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629 lines
13 KiB
629 lines
13 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/********************************************************************************/ |
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// Command Event Handlers |
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/********************************************************************************/ |
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void handle_process_must() |
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{ |
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// reset navigation integrators |
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// ------------------------- |
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reset_I(); |
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switch(next_command.id){ |
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case MAV_CMD_NAV_TAKEOFF: |
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do_takeoff(); |
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break; |
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint |
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do_nav_wp(); |
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break; |
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case MAV_CMD_NAV_LAND: // LAND to Waypoint |
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do_land(); |
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break; |
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely |
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do_loiter_unlimited(); |
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break; |
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case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times |
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//do_loiter_turns(); |
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break; |
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case MAV_CMD_NAV_LOITER_TIME: |
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do_loiter_time(); |
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break; |
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
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do_RTL(); |
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break; |
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default: |
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break; |
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} |
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} |
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void handle_process_may() |
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{ |
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switch(next_command.id){ |
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case MAV_CMD_CONDITION_DELAY: |
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do_wait_delay(); |
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break; |
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case MAV_CMD_CONDITION_DISTANCE: |
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do_within_distance(); |
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break; |
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case MAV_CMD_CONDITION_CHANGE_ALT: |
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do_change_alt(); |
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break; |
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case MAV_CMD_CONDITION_YAW: |
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do_yaw(); |
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break; |
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default: |
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break; |
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} |
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} |
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void handle_process_now() |
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{ |
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switch(next_command.id){ |
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case MAV_CMD_DO_JUMP: |
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do_jump(); |
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break; |
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case MAV_CMD_DO_CHANGE_SPEED: |
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//do_change_speed(); |
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break; |
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case MAV_CMD_DO_SET_HOME: |
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do_set_home(); |
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break; |
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case MAV_CMD_DO_SET_SERVO: |
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do_set_servo(); |
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break; |
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case MAV_CMD_DO_SET_RELAY: |
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do_set_relay(); |
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break; |
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case MAV_CMD_DO_REPEAT_SERVO: |
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do_repeat_servo(); |
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break; |
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case MAV_CMD_DO_REPEAT_RELAY: |
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do_repeat_relay(); |
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break; |
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case MAV_CMD_NAV_ORIENTATION_TARGET: |
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do_target_yaw(); |
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} |
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} |
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bool handle_no_commands() |
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{ |
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if (command_must_ID) |
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return false; |
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switch (control_mode){ |
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default: |
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//set_mode(RTL); |
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break; |
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} |
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return true; |
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} |
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/********************************************************************************/ |
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// Verify command Handlers |
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/********************************************************************************/ |
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bool verify_must() |
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{ |
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Serial.printf("vmust ::%d", nav_throttle); |
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switch(command_must_ID) { |
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case MAV_CMD_NAV_TAKEOFF: |
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return verify_takeoff(); |
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break; |
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case MAV_CMD_NAV_LAND: |
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return verify_land(); |
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break; |
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case MAV_CMD_NAV_WAYPOINT: |
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return verify_nav_wp(); |
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break; |
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case MAV_CMD_NAV_LOITER_UNLIM: |
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return false; |
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break; |
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case MAV_CMD_NAV_LOITER_TURNS: |
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return true; |
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break; |
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case MAV_CMD_NAV_LOITER_TIME: |
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return verify_loiter_time(); |
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break; |
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
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return verify_RTL(); |
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break; |
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default: |
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//gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current Must commands")); |
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return false; |
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break; |
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} |
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} |
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bool verify_may() |
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{ |
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switch(command_may_ID) { |
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case MAV_CMD_CONDITION_DELAY: |
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return verify_wait_delay(); |
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break; |
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case MAV_CMD_CONDITION_DISTANCE: |
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return verify_within_distance(); |
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break; |
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case MAV_CMD_CONDITION_CHANGE_ALT: |
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return verify_change_alt(); |
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break; |
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case MAV_CMD_CONDITION_YAW: |
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return verify_yaw(); |
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break; |
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default: |
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//gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current May commands")); |
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return false; |
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break; |
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} |
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} |
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/********************************************************************************/ |
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// Nav (Must) commands |
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/********************************************************************************/ |
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void do_RTL(void) |
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{ |
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control_mode = LOITER; |
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Location temp = home; |
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temp.alt = read_alt_to_hold(); |
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//so we know where we are navigating from |
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next_WP = current_loc; |
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// Loads WP from Memory |
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// -------------------- |
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set_next_WP(&temp); |
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// output control mode to the ground station |
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gcs.send_message(MSG_HEARTBEAT); |
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if (g.log_bitmask & MASK_LOG_MODE) |
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Log_Write_Mode(control_mode); |
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} |
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void do_takeoff() |
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{ |
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Location temp = current_loc; |
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temp.alt += next_command.alt; |
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takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction |
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Serial.print("dt "); |
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Serial.println(temp.alt,DEC); |
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set_next_WP(&temp); |
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} |
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void do_nav_wp() |
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{ |
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set_next_WP(&next_command); |
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} |
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void do_land() |
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{ |
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Serial.println("dlnd "); |
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land_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction |
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velocity_land = 2000; |
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Location temp = current_loc; |
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//temp.alt = home.alt; |
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// just go down far |
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temp.alt = -100000; |
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set_next_WP(&temp); |
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} |
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void do_loiter_unlimited() |
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{ |
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Serial.println("dloi "); |
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if(next_command.lat == 0) |
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set_next_WP(¤t_loc); |
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else |
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set_next_WP(&next_command); |
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} |
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void do_loiter_turns() |
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{ |
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if(next_command.lat == 0) |
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set_next_WP(¤t_loc); |
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else |
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set_next_WP(&next_command); |
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loiter_total = next_command.p1 * 360; |
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} |
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void do_loiter_time() |
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{ |
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if(next_command.lat == 0) |
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set_next_WP(¤t_loc); |
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else |
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set_next_WP(&next_command); |
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loiter_time = millis(); |
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loiter_time_max = next_command.p1 * 1000; // units are (seconds) |
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Serial.printf("dlt %ld, max %ld\n",loiter_time, loiter_time_max); |
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} |
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/********************************************************************************/ |
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// Verify Nav (Must) commands |
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/********************************************************************************/ |
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bool verify_takeoff() |
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{ |
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Serial.print("vt "); |
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if (current_loc.alt > next_WP.alt){ |
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Serial.println("Y"); |
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takeoff_complete = true; |
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return true; |
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}else{ |
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Serial.println("N"); |
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return false; |
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} |
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} |
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bool verify_land() |
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{ |
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//Serial.print("vlnd "); |
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velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8); |
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old_alt = current_loc.alt; |
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if(g.sonar_enabled){ |
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// decide which sensor we're usings |
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if(sonar_alt < 40){ |
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land_complete = true; |
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Serial.println("Y"); |
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return true; |
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} |
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} |
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if(velocity_land <= 0){ |
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land_complete = true; |
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return true; |
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} |
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Serial.printf("N, %d\n", velocity_land); |
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//update_crosstrack(); |
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return false; |
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} |
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bool verify_nav_wp() |
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{ |
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bool alt = true; |
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update_crosstrack(); |
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if (next_WP.options & WP_OPTION_ALT_REQUIRED){ |
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alt = (current_loc.alt > next_WP.alt); |
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} |
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) { |
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//SendDebug("MSG <verify_must: MAV_CMD_NAV_WAYPOINT> REACHED_WAYPOINT #"); |
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//SendDebugln(command_must_index,DEC); |
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if (alt == true){ |
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char message[30]; |
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sprintf(message,"Reached Waypoint #%i",command_must_index); |
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gcs.send_text(SEVERITY_LOW,message); |
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return true; |
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}else{ |
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return false; |
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} |
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} |
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// Have we passed the WP? |
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if(alt && (loiter_sum > 90)){ |
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gcs.send_text_P(SEVERITY_MEDIUM,PSTR("Missed WP")); |
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return true; |
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}else{ |
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return false; |
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} |
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} |
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bool verify_loiter_unlim() |
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{ |
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return false; |
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} |
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bool verify_loiter_time() |
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{ |
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//Serial.printf("vlt %ld\n",(millis() - loiter_time)); |
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if ((millis() - loiter_time) > loiter_time_max) { // scale loiter_time_max from (sec*10) to milliseconds |
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gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete")); |
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//Serial.println("vlt done"); |
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return true; |
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} |
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return false; |
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} |
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bool verify_RTL() |
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{ |
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if (wp_distance <= g.waypoint_radius) { |
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gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home")); |
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return true; |
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}else{ |
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return false; |
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} |
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} |
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/********************************************************************************/ |
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// Condition (May) commands |
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/********************************************************************************/ |
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void do_wait_delay() |
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{ |
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Serial.print("dwd "); |
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condition_start = millis(); |
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condition_value = next_command.lat * 1000; // convert to milliseconds |
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Serial.println(condition_value,DEC); |
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} |
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void do_change_alt() |
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{ |
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Location temp = next_WP; |
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condition_start = current_loc.alt; |
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condition_value = next_command.alt + home.alt; |
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temp.alt = condition_value; |
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set_next_WP(&temp); |
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} |
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void do_within_distance() |
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{ |
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condition_value = next_command.lat; |
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} |
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void do_yaw() |
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{ |
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Serial.println("dyaw "); |
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yaw_tracking = TRACK_NONE; |
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// target angle in degrees |
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command_yaw_start = nav_yaw; // current position |
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command_yaw_start_time = millis(); |
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command_yaw_dir = next_command.p1; // 1 = clockwise, 0 = counterclockwise |
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command_yaw_relative = next_command.lng; // 1 = Relative, 0 = Absolute |
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command_yaw_speed = next_command.lat * 100; // ms * 100 |
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// if unspecified go 60° a second |
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if(command_yaw_speed == 0) |
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command_yaw_speed = 6000; |
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// if unspecified go counterclockwise |
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if(command_yaw_dir == 0) |
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command_yaw_dir = -1; |
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if (command_yaw_relative){ |
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// relative |
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//command_yaw_dir = (command_yaw_end > 0) ? 1 : -1; |
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//command_yaw_end += nav_yaw; |
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//command_yaw_end = wrap_360(command_yaw_end); |
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command_yaw_delta = next_command.alt * 100; |
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}else{ |
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// absolute |
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command_yaw_end = next_command.alt * 100; |
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// calculate the delta travel in deg * 100 |
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if(command_yaw_dir == 1){ |
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if(command_yaw_start >= command_yaw_end){ |
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command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end); |
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}else{ |
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command_yaw_delta = command_yaw_end - command_yaw_start; |
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} |
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}else{ |
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if(command_yaw_start > command_yaw_end){ |
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command_yaw_delta = command_yaw_start - command_yaw_end; |
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}else{ |
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command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end); |
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} |
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} |
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command_yaw_delta = wrap_360(command_yaw_delta); |
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} |
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// rate to turn deg per second - default is ten |
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command_yaw_time = (command_yaw_delta / command_yaw_speed) * 1000; |
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} |
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/********************************************************************************/ |
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// Verify Condition (May) commands |
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/********************************************************************************/ |
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bool verify_wait_delay() |
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{ |
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Serial.print("vwd"); |
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if ((millis() - condition_start) > condition_value){ |
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Serial.println("y"); |
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condition_value = 0; |
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return true; |
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} |
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Serial.println("n"); |
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return false; |
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} |
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bool verify_change_alt() |
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{ |
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if (condition_start < next_WP.alt){ |
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// we are going higer |
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if(current_loc.alt > next_WP.alt){ |
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condition_value = 0; |
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return true; |
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} |
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}else{ |
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// we are going lower |
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if(current_loc.alt < next_WP.alt){ |
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condition_value = 0; |
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return true; |
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} |
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} |
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return false; |
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} |
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bool verify_within_distance() |
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{ |
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if (wp_distance < condition_value){ |
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condition_value = 0; |
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return true; |
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} |
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return false; |
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} |
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bool verify_yaw() |
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{ |
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Serial.print("vyaw "); |
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if((millis() - command_yaw_start_time) > command_yaw_time){ |
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// time out |
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// make sure we hold at the final desired yaw angle |
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nav_yaw = command_yaw_end; |
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Serial.println("Y"); |
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return true; |
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}else{ |
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// else we need to be at a certain place |
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// power is a ratio of the time : .5 = half done |
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float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time; |
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nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir); |
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nav_yaw = wrap_360(nav_yaw); |
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Serial.printf("ny %ld\n",nav_yaw); |
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return false; |
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} |
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} |
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/********************************************************************************/ |
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// Do (Now) commands |
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/********************************************************************************/ |
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void do_target_yaw() |
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{ |
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yaw_tracking = next_command.p1; |
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if(yaw_tracking & TRACK_TARGET_WP){ |
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target_WP = next_command; |
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} |
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} |
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void do_loiter_at_location() |
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{ |
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next_WP = current_loc; |
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} |
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void do_jump() |
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{ |
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struct Location temp; |
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if(next_command.lat > 0) { |
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command_must_index = 0; |
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command_may_index = 0; |
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temp = get_wp_with_index(g.waypoint_index); |
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temp.lat = next_command.lat - 1; // Decrement repeat counter |
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set_wp_with_index(temp, g.waypoint_index); |
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g.waypoint_index.set_and_save(next_command.p1 - 1); |
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} |
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} |
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void do_set_home() |
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{ |
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if(next_command.p1 == 1) { |
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init_home(); |
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} else { |
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home.id = MAV_CMD_NAV_WAYPOINT; |
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home.lng = next_command.lng; // Lon * 10**7 |
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home.lat = next_command.lat; // Lat * 10**7 |
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home.alt = max(next_command.alt, 0); |
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home_is_set = true; |
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} |
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} |
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void do_set_servo() |
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{ |
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APM_RC.OutputCh(next_command.p1 - 1, next_command.alt); |
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} |
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void do_set_relay() |
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{ |
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if (next_command.p1 == 1) { |
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relay_on(); |
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} else if (next_command.p1 == 0) { |
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relay_off(); |
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}else{ |
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relay_toggle(); |
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} |
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} |
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void do_repeat_servo() |
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{ |
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event_id = next_command.p1 - 1; |
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if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) { |
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event_timer = 0; |
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event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) |
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event_repeat = next_command.lat * 2; |
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event_value = next_command.alt; |
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switch(next_command.p1) { |
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case CH_5: |
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event_undo_value = g.rc_5.radio_trim; |
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break; |
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case CH_6: |
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event_undo_value = g.rc_6.radio_trim; |
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break; |
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case CH_7: |
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event_undo_value = g.rc_7.radio_trim; |
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break; |
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case CH_8: |
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event_undo_value = g.rc_8.radio_trim; |
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break; |
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} |
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update_events(); |
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} |
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} |
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|
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void do_repeat_relay() |
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{ |
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event_id = RELAY_TOGGLE; |
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event_timer = 0; |
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event_delay = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) |
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event_repeat = next_command.alt * 2; |
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update_events(); |
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}
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