONBOARD: - _current_onboard_mission_index++; - break; - - case MISSION_TYPE_OFFBOARD: - _current_offboard_mission_index++; - break; - - case MISSION_TYPE_NONE: - default: - break; + if (_takeoff) { + _takeoff = false; + + } else { + switch (_mission_type) { + case MISSION_TYPE_ONBOARD: + _current_onboard_mission_index++; + break; + + case MISSION_TYPE_OFFBOARD: + _current_offboard_mission_index++; + break; + + case MISSION_TYPE_NONE: + default: + break; + } } } @@ -271,26 +295,81 @@ Mission::set_mission_items() return; } - /* new current mission item set */ - mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - _navigator->set_can_loiter_at_sp(false); - reset_mission_item_reached(); + /* do takeoff on first waypoint for rotary wing vehicles */ + if (_navigator->get_vstatus()->is_rotary_wing) { + /* force takeoff if landed (additional protection) */ + if (!_takeoff && _navigator->get_vstatus()->condition_landed) { + _need_takeoff = true; + } - if (_mission_type == MISSION_TYPE_OFFBOARD) { - report_current_offboard_mission_item(); + /* new current mission item set, check if we need takeoff */ + if (_need_takeoff && ( + _mission_item.nav_cmd == NAV_CMD_TAKEOFF || + _mission_item.nav_cmd == NAV_CMD_WAYPOINT || + _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 || + _mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) { + _takeoff = true; + _need_takeoff = false; + } } - // TODO: report onboard mission item somehow - /* try to read next mission item */ - struct mission_item_s mission_item_next; + if (_takeoff) { + /* do takeoff before going to setpoint */ + /* set mission item as next position setpoint */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->next); - if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) { - /* got next mission item, update setpoint triplet */ - mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next); + /* calculate takeoff altitude */ + float takeoff_alt = _mission_item.altitude; + if (_mission_item.altitude_is_relative) { + takeoff_alt += _navigator->get_home_position()->alt; + } + + if (_navigator->get_vstatus()->condition_landed) { + takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get()); + + } else { + takeoff_alt = _navigator->get_home_position()->alt + _param_takeoff_alt.get(); + } + + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", takeoff_alt - _navigator->get_home_position()->alt); + + _mission_item.lat = _navigator->get_global_position()->lat; + _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.altitude = takeoff_alt; + _mission_item.altitude_is_relative = false; + + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); } else { - /* next mission item is not available */ - pos_sp_triplet->next.valid = false; + /* set current position setpoint from mission item */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + + /* require takeoff after landing or idle */ + if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) { + _need_takeoff = true; + } + + _navigator->set_can_loiter_at_sp(false); + reset_mission_item_reached(); + + if (_mission_type == MISSION_TYPE_OFFBOARD) { + report_current_offboard_mission_item(); + } + // TODO: report onboard mission item somehow + + /* try to read next mission item */ + struct mission_item_s mission_item_next; + + if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) { + /* got next mission item, update setpoint triplet */ + mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next); + + } else { + /* next mission item is not available */ + pos_sp_triplet->next.valid = false; + } } _navigator->set_position_setpoint_triplet_updated(); diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index 29e4d41f6..d4808b6f4 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -123,12 +123,15 @@ private: void publish_mission_result(); control::BlockParamFloat _param_onboard_enabled; + control::BlockParamFloat _param_takeoff_alt; struct mission_s _onboard_mission; struct mission_s _offboard_mission; int _current_onboard_mission_index; int _current_offboard_mission_index; + bool _need_takeoff; + bool _takeoff; orb_advert_t _mission_result_pub; struct mission_result_s _mission_result; -- cgit v1.2.3 From 829a317d23093894c3d8974cce887ab3c19eba08 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 4 Jul 2014 15:49:02 +0200 Subject: navigator: takeoff altitude fixed --- src/modules/navigator/mission.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 2e5047e2c..cf6a764bf 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -326,11 +326,12 @@ Mission::set_mission_items() takeoff_alt += _navigator->get_home_position()->alt; } + /* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ if (_navigator->get_vstatus()->condition_landed) { takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get()); } else { - takeoff_alt = _navigator->get_home_position()->alt + _param_takeoff_alt.get(); + takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); } mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", takeoff_alt - _navigator->get_home_position()->alt); -- cgit v1.2.3 From 06f08ad04d4cb21047944f350e4a75e88914e1e1 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 6 Jul 2014 21:37:26 +0200 Subject: commander: require home position for MISSION, fallback to LOITER --- src/modules/commander/commander.cpp | 7 +++++++ src/modules/commander/state_machine_helper.cpp | 2 +- 2 files changed, 8 insertions(+), 1 deletion(-) (limited to 'src/modules') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index efa26eb97..1da364aa5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1718,6 +1718,13 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin } print_reject_mode(status, "AUTO_MISSION"); + + // fallback to LOITER if home position not set + res = main_state_transition(status, MAIN_STATE_AUTO_LOITER); + + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } // fallback to POSCTL diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 423ce2f23..7fb2e08db 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -271,7 +271,6 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta } break; - case MAIN_STATE_AUTO_MISSION: case MAIN_STATE_AUTO_LOITER: /* need global position estimate */ if (status->condition_global_position_valid) { @@ -279,6 +278,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta } break; + case MAIN_STATE_AUTO_MISSION: case MAIN_STATE_AUTO_RTL: /* need global position and home position */ if (status->condition_global_position_valid && status->condition_home_position_valid) { -- cgit v1.2.3