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
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
|
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Authors: Lorenz Meier
* Jean Cyr
* 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.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <sys/ioctl.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include <dataman/dataman.h>
/**
* navigator app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
class Navigator
{
public:
/**
* Constructor
*/
Navigator();
/**
* Destructor, also kills the sensors 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 _global_pos_sub;
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _mission_sub; /**< notification of 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 */
struct vehicle_status_s _vstatus; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */
perf_counter_t _loop_perf; /**< loop performance counter */
unsigned _max_mission_item_count; /**< maximum number of mission items supported */
unsigned _mission_item_count; /** number of mission items copied */
struct mission_item_s *_mission_item; /**< storage for mission */
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;
/** manual control states */
float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */
float _loiter_hold_lat;
float _loiter_hold_lon;
float _loiter_hold_alt;
bool _loiter_hold;
struct {
float throttle_cruise;
} _parameters; /**< local copies of interesting parameters */
struct {
param_t throttle_cruise;
} _parameter_handles; /**< handles for interesting parameters */
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Update control outputs
*
*/
void control_update();
/**
* Retrieve mission.
*/
void mission_update();
/**
* Control throttle.
*/
float control_throttle(float energy_error);
/**
* Control pitch.
*/
float control_pitch(float altitude_error);
/**
* 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);
void current_waypoint_changed(unsigned next_setpoint_index);
};
namespace navigator
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
Navigator *g_navigator;
}
Navigator::Navigator() :
_task_should_exit(false),
_navigator_task(-1),
/* subscriptions */
_global_pos_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_mission_sub(-1),
_capabilities_sub(-1),
/* publications */
_triplet_pub(-1),
_fence_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
/* states */
_max_mission_item_count(10),
_fence_valid(false),
_inside_fence(true),
_loiter_hold(false)
{
_global_pos.valid = false;
memset(&_fence, 0, sizeof(_fence));
_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");
_mission_item = (mission_item_s*)malloc(sizeof(mission_item_s) * _max_mission_item_count);
/* fetch initial values */
parameters_update();
}
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;
}
int
Navigator::parameters_update()
{
//param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
return OK;
}
void
Navigator::mission_update()
{
struct mission_s mission;
if (orb_copy(ORB_ID(mission), _mission_sub, &mission) == OK) {
// XXX this is not optimal yet, but a first prototype /
// test implementation
if (mission.count <= _max_mission_item_count) {
/*
* Perform an atomic copy & state update
*/
irqstate_t flags = irqsave();
memcpy(_mission_item, mission.items, mission.count * sizeof(struct mission_item_s));
_mission_item_count = mission.count;
irqrestore(flags);
current_waypoint_changed(0);
} else {
warnx("ERROR: too many waypoints, not supported");
}
/* Reset to 0 for now when a waypoint is changed */
/* TODO add checks if and how the mission has changed */
}
}
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);
/*
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_mission_sub = orb_subscribe(ORB_ID(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));
// Load initial states
if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) {
_vstatus.arming_state = ARMING_STATE_STANDBY; // for testing... commander may not be running
}
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);
parameters_update();
_fence_valid = load_fence(GEOFENCE_MAX_VERTICES);
/* load the craft capabilities */
orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
/* wakeup source(s) */
struct pollfd fds[5];
/* 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 = _capabilities_sub;
fds[2].events = POLLIN;
fds[3].fd = _mission_sub;
fds[3].events = POLLIN;
fds[4].fd = _vstatus_sub;
fds[4].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 parameters if they changed */
if (fds[4].revents & POLLIN) {
/* read from param to clear updated flag */
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
}
/* only update vehicle status if it changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only update craft capabilities if they have changed */
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
}
if (fds[3].revents & POLLIN) {
mission_update();
}
/* only run controller if position changed */
if (fds[1].revents & POLLIN) {
/* load local copies */
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f) {
deltaT = 0.01f;
}
if (_fence_valid && _global_pos.valid) {
_inside_fence = inside_geofence(&_global_pos, &_fence);
}
math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy);
// Current waypoint
math::Vector2f next_wp(_mission_item_triplet.current.lat / 1e7f, _mission_item_triplet.current.lon / 1e7f);
// Global position
math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f);
/* AUTONOMOUS FLIGHT */
if (1 /* autonomous flight */) {
/* execute navigation once we have a setpoint */
if (_mission_item_count > 0) {
// Next waypoint
math::Vector2f prev_wp;
if (_mission_item_triplet.previous_valid) {
prev_wp.setX(_mission_item_triplet.previous.lat / 1e7f);
prev_wp.setY(_mission_item_triplet.previous.lon / 1e7f);
} else {
/*
* No valid next waypoint, go for heading hold.
* This is automatically handled by the L1 library.
*/
prev_wp.setX(_mission_item_triplet.current.lat / 1e7f);
prev_wp.setY(_mission_item_triplet.current.lon / 1e7f);
}
/******** MAIN NAVIGATION STATE MACHINE ********/
// XXX to be put in its own class
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) {
/* waypoint is a plain navigation waypoint */
} else 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) {
/* waypoint is a loiter waypoint */
}
// XXX at this point we always want no loiter hold if a
// mission is active
_loiter_hold = false;
} else {
if (!_loiter_hold) {
_loiter_hold_lat = _global_pos.lat / 1e7f;
_loiter_hold_lon = _global_pos.lon / 1e7f;
_loiter_hold_alt = _global_pos.alt;
_loiter_hold = true;
}
//_parameters.loiter_hold_radius
}
} else if (0/* seatbelt mode enabled */) {
/** SEATBELT FLIGHT **/
continue;
} else {
/** MANUAL FLIGHT **/
/* no flight mode applies, do not publish an attitude setpoint */
continue;
}
/******** MAIN NAVIGATION STATE MACHINE ********/
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
// XXX define launch position and return
} else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) {
// XXX flared descent on final approach
} else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
/* apply minimum pitch if altitude has not yet been reached */
// if (_global_pos.alt < _mission_item_triplet.current.altitude) {
// _att_sp.pitch_body = math::max(_att_sp.pitch_body, _mission_item_triplet.current.param1);
// }
}
/* lazily publish the setpoint only once available */
if (_triplet_pub > 0) {
/* publish the attitude setpoint */
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);
}
}
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 * 57.2957795);
}
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");
}
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");
}
void
Navigator::current_waypoint_changed(unsigned new_setpoint_index)
{
/* TODO: extend this to different frames, global for now */
_mission_item_triplet.current_valid = false;
if (_mission_item_count > 0 && new_setpoint_index < _mission_item_count) {
_mission_item_triplet.current_valid = true;
memcpy(&_mission_item_triplet.current, &_mission_item[new_setpoint_index], sizeof(mission_item_s));
warnx("current is valid");
}
int previous_setpoint_index = -1;
_mission_item_triplet.previous_valid = false;
if (new_setpoint_index > 0) {
previous_setpoint_index = new_setpoint_index - 1;
}
while (previous_setpoint_index >= 0) {
if ((_mission_item[previous_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_WAYPOINT ||
_mission_item[previous_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_LOITER_TURNS ||
_mission_item[previous_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_LOITER_TIME ||
_mission_item[previous_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
_mission_item_triplet.previous_valid = true;
memcpy(&_mission_item_triplet.previous, &_mission_item[previous_setpoint_index], sizeof(mission_item_s));
warnx("previous is valid");
break;
}
previous_setpoint_index--;
}
/*
* Check if next WP (in mission, not in execution order)
* is available and identify correct index
*/
int next_setpoint_index = -1;
_mission_item_triplet.next_valid = false;
/* next waypoint */
if (_mission_item_count > 1) {
next_setpoint_index = new_setpoint_index + 1;
}
while (next_setpoint_index < _mission_item_count - 1) {
if ((_mission_item[next_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_WAYPOINT ||
_mission_item[next_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_LOITER_TURNS ||
_mission_item[next_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_LOITER_TIME ||
_mission_item[next_setpoint_index].nav_cmd == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
_mission_item_triplet.next_valid = true;
memcpy(&_mission_item_triplet.next, &_mission_item[next_setpoint_index], sizeof(mission_item_s));
warnx("next is valid");
break;
}
next_setpoint_index++;
}
/* lazily publish the setpoint only once available */
if (_triplet_pub > 0) {
/* publish the attitude setpoint */
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);
}
}
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;
}
|