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418 lines
11 KiB
418 lines
11 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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static void |
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handle_process_nav_cmd() |
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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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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nav_command.id); |
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switch(next_nav_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_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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static void |
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handle_process_condition_command() |
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{ |
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); |
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switch(next_nonnav_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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default: |
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break; |
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} |
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} |
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static void handle_process_do_command() |
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{ |
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); |
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switch(next_nonnav_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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#if MOUNT == ENABLED |
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// Sets the region of interest (ROI) for a sensor set or the |
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// vehicle itself. This can then be used by the vehicles control |
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// system to control the vehicle attitude and the attitude of various |
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// devices such as cameras. |
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// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| |
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case MAV_CMD_DO_SET_ROI: |
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camera_mount.set_roi_cmd(); |
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break; |
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case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| |
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camera_mount.configure_cmd(); |
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break; |
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case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| |
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camera_mount.control_cmd(); |
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break; |
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#endif |
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} |
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} |
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static void handle_no_commands() |
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{ |
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gcs_send_text_fmt(PSTR("No commands - setting MANUAL")); |
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set_mode(MANUAL); |
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} |
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/********************************************************************************/ |
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// Verify command Handlers |
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/********************************************************************************/ |
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static bool verify_nav_command() // Returns true if command complete |
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{ |
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switch(nav_command_ID) { |
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case MAV_CMD_NAV_TAKEOFF: |
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return verify_takeoff(); |
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case MAV_CMD_NAV_WAYPOINT: |
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return verify_nav_wp(); |
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
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return verify_RTL(); |
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default: |
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd")); |
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return false; |
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} |
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} |
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static bool verify_condition_command() // Returns true if command complete |
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{ |
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switch(non_nav_command_ID) { |
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case NO_COMMAND: |
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break; |
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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 WAIT_COMMAND: |
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return 0; |
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break; |
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default: |
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Invalid or no current Condition cmd")); |
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break; |
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} |
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return false; |
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} |
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/********************************************************************************/ |
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// Nav (Must) commands |
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/********************************************************************************/ |
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static void do_RTL(void) |
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{ |
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prev_WP = current_loc; |
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control_mode = RTL; |
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next_WP = home; |
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} |
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static void do_takeoff() |
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{ |
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set_next_WP(&next_nav_command); |
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} |
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static void do_nav_wp() |
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{ |
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set_next_WP(&next_nav_command); |
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} |
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/********************************************************************************/ |
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// Verify Nav (Must) commands |
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/********************************************************************************/ |
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static bool verify_takeoff() |
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{ return true; |
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} |
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static void calc_turn_radius(void) // JLN update - adjut automaticaly the wp_radius Vs the speed and the turn angle |
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{ |
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wp_radius = ground_speed * 150 / g.roll_limit.get(); |
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//cliSerial->println(wp_radius, DEC); |
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} |
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static bool verify_nav_wp() |
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{ |
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update_crosstrack(); |
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) { |
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gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"), |
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(unsigned)nav_command_index, |
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(unsigned)get_distance(¤t_loc, &next_WP)); |
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return true; |
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} |
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if(g.auto_wp_radius) { |
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calc_turn_radius(); // JLN update - auto-adap the wp_radius Vs the gspeed and max roll angle |
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if ((wp_distance > 0) && (wp_distance <= wp_radius)) { |
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gcs_send_text_fmt(PSTR("Reached Waypoint #%i"),nav_command_index); |
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return true; |
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} |
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} |
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// have we gone past the waypoint? |
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if (location_passed_point(current_loc, prev_WP, next_WP)) { |
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gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"), |
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(unsigned)nav_command_index, |
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(unsigned)get_distance(¤t_loc, &next_WP)); |
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return true; |
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} |
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return false; |
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} |
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static 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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rtl_complete = true; |
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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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static void do_wait_delay() |
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{ |
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condition_start = millis(); |
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condition_value = next_nonnav_command.lat * 1000; // convert to milliseconds |
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} |
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static void do_change_alt() |
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{ |
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condition_rate = abs((int)next_nonnav_command.lat); |
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condition_value = next_nonnav_command.alt; |
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if(condition_value < current_loc.alt) condition_rate = -condition_rate; |
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next_WP.alt = condition_value; // For future nav calculations |
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} |
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static void do_within_distance() |
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{ |
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condition_value = next_nonnav_command.lat; |
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} |
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/********************************************************************************/ |
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// Verify Condition (May) commands |
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/********************************************************************************/ |
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static bool verify_wait_delay() |
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{ |
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if ((uint32_t)(millis() - condition_start) > (uint32_t)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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static bool verify_change_alt() |
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{ |
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if( (condition_rate>=0 && current_loc.alt >= condition_value) || (condition_rate<=0 && current_loc.alt <= 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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static 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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/********************************************************************************/ |
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// Do (Now) commands |
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/********************************************************************************/ |
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static void do_jump() |
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{ |
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struct Location temp; |
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gcs_send_text_fmt(PSTR("In jump. Jumps left: %i"),next_nonnav_command.lat); |
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if(next_nonnav_command.lat > 0) { |
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nav_command_ID = NO_COMMAND; |
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next_nav_command.id = NO_COMMAND; |
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non_nav_command_ID = NO_COMMAND; |
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temp = get_cmd_with_index(g.command_index); |
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temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter |
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set_cmd_with_index(temp, g.command_index); |
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gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1); |
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g.command_index.set_and_save(next_nonnav_command.p1 - 1); |
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nav_command_index = next_nonnav_command.p1 - 1; |
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next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump |
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process_next_command(); |
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} else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever |
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nav_command_ID = NO_COMMAND; |
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non_nav_command_ID = NO_COMMAND; |
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gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1); |
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g.command_index.set_and_save(next_nonnav_command.p1 - 1); |
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nav_command_index = next_nonnav_command.p1 - 1; |
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next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump |
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process_next_command(); |
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} |
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} |
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static void do_change_speed() |
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{ |
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switch (next_nonnav_command.p1) |
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{ |
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case 0: // Airspeed |
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if(next_nonnav_command.alt > 0) |
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g.airspeed_cruise.set(next_nonnav_command.alt * 100); |
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break; |
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case 1: // Ground speed |
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g.min_gndspeed.set(next_nonnav_command.alt * 100); |
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break; |
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} |
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if(next_nonnav_command.lat > 0) |
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g.throttle_cruise.set(next_nonnav_command.lat); |
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} |
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static void do_set_home() |
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{ |
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if(next_nonnav_command.p1 == 1 && have_position) { |
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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_nonnav_command.lng; // Lon * 10**7 |
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home.lat = next_nonnav_command.lat; // Lat * 10**7 |
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home.alt = max(next_nonnav_command.alt, 0); |
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home_is_set = true; |
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} |
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} |
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static void do_set_servo() |
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{ |
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hal.rcout->enable_ch(next_nonnav_command.p1 - 1); |
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hal.rcout->write(next_nonnav_command.p1 - 1, next_nonnav_command.alt); |
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} |
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static void do_set_relay() |
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{ |
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if (next_nonnav_command.p1 == 1) { |
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relay.on(); |
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} else if (next_nonnav_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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static void do_repeat_servo() |
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{ |
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event_id = next_nonnav_command.p1 - 1; |
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if(next_nonnav_command.p1 >= CH_5 + 1 && next_nonnav_command.p1 <= CH_8 + 1) { |
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event_timer = 0; |
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event_delay = next_nonnav_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) |
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event_repeat = next_nonnav_command.lat * 2; |
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event_value = next_nonnav_command.alt; |
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switch(next_nonnav_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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static 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_nonnav_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) |
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event_repeat = next_nonnav_command.alt * 2; |
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update_events(); |
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} |
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