/**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier * @author Jean Cyr * @author Julian Oes * * 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.c * Implementation of the main navigation state machine. * * Handles missions, geo fencing and failsafe navigation behavior. * Published the mission item triplet for the position controller. */ #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 "navigator_mission.h" #include "mission_feasibility_checker.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(); /** * Load fence parameters. */ bool load_fence(unsigned vertices); /** * Specify fence vertex position. */ void fence_point(int argc, char *argv[]); 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 */ orb_advert_t _triplet_pub; /**< publish position setpoint triplet */ orb_advert_t _fence_pub; /**< publish fence topic */ orb_advert_t _mission_result_pub; /**< publish mission result topic */ struct vehicle_status_s _vstatus; /**< vehicle status */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct home_position_s _home_pos; /**< home position for RTL */ struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */ struct mission_result_s _mission_result; /**< mission result for commander/mavlink */ perf_counter_t _loop_perf; /**< loop performance counter */ struct fence_s _fence; /**< storage for fence vertices */ bool _fence_valid; /**< flag if fence is valid */ bool _inside_fence; /**< vehicle is inside fence */ struct navigation_capabilities_s _nav_caps; class Mission _mission; bool _waypoint_position_reached; bool _waypoint_yaw_reached; uint64_t _time_first_inside_orbit; MissionFeasibilityChecker missionFeasiblityChecker; struct { float min_altitude; float loiter_radius; int onboard_mission_enabled; } _parameters; /**< local copies of parameters */ struct { param_t min_altitude; param_t loiter_radius; param_t onboard_mission_enabled; } _parameter_handles; /**< handles for parameters */ enum Event { EVENT_NONE_REQUESTED, EVENT_LOITER_REQUESTED, EVENT_MISSION_REQUESTED, EVENT_RTL_REQUESTED, EVENT_MISSION_FINISHED, EVENT_MISSION_CHANGED, EVENT_HOME_POSITION_CHANGED, MAX_EVENT }; enum State { STATE_INIT, STATE_NONE, STATE_LOITER, STATE_MISSION, STATE_MISSION_LOITER, STATE_RTL, STATE_RTL_LOITER, MAX_STATE }; /** * State machine transition table */ static StateTable::Tran const myTable[MAX_STATE][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(bool isrotaryWing); /** * Retrieve onboard mission. */ void onboard_mission_update(); /** * Retrieve vehicle status */ void vehicle_status_update(); /** * Shim for calling task_main from task_create. */ static void task_main_trampoline(int argc, char *argv[]); /** * Main sensor collection task. */ void task_main() __attribute__((noreturn)); void publish_fence(unsigned vertices); void publish_safepoints(unsigned points); bool fence_valid(const struct fence_s &fence); /** * Functions that are triggered when a new state is entered. */ void start_none(); void start_loiter(); void start_mission(); void start_mission_loiter(); void start_rtl(); void start_rtl_loiter(); /** * Guards offboard mission */ bool offboard_mission_available(unsigned relative_index); /** * Guards onboard mission */ bool onboard_mission_available(unsigned relative_index); /** * Check if current mission item has been reached. */ bool mission_item_reached(); /** * Move to next waypoint */ void advance_mission(); /** * Helper function to get a loiter item */ void get_loiter_item(mission_item_s *new_loiter_position); /** * Publish a new mission item triplet for position controller */ void publish_mission_item_triplet(); /** * Compare two mission items if they are equivalent * Two mission items can be considered equivalent for the purpose of the navigator even if some fields differ. * * @return true if equivalent, false otherwise */ bool cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b); void add_home_pos_to_rtl(struct mission_item_s *new_mission_item); }; 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], MAX_STATE, MAX_EVENT), _task_should_exit(false), _navigator_task(-1), _mavlink_fd(-1), /* subscriptions */ _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), /* publications */ _triplet_pub(-1), _fence_pub(-1), _mission_result_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), /* states */ _fence_valid(false), _inside_fence(true), _mission(), _waypoint_position_reached(false), _waypoint_yaw_reached(false), _time_first_inside_orbit(0) { memset(&_fence, 0, sizeof(_fence)); _parameter_handles.min_altitude = param_find("NAV_MIN_ALT"); _parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD"); _parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN"); _mission_item_triplet.previous_valid = false; _mission_item_triplet.current_valid = false; _mission_item_triplet.next_valid = false; memset(&_mission_item_triplet.previous, 0, sizeof(struct mission_item_s)); memset(&_mission_item_triplet.current, 0, sizeof(struct mission_item_s)); memset(&_mission_item_triplet.next, 0, sizeof(struct mission_item_s)); memset(&_mission_result, 0, sizeof(struct mission_result_s)); /* Initialize state machine */ myState = STATE_INIT; } 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.min_altitude, &(_parameters.min_altitude)); param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius)); param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled)); _mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled); } void Navigator::global_position_update() { /* load local copies */ 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); } void Navigator::navigation_capabilities_update() { orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps); } void Navigator::offboard_mission_update(bool isrotaryWing) { struct mission_s offboard_mission; if (orb_copy(ORB_ID(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(isrotaryWing, dm_current, (size_t)offboard_mission.count); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); _mission.set_current_offboard_mission_index(offboard_mission.current_index); _mission.set_offboard_mission_count(offboard_mission.count); } else { _mission.set_current_offboard_mission_index(0); _mission.set_offboard_mission_count(0); } } void Navigator::onboard_mission_update() { struct mission_s onboard_mission; if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { _mission.set_current_onboard_mission_index(onboard_mission.current_index); _mission.set_onboard_mission_count(onboard_mission.count); } else { _mission.set_current_onboard_mission_index(0); _mission.set_onboard_mission_count(0); } } void Navigator::vehicle_status_update() { /* try to load initial states */ if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) { _vstatus.arming_state = ARMING_STATE_STANDBY; /* in case the commander is not be running */ } } 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); _fence_valid = load_fence(GEOFENCE_MAX_VERTICES); /* * do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); _offboard_mission_sub = orb_subscribe(ORB_ID(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)); _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(); parameters_update(); global_position_update(); home_position_update(); navigation_capabilities_update(); offboard_mission_update(_vstatus.is_rotary_wing); onboard_mission_update(); /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vstatus_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); /* wakeup source(s) */ struct pollfd fds[7]; /* 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; 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); /* only update vehicle status if it changed */ if (fds[6].revents & POLLIN) { vehicle_status_update(); /* Evaluate state machine from commander and set the navigator mode accordingly */ if (_vstatus.main_state == MAIN_STATE_AUTO) { switch (_vstatus.navigation_state) { case NAVIGATION_STATE_DIRECT: case NAVIGATION_STATE_STABILIZE: case NAVIGATION_STATE_ALTHOLD: case NAVIGATION_STATE_VECTOR: /* don't publish a mission item triplet */ dispatch(EVENT_NONE_REQUESTED); break; case NAVIGATION_STATE_AUTO_READY: case NAVIGATION_STATE_AUTO_TAKEOFF: case NAVIGATION_STATE_AUTO_MISSION: /* try mission if none is available, fallback to loiter instead */ if (_mission.current_mission_available()) { dispatch(EVENT_MISSION_REQUESTED); } else { dispatch(EVENT_LOITER_REQUESTED); } break; case NAVIGATION_STATE_AUTO_LOITER: dispatch(EVENT_LOITER_REQUESTED); break; case NAVIGATION_STATE_AUTO_RTL: dispatch(EVENT_RTL_REQUESTED); break; case NAVIGATION_STATE_AUTO_LAND: /* TODO add this */ break; default: warnx("ERROR: Navigation state not supported"); break; } } else { /* not in AUTO */ dispatch(EVENT_NONE_REQUESTED); } /* XXX Hack to get mavlink output going, try opening the fd with 5Hz */ if (_mavlink_fd < 0) { /* try to open the mavlink log device every once in a while */ _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } } /* only update parameters if it changed */ if (fds[0].revents & POLLIN) { parameters_update(); /* note that these new parameters won't be in effect until a mission triplet is published again */ } /* only update craft capabilities if they have changed */ if (fds[3].revents & POLLIN) { navigation_capabilities_update(); } if (fds[4].revents & POLLIN) { offboard_mission_update(_vstatus.is_rotary_wing); // XXX check if mission really changed dispatch(EVENT_MISSION_CHANGED); } if (fds[5].revents & POLLIN) { onboard_mission_update(); // XXX check if mission really changed dispatch(EVENT_MISSION_CHANGED); } if (fds[2].revents & POLLIN) { home_position_update(); // XXX check if home position really changed dispatch(EVENT_HOME_POSITION_CHANGED); } /* only run controller if position changed */ if (fds[1].revents & POLLIN) { global_position_update(); /* only check if waypoint has been reached in Mission or RTL mode */ if (mission_item_reached()) { if (_vstatus.main_state == MAIN_STATE_AUTO && (_vstatus.navigation_state == NAVIGATION_STATE_AUTO_READY || _vstatus.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF || _vstatus.navigation_state == NAVIGATION_STATE_AUTO_MISSION)) { /* advance by one mission item */ _mission.move_to_next(); /* if no more mission items available send this to state machine and start loiter at the last WP */ if (_mission.current_mission_available()) { advance_mission(); } else { dispatch(EVENT_MISSION_FINISHED); } } else { dispatch(EVENT_MISSION_FINISHED); } } } 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.valid ? "" : "in"); if (_global_pos.valid) { warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon / 1e7, _global_pos.lat / 1e7); warnx("Altitude %5.5f meters, altitude above home %5.5f meters", (double)_global_pos.alt, (double)_global_pos.relative_alt); warnx("Ground velocity in m/s, x %5.5f, y %5.5f, z %5.5f", (double)_global_pos.vx, (double)_global_pos.vy, (double)_global_pos.vz); 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 STATE_INIT: warnx("State: Init"); break; case STATE_NONE: warnx("State: None"); break; case STATE_LOITER: warnx("State: Loiter"); break; case STATE_MISSION: warnx("State: Mission"); break; case STATE_MISSION_LOITER: warnx("State: Loiter after Mission"); break; case STATE_RTL: warnx("State: RTL"); break; case STATE_RTL_LOITER: warnx("State: Loiter after RTL"); break; default: warnx("State: Unknown"); break; } } void Navigator::publish_fence(unsigned vertices) { if (_fence_pub == -1) _fence_pub = orb_advertise(ORB_ID(fence), &vertices); else orb_publish(ORB_ID(fence), _fence_pub, &vertices); } bool Navigator::fence_valid(const struct fence_s &fence) { // NULL fence is valid if (fence.count == 0) { return true; } // Otherwise if ((fence.count < 4) || (fence.count > GEOFENCE_MAX_VERTICES)) { warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1); return false; } return true; } bool Navigator::load_fence(unsigned vertices) { struct fence_s temp_fence; unsigned i; for (i = 0; i < vertices; i++) { if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) { break; } } temp_fence.count = i; if (fence_valid(temp_fence)) memcpy(&_fence, &temp_fence, sizeof(_fence)); else warnx("Invalid fence file, ignored!"); return _fence.count != 0; } void Navigator::fence_point(int argc, char *argv[]) { int ix, last; double lon, lat; struct fence_vertex_s vertex; char *end; if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) { dm_clear(DM_KEY_FENCE_POINTS); publish_fence(0); return; } if (argc < 3) errx(1, "Specify: -clear | sequence latitude longitude [-publish]"); ix = atoi(argv[0]); if (ix >= DM_KEY_FENCE_POINTS_MAX) errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX); lat = strtod(argv[1], &end); lon = strtod(argv[2], &end); last = 0; if ((argc > 3) && (strcmp(argv[3], "-publish") == 0)) last = 1; vertex.lat = (float)lat; vertex.lon = (float)lon; if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) { if (last) publish_fence((unsigned)ix + 1); return; } errx(1, "can't store fence point"); } StateTable::Tran const Navigator::myTable[MAX_STATE][MAX_EVENT] = { { /* STATE_INIT */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_INIT}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_INIT}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_INIT}, }, { /* STATE_NONE */ /* EVENT_NONE_REQUESTED */ {NO_ACTION, STATE_NONE}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_NONE}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_NONE}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_NONE}, }, { /* STATE_LOITER */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_LOITER}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_LOITER}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_LOITER}, }, { /* STATE_MISSION */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {NO_ACTION, STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_mission_loiter), STATE_MISSION_LOITER}, /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_MISSION}, }, { /* STATE_MISSION_LOITER */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_MISSION_LOITER}, /* EVENT_MISSION_REQUESTED */ {NO_ACTION, STATE_MISSION_LOITER}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_MISSION_LOITER}, /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_MISSION_LOITER}, }, { /* STATE_RTL */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, STATE_RTL}, /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_rtl_loiter), STATE_RTL_LOITER}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_RTL}, /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), STATE_RTL}, }, { /* STATE_RTL_LOITER */ /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_RTL_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, STATE_RTL_LOITER}, /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_RTL_LOITER}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_RTL_LOITER}, /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, }, }; void Navigator::start_none() { _mission_item_triplet.previous_valid = false; _mission_item_triplet.current_valid = false; _mission_item_triplet.next_valid = false; publish_mission_item_triplet(); } void Navigator::start_loiter() { _mission_item_triplet.previous_valid = false; _mission_item_triplet.current_valid = true; _mission_item_triplet.next_valid = false; _mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7; _mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7; _mission_item_triplet.current.yaw = 0.0f; get_loiter_item(&_mission_item_triplet.current); /* XXX get rid of ugly conversion for home position altitude */ float global_min_alt = _parameters.min_altitude + (float)_home_pos.alt/1e3f; /* Use current altitude if above min altitude set by parameter */ if (_global_pos.alt < global_min_alt) { _mission_item_triplet.current.altitude = global_min_alt; mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(global_min_alt - _global_pos.alt)); } else { _mission_item_triplet.current.altitude = _global_pos.alt; mavlink_log_info(_mavlink_fd, "[navigator] loiter here"); } publish_mission_item_triplet(); } void Navigator::start_mission() { /* leave previous mission item as isas is */ int ret; bool onboard; unsigned index; ret = _mission.get_current_mission_item(&_mission_item_triplet.current, &onboard, &index); if (ret == OK) { add_home_pos_to_rtl(&_mission_item_triplet.current); _mission_item_triplet.current_valid = true; if (onboard) { mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index); } else { mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index); } } else { /* since a mission is not started without WPs available, this is not supposed to happen */ _mission_item_triplet.current_valid = false; warnx("ERROR: current WP can't be set"); } ret = _mission.get_next_mission_item(&_mission_item_triplet.next); if (ret == OK) { add_home_pos_to_rtl(&_mission_item_triplet.next); _mission_item_triplet.next_valid = true; } else { /* this will fail for the last WP */ _mission_item_triplet.next_valid = false; } publish_mission_item_triplet(); } void Navigator::advance_mission() { /* copy current mission to previous item */ memcpy(&_mission_item_triplet.previous, &_mission_item_triplet.current, sizeof(mission_item_s)); _mission_item_triplet.previous_valid = _mission_item_triplet.current_valid; int ret; bool onboard; unsigned index; ret = _mission.get_current_mission_item(&_mission_item_triplet.current, &onboard, &index); if (ret == OK) { add_home_pos_to_rtl(&_mission_item_triplet.current); _mission_item_triplet.current_valid = true; if (onboard) { mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index); } else { mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index); } } else { /* since a mission is not advanced without WPs available, this is not supposed to happen */ _mission_item_triplet.current_valid = false; warnx("ERROR: current WP can't be set"); } ret = _mission.get_next_mission_item(&_mission_item_triplet.next); if (ret == OK) { add_home_pos_to_rtl(&_mission_item_triplet.next); _mission_item_triplet.next_valid = true; } else { /* this will fail for the last WP */ _mission_item_triplet.next_valid = false; } publish_mission_item_triplet(); } void Navigator::start_mission_loiter() { /* make sure the current WP is valid */ if (!_mission_item_triplet.current_valid) { warnx("ERROR: cannot switch to offboard mission loiter"); } get_loiter_item(&_mission_item_triplet.current); publish_mission_item_triplet(); mavlink_log_info(_mavlink_fd, "[navigator] loiter at last WP"); } void Navigator::start_rtl() { /* discard all mission item and insert RTL item */ _mission_item_triplet.previous_valid = false; _mission_item_triplet.current_valid = true; _mission_item_triplet.next_valid = false; _mission_item_triplet.current.lat = (double)_home_pos.lat / 1e7; _mission_item_triplet.current.lon = (double)_home_pos.lon / 1e7; _mission_item_triplet.current.altitude = (float)_home_pos.alt / 1e3f + _parameters.min_altitude; _mission_item_triplet.current.yaw = 0.0f; _mission_item_triplet.current.nav_cmd = NAV_CMD_RETURN_TO_LAUNCH; _mission_item_triplet.current.loiter_direction = 1; _mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number _mission_item_triplet.current.radius = 50.0f; // TODO: get rid of magic number _mission_item_triplet.current.autocontinue = false; _mission_item_triplet.current_valid = true; publish_mission_item_triplet(); mavlink_log_info(_mavlink_fd, "[navigator] return to launch"); } void Navigator::start_rtl_loiter() { _mission_item_triplet.previous_valid = false; _mission_item_triplet.current_valid = true; _mission_item_triplet.next_valid = false; _mission_item_triplet.current.lat = (double)_home_pos.lat / 1e7; _mission_item_triplet.current.lon = (double)_home_pos.lon / 1e7; _mission_item_triplet.current.altitude = _home_pos.alt / 1e3f + _parameters.min_altitude; get_loiter_item(&_mission_item_triplet.current); publish_mission_item_triplet(); mavlink_log_info(_mavlink_fd, "[navigator] loiter after RTL"); } bool Navigator::mission_item_reached() { /* only check if there is actually a mission item to check */ if (!_mission_item_triplet.current_valid) { return false; } /* don't try to reach the landing mission, just stay in that mode, XXX maybe add another state for this */ if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) { return false; } /* XXX TODO count turns */ if ((_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && _mission_item_triplet.current.loiter_radius > 0.01f) { return false; } uint64_t now = hrt_absolute_time(); float orbit; if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.radius > 0.01f) { orbit = _mission_item_triplet.current.radius; } else { // XXX set default orbit via param orbit = 15.0f; } /* keep vertical orbit */ float vertical_switch_distance = orbit; // TODO add frame // int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; float dist = -1.0f; float dist_xy = -1.0f; float dist_z = -1.0f; // if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { dist = get_distance_to_point_global_wgs84(_mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude, (double)_global_pos.lat / 1e7, (double)_global_pos.lon / 1e7, _global_pos.alt, &dist_xy, &dist_z); // warnx("1 lat: %2.2f, lon: %2.2f, alt: %2.2f", _mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude); // warnx("2 lat: %2.2f, lon: %2.2f, alt: %2.2f", (double)_global_pos.lat / 1e7, (double)_global_pos.lon / 1e7, _global_pos.alt); // warnx("Dist: %4.4f", dist); // } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { // dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt, &dist_xy, &dist_z); // } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { // dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z, &dist_xy, &dist_z); // } else if (coordinate_frame == (int)MAV_FRAME_MISSION) { // /* Check if conditions of mission item are satisfied */ // // XXX TODO // } if (dist >= 0.0f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) { _waypoint_position_reached = true; } /* check if required yaw reached */ float yaw_sp = _wrap_pi(_mission_item_triplet.current.yaw); float yaw_err = _wrap_pi(yaw_sp - _global_pos.yaw); if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */ _waypoint_yaw_reached = true; } /* check if the current waypoint was reached */ if (_waypoint_position_reached /* && _waypoint_yaw_reached */) { /* XXX what about yaw? */ if (_time_first_inside_orbit == 0) { /* XXX announcment? */ _time_first_inside_orbit = now; } /* check if the MAV was long enough inside the waypoint orbit */ if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item_triplet.current.time_inside * 1e6) || _mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) { _time_first_inside_orbit = 0; _waypoint_yaw_reached = false; _waypoint_position_reached = false; return true; } } return false; } void Navigator::get_loiter_item(struct mission_item_s *new_loiter_position) { new_loiter_position->nav_cmd = NAV_CMD_LOITER_UNLIMITED; new_loiter_position->loiter_direction = 1; new_loiter_position->loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number new_loiter_position->radius = 50.0f; // TODO: get rid of magic number new_loiter_position->autocontinue = false; } void Navigator::publish_mission_item_triplet() { /* lazily publish the mission triplet only once available */ if (_triplet_pub > 0) { /* publish the mission triplet */ orb_publish(ORB_ID(mission_item_triplet), _triplet_pub, &_mission_item_triplet); } else { /* advertise and publish */ _triplet_pub = orb_advertise(ORB_ID(mission_item_triplet), &_mission_item_triplet); } } bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b) { if (fabsf(a.altitude_is_relative - b.altitude_is_relative) < FLT_EPSILON && fabsf(a.lat - b.lat) < FLT_EPSILON && fabsf(a.lon - b.lon) < FLT_EPSILON && fabsf(a.altitude - b.altitude) < FLT_EPSILON && fabsf(a.yaw - b.yaw) < FLT_EPSILON && fabsf(a.loiter_radius - b.loiter_radius) < FLT_EPSILON && fabsf(a.loiter_direction - b.loiter_direction) < FLT_EPSILON && fabsf(a.nav_cmd - b.nav_cmd) < FLT_EPSILON && fabsf(a.radius - b.radius) < FLT_EPSILON && fabsf(a.time_inside - b.time_inside) < FLT_EPSILON && fabsf(a.autocontinue - b.autocontinue) < FLT_EPSILON && fabsf(a.index - b.index) < FLT_EPSILON) { return true; } else { warnx("a.index %d, b.index %d", a.index, b.index); return false; } } static void usage() { errx(1, "usage: navigator {start|stop|status|fence}"); } 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->fence_point(argc - 2, argv + 2); } else { usage(); } return 0; } void Navigator::add_home_pos_to_rtl(struct mission_item_s *new_mission_item) { if (new_mission_item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { /* if it is a RTL waypoint, append the home position */ new_mission_item->lat = (double)_home_pos.lat / 1e7; new_mission_item->lon = (double)_home_pos.lon / 1e7; new_mission_item->altitude = (float)_home_pos.alt / 1e3f + _parameters.min_altitude; new_mission_item->loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number new_mission_item->radius = 50.0f; // TODO: get rid of magic number } }