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') 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