/**************************************************************************** * * 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_main.cpp * Implementation of the main navigation state machine. * * Handles mission items, geo fencing and failsafe navigation behavior. * Published the position setpoint triplet for the position controller. * * @author Lorenz Meier * @author Jean Cyr * @author Julian Oes * @author Anton Babushkin */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "mission.h" #include "rtl.h" #include "mission_feasibility_checker.h" #include "geofence.h" /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR #endif static const int ERROR = -1; /** * navigator app start / stop handling function * * @ingroup apps */ extern "C" __EXPORT int navigator_main(int argc, char *argv[]); class Navigator : public StateTable { public: /** * Constructor */ Navigator(); /** * Destructor, also kills the navigators task. */ ~Navigator(); /** * Start the navigator task. * * @return OK on success. */ int start(); /** * Display the navigator status. */ void status(); /** * Add point to geofence */ void add_fence_point(int argc, char *argv[]); /** * Load fence from file */ void load_fence_from_file(const char *filename); private: bool _task_should_exit; /**< if true, sensor task should exit */ int _navigator_task; /**< task handle for sensor task */ int _mavlink_fd; int _global_pos_sub; /**< global position subscription */ int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _offboard_mission_sub; /**< notification of offboard mission updates */ int _onboard_mission_sub; /**< notification of onboard mission updates */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ int _control_mode_sub; /**< vehicle control mode subscription */ orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ vehicle_status_s _vstatus; /**< vehicle status */ vehicle_control_mode_s _control_mode; /**< vehicle control mode */ vehicle_global_position_s _global_pos; /**< global vehicle position */ home_position_s _home_pos; /**< home position for RTL */ position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ mission_item_s _mission_item; /**< current mission item */ bool _mission_item_valid; perf_counter_t _loop_perf; /**< loop performance counter */ Geofence _geofence; bool _geofence_violation_warning_sent; bool _fence_valid; /**< flag if fence is valid */ bool _inside_fence; /**< vehicle is inside fence */ struct navigation_capabilities_s _nav_caps; Mission _mission; RTL _rtl; bool _waypoint_position_reached; bool _waypoint_yaw_reached; uint64_t _time_first_inside_orbit; MissionFeasibilityChecker missionFeasiblityChecker; bool _update_triplet; struct { float acceptance_radius; float loiter_radius; int onboard_mission_enabled; float takeoff_alt; } _parameters; /**< local copies of parameters */ struct { param_t acceptance_radius; param_t loiter_radius; param_t onboard_mission_enabled; param_t takeoff_alt; } _parameter_handles; /**< handles for parameters */ enum Event { EVENT_NONE_REQUESTED, EVENT_LOITER_REQUESTED, EVENT_MISSION_REQUESTED, EVENT_RTL_REQUESTED, EVENT_TAKEN_OFF, EVENT_LANDED, EVENT_MISSION_CHANGED, EVENT_HOME_POSITION_CHANGED, EVENT_MISSION_ITEM_REACHED, MAX_EVENT }; /** * State machine transition table */ static StateTable::Tran const myTable[NAV_STATE_MAX][MAX_EVENT]; /** * Update our local parameter cache. */ void parameters_update(); /** * Retrieve global position */ void global_position_update(); /** * Retrieve home position */ void home_position_update(); /** * Retreive navigation capabilities */ void navigation_capabilities_update(); /** * Retrieve offboard mission. */ void offboard_mission_update(); /** * Retrieve onboard mission. */ void onboard_mission_update(); /** * Retrieve vehicle status */ void vehicle_status_update(); /** * Retrieve vehicle control mode */ void vehicle_control_mode_update(); /** * Shim for calling task_main from task_create. */ static void task_main_trampoline(int argc, char *argv[]); /** * Main task. */ void task_main(); void publish_safepoints(unsigned points); /** * Functions that are triggered when a new state is entered. */ bool start_none_on_ground(); bool start_none_in_air(); bool start_auto_on_ground(); bool start_loiter(); bool start_mission(); bool advance_mission(); bool start_rtl(); bool advance_rtl(); bool start_land(); /** * Fork for state transitions */ // void request_loiter_or_ready(); /** * Guards offboard mission */ bool offboard_mission_available(unsigned relative_index); /** * Guards onboard mission */ bool onboard_mission_available(unsigned relative_index); /** * Reset all "reached" flags. */ void reset_reached(); /** * Check if current mission item has been reached. */ bool check_mission_item_reached(); /** * Perform actions when current mission item reached. */ // void on_mission_item_reached(); /** * Move to next waypoint */ bool set_mission_items(); /** * Switch to next RTL state */ void set_rtl_item(); /** * Set position setpoint for mission item */ void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp); /** * Helper function to get a takeoff item */ void get_takeoff_setpoint(position_setpoint_s *pos_sp); /** * Publish a new mission item triplet for position controller */ void publish_position_setpoint_triplet(); }; namespace navigator { /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR #endif static const int ERROR = -1; Navigator *g_navigator; } Navigator::Navigator() : /* state machine transition table */ StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT), _task_should_exit(false), _navigator_task(-1), _mavlink_fd(-1), _global_pos_sub(-1), _home_pos_sub(-1), _vstatus_sub(-1), _params_sub(-1), _offboard_mission_sub(-1), _onboard_mission_sub(-1), _capabilities_sub(-1), _control_mode_sub(-1), _pos_sp_triplet_pub(-1), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), _geofence_violation_warning_sent(false), _fence_valid(false), _inside_fence(true), _mission(), _pos_sp_triplet({}), _mission_item({}), _mission_item_valid(false), _waypoint_position_reached(false), _waypoint_yaw_reached(false), _time_first_inside_orbit(0), _update_triplet(false) { _parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD"); _parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD"); _parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN"); _parameter_handles.takeoff_alt = param_find("NAV_TAKEOFF_ALT"); /* Initialize state machine */ myState = NAV_STATE_NONE_ON_GROUND; start_none_on_ground(); } Navigator::~Navigator() { if (_navigator_task != -1) { /* task wakes up every 100ms or so at the longest */ _task_should_exit = true; /* wait for a second for the task to quit at our request */ unsigned i = 0; do { /* wait 20ms */ usleep(20000); /* if we have given up, kill it */ if (++i > 50) { task_delete(_navigator_task); break; } } while (_navigator_task != -1); } navigator::g_navigator = nullptr; } void Navigator::parameters_update() { /* read from param to clear updated flag */ struct parameter_update_s update; orb_copy(ORB_ID(parameter_update), _params_sub, &update); param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius)); param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius)); param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled)); param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt)); _mission.set_onboard_mission_allowed((bool)_parameters.onboard_mission_enabled); _geofence.updateParams(); } void Navigator::global_position_update() { orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); } void Navigator::home_position_update() { orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos); _rtl.set_home_position(&_home_pos); } void Navigator::navigation_capabilities_update() { orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps); } void Navigator::offboard_mission_update() { struct mission_s offboard_mission; if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) { /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ 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; } missionFeasiblityChecker.checkMissionFeasible(_vstatus.is_rotary_wing, dm_current, (size_t)offboard_mission.count, _geofence); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); _mission.set_offboard_mission_count(offboard_mission.count); _mission.command_current_offboard_mission_index(offboard_mission.current_index); } else { _mission.set_offboard_mission_count(0); _mission.command_current_offboard_mission_index(0); } } void Navigator::onboard_mission_update() { struct mission_s onboard_mission; if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) { _mission.set_onboard_mission_count(onboard_mission.count); _mission.command_current_onboard_mission_index(onboard_mission.current_index); } else { _mission.set_onboard_mission_count(0); _mission.command_current_onboard_mission_index(0); } } void Navigator::vehicle_status_update() { if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) { /* in case the commander is not be running */ _vstatus.arming_state = ARMING_STATE_STANDBY; } } void Navigator::vehicle_control_mode_update() { if (orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode) != OK) { /* in case the commander is not be running */ _control_mode.flag_control_auto_enabled = false; _control_mode.flag_armed = false; } } void Navigator::task_main_trampoline(int argc, char *argv[]) { navigator::g_navigator->task_main(); } void Navigator::task_main() { /* inform about start */ warnx("Initializing.."); fflush(stdout); _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); mavlink_log_info(_mavlink_fd, "[navigator] started"); /* Try to load the geofence: * if /fs/microsd/etc/geofence.txt load from this file * else clear geofence data in datamanager */ struct stat buffer; if (stat(GEOFENCE_FILENAME, &buffer) == 0) { warnx("Try to load geofence.txt"); _geofence.loadFromFile(GEOFENCE_FILENAME); } else { if (_geofence.clearDm() > 0) warnx("Geofence cleared"); else warnx("Could not clear geofence"); } /* * do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _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)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _home_pos_sub = orb_subscribe(ORB_ID(home_position)); /* copy all topics first time */ vehicle_status_update(); vehicle_control_mode_update(); parameters_update(); global_position_update(); home_position_update(); navigation_capabilities_update(); offboard_mission_update(); onboard_mission_update(); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); unsigned prevState = NAV_STATE_NONE_ON_GROUND; hrt_abstime mavlink_open_time = 0; const hrt_abstime mavlink_open_interval = 500000; /* wakeup source(s) */ struct pollfd fds[8]; /* Setup of loop */ fds[0].fd = _params_sub; fds[0].events = POLLIN; fds[1].fd = _global_pos_sub; fds[1].events = POLLIN; fds[2].fd = _home_pos_sub; fds[2].events = POLLIN; fds[3].fd = _capabilities_sub; fds[3].events = POLLIN; fds[4].fd = _offboard_mission_sub; fds[4].events = POLLIN; fds[5].fd = _onboard_mission_sub; fds[5].events = POLLIN; fds[6].fd = _vstatus_sub; fds[6].events = POLLIN; fds[7].fd = _control_mode_sub; fds[7].events = POLLIN; while (!_task_should_exit) { /* wait for up to 100ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); /* timed out - periodic check for _task_should_exit, etc. */ if (pret == 0) { continue; } /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { warn("poll error %d, %d", pret, errno); continue; } perf_begin(_loop_perf); if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) { /* try to reopen the mavlink log device with specified interval */ mavlink_open_time = hrt_abstime() + mavlink_open_interval; _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } /* vehicle control mode updated */ if (fds[7].revents & POLLIN) { vehicle_control_mode_update(); } /* vehicle status updated */ if (fds[6].revents & POLLIN) { vehicle_status_update(); /* commander requested new navigation mode, forward it to state machine */ switch (_vstatus.set_nav_state) { case NAVIGATION_STATE_NONE: dispatch(EVENT_NONE_REQUESTED); break; case NAVIGATION_STATE_LOITER: dispatch(EVENT_LOITER_REQUESTED); break; case NAVIGATION_STATE_MISSION: dispatch(EVENT_MISSION_REQUESTED); break; case NAVIGATION_STATE_RTL: /* TODO: what is this for? */ // if (!(_rtl_state == RTL_STATE_DESCEND && // (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && // _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); // } break; case NAVIGATION_STATE_LAND: /* TODO: add this */ // dispatch(EVENT_LAND_REQUESTED); break; default: warnx("ERROR: Requested navigation state not supported"); break; } /* commander sets in-air/on-ground flag as well */ if (_vstatus.condition_landed) { dispatch(EVENT_LANDED); } else { dispatch(EVENT_TAKEN_OFF); } } /* parameters updated */ if (fds[0].revents & POLLIN) { parameters_update(); /* note that these new parameters won't be in effect until a mission triplet is published again */ } /* navigation capabilities updated */ if (fds[3].revents & POLLIN) { navigation_capabilities_update(); } /* offboard mission updated */ if (fds[4].revents & POLLIN) { offboard_mission_update(); /* TODO: check if mission really changed */ dispatch(EVENT_MISSION_CHANGED); } /* onboard mission updated */ if (fds[5].revents & POLLIN) { onboard_mission_update(); /* TODO: check if mission really changed */ dispatch(EVENT_MISSION_CHANGED); } /* home position updated */ if (fds[2].revents & POLLIN) { home_position_update(); /* TODO check if home position really changed */ dispatch(EVENT_HOME_POSITION_CHANGED); } /* global position updated */ if (fds[1].revents & POLLIN) { global_position_update(); if (check_mission_item_reached()) { dispatch(EVENT_MISSION_ITEM_REACHED); } /* Check geofence violation */ if (!_geofence.inside(&_global_pos)) { /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation"); _geofence_violation_warning_sent = true; } } else { /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } } if (_update_triplet ) { publish_position_setpoint_triplet(); _update_triplet = false; } perf_end(_loop_perf); } warnx("exiting."); _navigator_task = -1; _exit(0); } int Navigator::start() { ASSERT(_navigator_task == -1); /* start the task */ _navigator_task = task_spawn_cmd("navigator", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, (main_t)&Navigator::task_main_trampoline, nullptr); if (_navigator_task < 0) { warn("task start failed"); return -errno; } return OK; } void Navigator::status() { warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in"); if (_global_pos.global_valid) { warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat); warnx("Altitude %5.5f meters, altitude above home %5.5f meters", (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt)); warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f", (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d); warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F)); } if (_fence_valid) { warnx("Geofence is valid"); // warnx("Vertex longitude latitude"); // for (unsigned i = 0; i < _fence.count; i++) // warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); } else { warnx("Geofence not set"); } switch (myState) { case NAV_STATE_NONE_ON_GROUND: warnx("State: None on ground"); break; case NAV_STATE_NONE_IN_AIR: warnx("State: None in air"); break; case NAV_STATE_LOITER: warnx("State: Loiter"); break; case NAV_STATE_MISSION: warnx("State: Mission"); break; case NAV_STATE_RTL: warnx("State: RTL"); break; case NAV_STATE_LAND: warnx("State: LAND"); break; default: warnx("State: Unknown"); break; } } StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { { /* NAV_STATE_NONE_ON_GROUND */ /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_auto_on_ground), NAV_STATE_AUTO_ON_GROUND}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, /* EVENT_TAKEN_OFF */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_NONE_ON_GROUND}, }, { /* NAV_STATE_NONE_IN_AIR */ /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, /* EVENT_TAKEN_OFF */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, /* EVENT_LANDED */ {ACTION(&Navigator::start_none_on_ground), NAV_STATE_NONE_ON_GROUND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_NONE_IN_AIR}, }, { /* NAV_STATE_AUTO_ON_GROUND */ /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, /* EVENT_TAKEN_OFF */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_AUTO_ON_GROUND}, }, { /* NAV_STATE_LOITER */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, /* EVENT_TAKEN_OFF */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_LOITER}, }, { /* NAV_STATE_MISSION */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, /* EVENT_TAKEN_OFF */ {NO_ACTION, NAV_STATE_MISSION}, /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_MISSION}, /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION}, /* EVENT_MISSION_ITEM_REACHED */ {ACTION(&Navigator::advance_mission), NAV_STATE_MISSION}, }, { /* NAV_STATE_RTL */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_RTL}, /* EVENT_TAKEN_OFF */ {NO_ACTION, NAV_STATE_RTL}, /* EVENT_LANDED */ {NO_ACTION, NAV_STATE_RTL}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL}, /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, /* EVENT_MISSION_ITEM_REACHED */ {ACTION(&Navigator::advance_rtl), NAV_STATE_RTL}, }, { /* NAV_STATE_LAND */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none_in_air), NAV_STATE_NONE_IN_AIR}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, /* EVENT_TAKEN_OFF */ {NO_ACTION, NAV_STATE_LAND}, /* EVENT_LANDED */ {ACTION(&Navigator::start_auto_on_ground), NAV_STATE_AUTO_ON_GROUND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LAND}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LAND}, /* EVENT_MISSION_ITEM_REACHED */ {NO_ACTION, NAV_STATE_LAND}, }, }; bool Navigator::start_none_on_ground() { reset_reached(); _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; _update_triplet = true; return true; } bool Navigator::start_none_in_air() { reset_reached(); _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; _update_triplet = true; return true; } bool Navigator::start_auto_on_ground() { reset_reached(); _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = true; _pos_sp_triplet.next.valid = false; _pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE; // if (_rtl_state != RTL_STATE_DESCEND) { // reset RTL state if landed not at home // _rtl_state = RTL_STATE_NONE; // } _update_triplet = true; return true; } bool Navigator::start_loiter() { /* if no existing item available, use current position */ if (!(_pos_sp_triplet.current.valid && _waypoint_position_reached)) { _pos_sp_triplet.current.lat = _global_pos.lat; _pos_sp_triplet.current.lon = _global_pos.lon; _pos_sp_triplet.current.yaw = NAN; // NAN means to use current yaw _pos_sp_triplet.current.alt = _global_pos.alt; } _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; _pos_sp_triplet.current.loiter_radius = _parameters.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; mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude"); _update_triplet = true; return true; } bool Navigator::start_mission() { /* start fresh */ _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; return set_mission_items(); } bool Navigator::advance_mission() { /* tell mission to move by one */ _mission.move_to_next(); /* now try to set the new mission items, if it fails, it will dispatch loiter */ return set_mission_items(); } bool Navigator::set_mission_items() { if (_pos_sp_triplet.current.valid) { memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); _pos_sp_triplet.previous.valid = true; } bool onboard; int index; /* if we fail to set the current mission, continue to loiter */ if (!_mission.get_current_mission_item(&_mission_item, &onboard, &index)) { dispatch(EVENT_LOITER_REQUESTED); return false; } /* if we got an RTL mission item, switch to RTL mode and give up */ if (_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { dispatch(EVENT_RTL_REQUESTED); return false; } _mission_item_valid = true; /* convert the current mission item and set it valid */ mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); _pos_sp_triplet.current.valid = true; mission_item_s next_mission_item; bool last_wp = false; /* now try to set the next mission item as well, if there is no more next * this means we're heading to the last waypoint */ if (_mission.get_next_mission_item(&next_mission_item)) { /* convert the next mission item and set it valid */ mission_item_to_position_setpoint(&next_mission_item, &_pos_sp_triplet.next); _pos_sp_triplet.next.valid = true; } else { last_wp = true; } /* notify user about what happened */ mavlink_log_info(_mavlink_fd, "#audio: heading to %s%swaypoint %d", (last_wp ? "last " : "" ), (onboard ? "onboard " : ""), index); _update_triplet = true; reset_reached(); return true; } bool Navigator::start_rtl() { /* TODO check if RTL was successfull, if not we have a problem and need to dispatch something */ if (_rtl.get_current_rtl_item(&_global_pos, &_mission_item)) { _mission_item_valid = true; mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); _pos_sp_triplet.current.valid = true; reset_reached(); _update_triplet = true; return true; } dispatch(EVENT_LOITER_REQUESTED); return false; } bool Navigator::advance_rtl() { /* tell mission to move by one */ _rtl.move_to_next(); /* now try to set the new mission items, if it fails, it will dispatch loiter */ if (_rtl.get_current_rtl_item(&_global_pos, &_mission_item)) { _mission_item_valid = true; mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); _pos_sp_triplet.current.valid = true; reset_reached(); _update_triplet = true; return true; } dispatch(EVENT_LOITER_REQUESTED); return false; } bool Navigator::start_land() { /* TODO: verify/test */ reset_reached(); /* this state can be requested by commander even if no global position available, * in his case controller must perform landing without position control */ memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); _mission_item.lat = _global_pos.lat; _mission_item.lon = _global_pos.lon; _mission_item.altitude_is_relative = false; _mission_item.altitude = _global_pos.alt; _mission_item.yaw = NAN; _mission_item.loiter_radius = _parameters.loiter_radius; _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_LAND; _mission_item.acceptance_radius = _parameters.acceptance_radius; _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; _mission_item_valid = true; mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current); _pos_sp_triplet.next.valid = false; _update_triplet = true; return true; } void Navigator::mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp) { sp->valid = true; if (item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { if (_pos_sp_triplet.previous.valid) { /* if previous setpoint is valid then use it to calculate heading to home */ sp->yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, sp->lat, sp->lon); } else { /* else use current position */ sp->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, sp->lat, sp->lon); } } else { sp->lat = item->lat; sp->lon = item->lon; sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.alt : item->altitude; sp->yaw = item->yaw; sp->loiter_radius = item->loiter_radius; sp->loiter_direction = item->loiter_direction; sp->pitch_min = item->pitch_min; } if (item->nav_cmd == NAV_CMD_TAKEOFF) { sp->type = SETPOINT_TYPE_TAKEOFF; } else if (item->nav_cmd == NAV_CMD_LAND) { sp->type = SETPOINT_TYPE_LAND; } else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT || item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) { sp->type = SETPOINT_TYPE_LOITER; } else { sp->type = SETPOINT_TYPE_NORMAL; } } bool Navigator::check_mission_item_reached() { /* only check if there is actually a mission item to check */ if (!_mission_item_valid) { return false; } if (_mission_item.nav_cmd == NAV_CMD_LAND) { return _vstatus.condition_landed; } /* TODO count turns */ // if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || // _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || // _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && // _mission_item.loiter_radius > 0.01f) { // return false; // } uint64_t now = hrt_absolute_time(); if (!_waypoint_position_reached) { float acceptance_radius; if (_mission_item.nav_cmd == NAV_CMD_WAYPOINT && _mission_item.acceptance_radius > 0.01f) { acceptance_radius = _mission_item.acceptance_radius; } else { acceptance_radius = _parameters.acceptance_radius; } float dist = -1.0f; float dist_xy = -1.0f; float dist_z = -1.0f; float altitude_amsl = _mission_item.altitude_is_relative ? _mission_item.altitude + _home_pos.alt : _mission_item.altitude; dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl, _global_pos.lat, _global_pos.lon, _global_pos.alt, &dist_xy, &dist_z); if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { /* require only altitude for takeoff */ if (_global_pos.alt > altitude_amsl - acceptance_radius) { _waypoint_position_reached = true; } } else { if (dist >= 0.0f && dist <= acceptance_radius) { _waypoint_position_reached = true; } } } if (_waypoint_position_reached && !_waypoint_yaw_reached) { /* TODO: removed takeoff, why? */ if (_vstatus.is_rotary_wing && isfinite(_mission_item.yaw)) { /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */ _waypoint_yaw_reached = true; } } else { _waypoint_yaw_reached = true; } } /* check if the current waypoint was reached */ if (_waypoint_position_reached && _waypoint_yaw_reached) { if (_time_first_inside_orbit == 0) { _time_first_inside_orbit = now; if (_mission_item.time_inside > 0.01f) { mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", (double)_mission_item.time_inside); } } /* check if the MAV was long enough inside the waypoint orbit */ if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item.time_inside * 1e6) || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) { return true; } } return false; } void Navigator::reset_reached() { _time_first_inside_orbit = 0; _waypoint_position_reached = false; _waypoint_yaw_reached = false; } void Navigator::publish_position_setpoint_triplet() { /* update navigation state */ _pos_sp_triplet.nav_state = static_cast(myState); /* lazily publish the position setpoint triplet only once available */ if (_pos_sp_triplet_pub > 0) { orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet); } else { _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet); } } void Navigator::add_fence_point(int argc, char *argv[]) { _geofence.addPoint(argc, argv); } void Navigator::load_fence_from_file(const char *filename) { _geofence.loadFromFile(filename); } static void usage() { errx(1, "usage: navigator {start|stop|status|fence|fencefile}"); } int navigator_main(int argc, char *argv[]) { if (argc < 2) { usage(); } if (!strcmp(argv[1], "start")) { if (navigator::g_navigator != nullptr) { errx(1, "already running"); } navigator::g_navigator = new Navigator; if (navigator::g_navigator == nullptr) { errx(1, "alloc failed"); } if (OK != navigator::g_navigator->start()) { delete navigator::g_navigator; navigator::g_navigator = nullptr; err(1, "start failed"); } return 0; } if (navigator::g_navigator == nullptr) errx(1, "not running"); if (!strcmp(argv[1], "stop")) { delete navigator::g_navigator; navigator::g_navigator = nullptr; } else if (!strcmp(argv[1], "status")) { navigator::g_navigator->status(); } else if (!strcmp(argv[1], "fence")) { navigator::g_navigator->add_fence_point(argc - 2, argv + 2); } else if (!strcmp(argv[1], "fencefile")) { navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME); } else { usage(); } return 0; }