1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
|
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mission_block.cpp
*
* Helper class to use mission items
*
* @author Julian Oes <julian@oes.ch>
*/
#include <sys/types.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include "navigator.h"
#include "mission_block.h"
MissionBlock::MissionBlock(Navigator *navigator) :
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_mission_item({0}),
_mission_item_valid(false),
_navigator_priv(navigator)
{
}
MissionBlock::~MissionBlock()
{
}
bool
MissionBlock::is_mission_item_reached()
{
/* TODO: count turns */
#if 0
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;
}
#endif
hrt_abstime now = hrt_absolute_time();
if (!_waypoint_position_reached) {
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 + _navigator_priv->get_home_position()->alt
: _mission_item.altitude;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
_navigator_priv->get_global_position()->lat,
_navigator_priv->get_global_position()->lon,
_navigator_priv->get_global_position()->alt,
&dist_xy, &dist_z);
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
/* require only altitude for takeoff */
if (_navigator_priv->get_global_position()->alt > altitude_amsl - _mission_item.acceptance_radius) {
_waypoint_position_reached = true;
}
} else {
if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
_waypoint_position_reached = true;
}
}
}
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
/* TODO: removed takeoff, why? */
if (_navigator_priv->get_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 - _navigator_priv->get_global_position()->yaw);
if (fabsf(yaw_err) < 0.2f) { /* TODO: 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 >= (hrt_abstime)_mission_item.time_inside * 1e6f) {
return true;
}
}
return false;
}
void
MissionBlock::reset_mission_item_reached()
{
_waypoint_position_reached = false;
_waypoint_yaw_reached = false;
_time_first_inside_orbit = 0;
}
void
MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp)
{
sp->valid = true;
sp->lat = item->lat;
sp->lon = item->lon;
sp->alt = item->altitude_is_relative ? item->altitude + _navigator_priv->get_home_position()->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_POSITION;
}
}
bool
MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet)
{
if (_navigator_priv->get_is_in_loiter()) {
/* already loitering, bail out */
return false;
}
if (reuse_current_pos_sp && pos_sp_triplet->current.valid) {
/* leave position setpoint as is */
} else {
/* use current position */
pos_sp_triplet->current.lat = _navigator_priv->get_global_position()->lat;
pos_sp_triplet->current.lon = _navigator_priv->get_global_position()->lon;
pos_sp_triplet->current.alt = _navigator_priv->get_global_position()->alt;
pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */
}
pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
pos_sp_triplet->current.loiter_radius = _navigator_priv->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;
_navigator_priv->set_is_in_loiter(true);
return true;
}
|
