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466 lines
12 KiB
466 lines
12 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// called by 10 Hz loop |
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// -------------------- |
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void update_commands(void) |
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{ |
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// This function loads commands into three buffers |
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// when a new command is loaded, it is processed with process_XXX() |
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// ---------------------------------------------------------------- |
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if((home_is_set == FALSE) || (control_mode != AUTO)){ |
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return; // don't do commands |
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} |
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if(control_mode == AUTO){ |
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load_next_command(); |
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process_next_command(); |
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} |
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//verify_must(); |
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//verify_may(); |
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} |
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void load_next_command() |
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{ |
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// fetch next command if it's empty |
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// -------------------------------- |
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if(next_command.id == CMD_BLANK){ |
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next_command = get_wp_with_index(get(PARAM_WP_INDEX)+1); |
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if(next_command.id != CMD_BLANK){ |
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//SendDebug("MSG <load_next_command> fetch found new cmd from list at index "); |
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//SendDebug((get(PARAM_WP_INDEX)+1),DEC); |
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//SendDebug(" with cmd id "); |
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//SendDebugln(next_command.id,DEC); |
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} |
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} |
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// If the preload failed, return or just Loiter |
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// generate a dynamic command for RTL |
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// -------------------------------------------- |
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if(next_command.id == CMD_BLANK){ |
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// we are out of commands! |
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gcs.send_text(SEVERITY_LOW,"out of commands!"); |
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//SendDebug("MSG <load_next_command> out of commands, get(PARAM_WP_INDEX): "); |
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//SendDebugln(get(PARAM_WP_INDEX),DEC); |
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switch (control_mode){ |
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case LAND: |
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// don't get a new command |
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break; |
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default: |
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next_command = get_LOITER_home_wp(); |
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//SendDebug("MSG <load_next_command> Preload RTL cmd id: "); |
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//SendDebugln(next_command.id,DEC); |
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break; |
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} |
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} |
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} |
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void process_next_command() |
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{ |
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// these are waypoint/Must commands |
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// --------------------------------- |
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if (command_must_index == 0){ // no current command loaded |
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if (next_command.id >= 0x10 && next_command.id <= 0x1F ){ |
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increment_WP_index(); |
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//save_command_index(); // to Recover from in air Restart |
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command_must_index = get(PARAM_WP_INDEX); |
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//SendDebug("MSG <process_next_command> new command_must_id "); |
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//SendDebug(next_command.id,DEC); |
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//SendDebug(" index:"); |
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//SendDebugln(command_must_index,DEC); |
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if (get(PARAM_LOG_BITMASK) & MASK_LOG_CMD) |
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Log_Write_Cmd(get(PARAM_WP_INDEX), &next_command); |
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process_must(); |
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} |
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} |
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// these are May commands |
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// ---------------------- |
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if (command_may_index == 0){ |
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if (next_command.id >= 0x20 && next_command.id <= 0x2F ){ |
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increment_WP_index();// this command is from the command list in EEPROM |
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command_may_index = get(PARAM_WP_INDEX); |
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//Serial.print("new command_may_index "); |
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//Serial.println(command_may_index,DEC); |
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if (get(PARAM_LOG_BITMASK) & MASK_LOG_CMD) |
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Log_Write_Cmd(get(PARAM_WP_INDEX), &next_command); |
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process_may(); |
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} |
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} |
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// these are do it now commands |
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// --------------------------- |
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if (next_command.id >= 0x30){ |
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increment_WP_index();// this command is from the command list in EEPROM |
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if (get(PARAM_LOG_BITMASK) & MASK_LOG_CMD) |
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Log_Write_Cmd(get(PARAM_WP_INDEX), &next_command); |
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process_now(); |
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} |
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} |
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/* |
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These functions implement the waypoint commands. |
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*/ |
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void process_must() |
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{ |
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//SendDebug("process must index: "); |
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//SendDebugln(command_must_index,DEC); |
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gcs.send_text(SEVERITY_LOW,"New cmd: <process_must>"); |
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gcs.send_message(MSG_COMMAND_LIST, get(PARAM_WP_INDEX)); |
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// clear May indexes |
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command_may_index = 0; |
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command_may_ID = 0; |
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command_must_ID = next_command.id; |
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// loads the waypoint into Next_WP struct |
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// -------------------------------------- |
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set_next_WP(&next_command); |
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// invalidate command so a new one is loaded |
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// ----------------------------------------- |
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next_command.id = 0; |
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// reset navigation integrators |
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// ------------------------- |
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reset_I(); |
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switch(command_must_ID){ |
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case CMD_TAKEOFF: // TAKEOFF! |
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0 |
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takeoff_pitch = (int)next_command.p1 * 100; |
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takeoff_altitude = (int)next_command.alt; |
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next_WP.lat = home.lat + 1000; // so we don't have bad calcs |
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next_WP.lng = home.lng + 1000; // so we don't have bad calcs |
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takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction |
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break; |
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case CMD_WAYPOINT: // Navigate to Waypoint |
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break; |
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case CMD_LAND: // LAND to Waypoint |
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break; |
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case CMD_LOITER: // Loiter indefinitely |
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break; |
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case CMD_LOITER_N_TURNS: // Loiter N Times |
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loiter_total = next_command.p1 * 360; |
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break; |
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case CMD_LOITER_TIME: |
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loiter_time = millis(); |
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loiter_time_max = next_command.p1 * 10000; // seconds * 10 * 1000 |
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break; |
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case CMD_RTL: |
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break; |
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} |
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} |
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void process_may() |
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{ |
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//Serial.print("process_may cmd# "); |
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//Serial.println(get(PARAM_WP_INDEX),DEC); |
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command_may_ID = next_command.id; |
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// invalidate command so a new one is loaded |
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// ----------------------------------------- |
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next_command.id = 0; |
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gcs.send_text(SEVERITY_LOW,"<process_may> New may command loaded:"); |
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gcs.send_message(MSG_COMMAND_LIST, get(PARAM_WP_INDEX)); |
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// do the command |
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// -------------- |
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switch(command_may_ID){ |
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case CMD_DELAY: // Navigate to Waypoint |
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delay_start = millis(); |
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delay_timeout = next_command.lat; |
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break; |
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case CMD_LAND_OPTIONS: // Land this puppy |
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gcs.send_text(SEVERITY_LOW,"Landing options set"); |
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0 |
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landing_pitch = next_command.lng * 100; |
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set(PARAM_TRIM_AIRSPEED, next_command.alt * 100); |
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set(PARAM_TRIM_THROTTLE,next_command.lat); |
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landing_distance = next_command.p1; |
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//landing_roll = command.lng; |
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SendDebug("MSG: throttle_cruise = "); |
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SendDebugln(get(PARAM_TRIM_THROTTLE),DEC); |
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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 process_now() |
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{ |
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const float t5 = 100000.0; |
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//Serial.print("process_now cmd# "); |
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//Serial.println(get(PARAM_WP_INDEX),DEC); |
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byte id = next_command.id; |
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// invalidate command so a new one is loaded |
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// ----------------------------------------- |
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next_command.id = 0; |
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gcs.send_text(SEVERITY_LOW, "<process_now> New now command loaded: "); |
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gcs.send_message(MSG_COMMAND_LIST, get(PARAM_WP_INDEX)); |
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// do the command |
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// -------------- |
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switch(id){ |
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//case CMD_AP_MODE: |
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//next_command.p1 = constrain(next_command.p1, MANUAL, LAND); |
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//set_mode(next_command.p1); |
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//break; |
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case CMD_RESET_INDEX: |
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init_commands(); |
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break; |
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case CMD_GETVAR_INDEX: |
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// |
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break; |
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case CMD_SENDVAR_INDEX: |
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// |
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break; |
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case CMD_TELEMETRY: |
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// |
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break; |
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case CMD_AIRSPEED_CRUISE: |
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set(PARAM_TRIM_AIRSPEED,next_command.p1 * 100); |
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break; |
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case CMD_THROTTLE_CRUISE: |
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set(PARAM_TRIM_THROTTLE,next_command.p1); |
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break; |
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case CMD_RESET_HOME: |
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init_home(); |
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break; |
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case CMD_KP_GAIN: |
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pid_index[next_command.p1]->kP(next_command.alt/t5); |
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pid_index[next_command.p1]->save_gains(); |
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break; |
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case CMD_KI_GAIN: |
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pid_index[next_command.p1]->kI(next_command.alt/t5); |
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pid_index[next_command.p1]->save_gains(); |
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break; |
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case CMD_KD_GAIN: |
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pid_index[next_command.p1]->kD(next_command.alt/t5); |
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pid_index[next_command.p1]->save_gains(); |
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break; |
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case CMD_KI_MAX: |
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pid_index[next_command.p1]->imax(next_command.alt/t5); |
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pid_index[next_command.p1]->save_gains(); |
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break; |
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case CMD_KFF_GAIN: |
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{ |
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float val = next_command.alt/t5; |
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switch(next_command.p1) |
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{ |
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case CASE_PITCH_COMP: set(PARAM_KFF_PTCHCOMP,val); break; |
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case CASE_RUDDER_MIX: set(PARAM_KFF_RDDRMIX,val); break; |
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case CASE_P_TO_T: set(PARAM_KFF_PTCH2THR,val); break; |
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} |
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} |
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break; |
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case CMD_RADIO_TRIM: |
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set_radio_trim(next_command.p1,next_command.alt); |
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break; |
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case CMD_RADIO_MAX: |
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set_radio_max(next_command.p1,next_command.alt); |
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break; |
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case CMD_RADIO_MIN: |
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set_radio_min(next_command.p1,next_command.alt); |
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break; |
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case CMD_REPEAT: |
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new_event(&next_command); |
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break; |
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case CMD_SERVO: |
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//Serial.print("CMD_SERVO "); |
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//Serial.print(next_command.p1,DEC); |
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//Serial.print(" PWM: "); |
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//Serial.println(next_command.alt,DEC); |
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APM_RC.OutputCh(next_command.p1, next_command.alt); |
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break; |
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case CMD_INDEX: |
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command_must_index = 0; |
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command_may_index = 0; |
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set(PARAM_WP_INDEX,next_command.p1 - 1); |
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break; |
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case CMD_RELAY: |
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if (next_command.p1 == 0) { |
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relay_on(); |
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} else if (next_command.p1 == 1) { |
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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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break; |
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} |
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} |
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// Verify commands |
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// --------------- |
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void verify_must() |
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{ |
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float power; |
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switch(command_must_ID) { |
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case CMD_TAKEOFF: // Takeoff! |
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//Serial.print("verify_must cmd# "); |
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//Serial.println(command_must_index,DEC); |
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if (gps.ground_speed > 300){ |
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if(hold_course == -1){ |
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// save our current course to take off |
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#if MAGNETOMETER == ENABLED |
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hold_course = dcm.yaw_sensor; |
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#else |
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hold_course = gps.ground_course; |
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#endif |
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} |
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} |
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if(hold_course > -1){ |
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// recalc bearing error with hold_course; |
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nav_bearing = hold_course; |
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// recalc bearing error |
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calc_bearing_error(); |
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} |
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if (current_loc.alt > (home.alt + takeoff_altitude)) { |
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command_must_index = 0; |
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hold_course = -1; |
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takeoff_complete = true; |
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} |
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break; |
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case CMD_LAND: |
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// we don't verify landing - we never go to a new Must command after Land. |
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if ( ((wp_distance > 0) && (wp_distance <= (2*gps.ground_speed/100))) || (current_loc.alt <= next_WP.alt + 300) ) |
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{ |
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land_complete = 1; //Set land_complete if we are within 2 seconds distance or within 3 meters altitude |
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if(hold_course == -1){ |
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// save our current course to land |
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//hold_course = yaw_sensor; |
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// save the course line of the runway to land |
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hold_course = crosstrack_bearing; |
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} |
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} |
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if(hold_course > -1){ |
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// recalc bearing error with hold_course; |
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nav_bearing = hold_course; |
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// recalc bearing error |
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calc_bearing_error(); |
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} |
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update_crosstrack(); |
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break; |
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case CMD_WAYPOINT: // reach a waypoint |
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hold_course == -1; |
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update_crosstrack(); |
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if ((wp_distance > 0) && (wp_distance <= get(PARAM_WP_RADIUS))) { |
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SendDebug("MSG <verify_must: CMD_WAYPOINT> REACHED_WAYPOINT #"); |
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SendDebugln(command_must_index,DEC); |
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// clear the command queue; |
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command_must_index = 0; |
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} |
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// add in a more complex case |
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// Doug to do |
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if(loiter_sum > 300){ |
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gcs.send_text(SEVERITY_MEDIUM,"<verify_must: CMD_WAYPOINT> Missed WP"); |
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command_must_index = 0; |
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} |
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break; |
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case CMD_LOITER_N_TURNS: // LOITER N times |
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update_loiter(); |
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calc_bearing_error(); |
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if(loiter_sum > loiter_total) { |
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loiter_total = 0; |
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gcs.send_text(SEVERITY_LOW,"<verify_must: CMD_LOITER_N_TURNS> LOITER orbits complete "); |
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// clear the command queue; |
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command_must_index = 0; |
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} |
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break; |
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case CMD_LOITER_TIME: // loiter N milliseconds |
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update_loiter(); |
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calc_bearing_error(); |
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if ((millis() - loiter_time) > loiter_time_max) { |
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gcs.send_text(SEVERITY_LOW,"<verify_must: CMD_LOITER_TIME> LOITER time complete "); |
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command_must_index = 0; |
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} |
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break; |
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case CMD_RTL: |
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if (wp_distance <= 30) { |
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//Serial.println("REACHED_HOME"); |
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command_must_index = 0; |
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} |
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break; |
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case CMD_LOITER: // Just plain LOITER |
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update_loiter(); |
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calc_bearing_error(); |
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break; |
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default: |
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gcs.send_text(SEVERITY_HIGH,"<verify_must: default> No current Must commands"); |
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break; |
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} |
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} |
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void verify_may() |
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{ |
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switch(command_may_ID) { |
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case CMD_DELAY: |
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if ((millis() - delay_start) > delay_timeout){ |
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command_may_index = 0; |
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delay_timeout = 0; |
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} |
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case CMD_LAND_OPTIONS: |
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if ((wp_distance > 0) && (wp_distance <= landing_distance)) { |
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//Serial.print("XXX REACHED_WAYPOINT #"); |
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//Serial.println(command_must_index,DEC); |
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// clear the command queue; |
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command_may_index = 0; |
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} |
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break; |
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} |
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} |
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