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/****************************************************************************
*
* 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_rtl.cpp
* Helper class to access RTL
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include "navigator.h"
#include "rtl.h"
#define DELAY_SIGMA 0.01f
RTL::RTL(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_rtl_state(RTL_STATE_NONE),
_param_return_alt(this, "RTL_RETURN_ALT", false),
_param_descend_alt(this, "RTL_DESCEND_ALT", false),
_param_land_delay(this, "RTL_LAND_DELAY", false)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
RTL::~RTL()
{
}
void
RTL::on_inactive()
{
/* reset RTL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_rtl_state = RTL_STATE_NONE;
}
}
void
RTL::on_activation()
{
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_log_critical(_navigator->get_mavlink_fd(), "no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
}
set_rtl_item();
}
void
RTL::on_active()
{
if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
advance_rtl();
set_rtl_item();
}
}
void
RTL::set_rtl_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* make sure we have the latest params */
updateParams();
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = climb_alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: climb to %d m (%d m above home)",
(int)(climb_alt),
(int)(climb_alt - _navigator->get_home_position()->alt));
break;
}
case RTL_STATE_RETURN: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
// don't change altitude
if (pos_sp_triplet->previous.valid) {
/* if previous setpoint is valid then use it to calculate heading to home */
_mission_item.yaw = get_bearing_to_next_waypoint(
pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon,
_mission_item.lat, _mission_item.lon);
} else {
/* else use current position */
_mission_item.yaw = get_bearing_to_next_waypoint(
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_mission_item.lat, _mission_item.lon);
}
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: return at %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
}
case RTL_STATE_DESCEND: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: descend to %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
}
case RTL_STATE_LOITER: {
bool autoland = _param_land_delay.get() > -DELAY_SIGMA;
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = autoland;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
if (autoland) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: loiter %.1fs", (double)_mission_item.time_inside);
} else {
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: completed, loiter");
}
break;
}
case RTL_STATE_LAND: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_home_position()->alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LAND;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: land at home");
break;
}
case RTL_STATE_LANDED: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_home_position()->alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_IDLE;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: completed, landed");
break;
}
default:
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
RTL::advance_rtl()
{
switch (_rtl_state) {
case RTL_STATE_CLIMB:
_rtl_state = RTL_STATE_RETURN;
break;
case RTL_STATE_RETURN:
_rtl_state = RTL_STATE_DESCEND;
break;
case RTL_STATE_DESCEND:
/* only go to land if autoland is enabled */
if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_LOITER;
} else {
_rtl_state = RTL_STATE_LAND;
}
break;
case RTL_STATE_LOITER:
_rtl_state = RTL_STATE_LAND;
break;
case RTL_STATE_LAND:
_rtl_state = RTL_STATE_LANDED;
break;
default:
break;
}
}
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