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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* 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_feasibility_checker.cpp
* Provides checks if mission is feasible given the navigation capabilities
*/
#include "mission_feasibility_checker.h"
#include <geo/geo.h>
#include <math.h>
#include <mathlib/mathlib.h>
#include <mavlink/mavlink_log.h>
#include <fw_pos_control_l1/landingslope.h>
#include <systemlib/err.h>
#include <stdio.h>
#include <fcntl.h>
#include <errno.h>
#include <uORB/topics/fence.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capabilities_sub(-1), _initDone(false)
{
_nav_caps = {0};
}
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
/* Init if not done yet */
init();
/* Open mavlink fd */
if (_mavlink_fd < 0) {
/* try to open the mavlink log device every once in a while */
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
if (isRotarywing)
return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
else
return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
}
bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
return checkGeofence(dm_current, nMissionItems, geofence);
}
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
/* Update fixed wing navigation capabilites */
updateNavigationCapabilities();
// warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
}
bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
//xxx: check geofence
return true;
}
bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
{
/* Go through all mission items and search for a landing waypoint
* if landing waypoint is found: the previous waypoint is checked to be at a feasible distance and altitude given the landing slope */
for (size_t i = 0; i < nMissionItems; i++) {
static struct mission_item_s missionitem;
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(dm_current, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
if (missionitem.nav_cmd == NAV_CMD_LAND) {
struct mission_item_s missionitem_previous;
if (i != 0) {
if (dm_read(dm_current, i-1, &missionitem_previous, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
float wp_distance = get_distance_to_next_waypoint(missionitem_previous.lat , missionitem_previous.lon, missionitem.lat, missionitem.lon);
float slope_alt_req = Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, missionitem.altitude, _nav_caps.landing_horizontal_slope_displacement, _nav_caps.landing_slope_angle_rad);
float wp_distance_req = Landingslope::getLandingSlopeWPDistance(missionitem_previous.altitude, missionitem.altitude, _nav_caps.landing_horizontal_slope_displacement, _nav_caps.landing_slope_angle_rad);
float delta_altitude = missionitem.altitude - missionitem_previous.altitude;
// warnx("wp_distance %.2f, delta_altitude %.2f, missionitem_previous.altitude %.2f, missionitem.altitude %.2f, slope_alt_req %.2f, wp_distance_req %.2f",
// wp_distance, delta_altitude, missionitem_previous.altitude, missionitem.altitude, slope_alt_req, wp_distance_req);
// warnx("_nav_caps.landing_horizontal_slope_displacement %.4f, _nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_flare_length %.4f",
// _nav_caps.landing_horizontal_slope_displacement, _nav_caps.landing_slope_angle_rad, _nav_caps.landing_flare_length);
if (wp_distance > _nav_caps.landing_flare_length) {
/* Last wp is before flare region */
if (delta_altitude < 0) {
if (missionitem_previous.altitude <= slope_alt_req) {
/* Landing waypoint is at or below altitude of slope at the given waypoint distance: this is ok, aircraft will intersect the slope */
return true;
} else {
/* Landing waypoint is above altitude of slope at the given waypoint distance */
mavlink_log_info(_mavlink_fd, "#audio: Landing: last waypoint too high/too close");
mavlink_log_info(_mavlink_fd, "Move down to %.1fm or move further away by %.1fm",
(double)(slope_alt_req),
(double)(wp_distance_req - wp_distance));
return false;
}
} else {
/* Landing waypoint is above last waypoint */
mavlink_log_info(_mavlink_fd, "#audio: Landing waypoint above last nav waypoint");
return false;
}
} else {
/* Last wp is in flare region */
//xxx give recommendations
mavlink_log_info(_mavlink_fd, "#audio: Warning: Landing: last waypoint in flare region");
return false;
}
} else {
mavlink_log_info(_mavlink_fd, "#audio: Warning: starting with land waypoint");
return false;
}
}
}
// float slope_alt = wp_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_distance)/_flare_constant) - _H1_virt;
}
void MissionFeasibilityChecker::updateNavigationCapabilities()
{
int res = orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
}
void MissionFeasibilityChecker::init()
{
if (!_initDone) {
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_initDone = true;
}
}
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