position_setpoint_triplet refactoring finished

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -828,7 +828,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_body = _l1_control.nav_roll();
 			_att_sp.yaw_body = _l1_control.nav_bearing();
 
-			_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
+			_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
 						    _airspeed.indicated_airspeed_m_s, eas2tas,
 						    false, math::radians(_parameters.pitch_limit_min),
 						    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
@@ -845,7 +845,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				/* heading hold, along the line connecting this and the last waypoint */
 
 				if (!land_noreturn_horizontal) {//set target_bearing in first occurrence
-					if (pos_sp_triplet.previous_valid) {
+					if (pos_sp_triplet.previous.valid) {
 						target_bearing = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
 					} else {
 						target_bearing = _att.yaw;
@@ -877,7 +877,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 //				/* do not go down too early */
 //				if (wp_distance > 50.0f) {
-//					altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt;
+//					altitude_error = (_global_triplet.current.alt + 25.0f) - _global_pos.alt;
 //				}
 			/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
 			// XXX this could make a great param
@@ -888,12 +888,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			float airspeed_approach = 1.3f * _parameters.airspeed_min;
 
 			float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
-			float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
-			float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
+			float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement);
+			float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt);//getLandingSlopeAbsoluteAltitude(wp_distance, _pos_sp_triplet.current.alt, landing_slope_angle_rad, horizontal_slope_displacement);
 
 
 
-			if ( (_global_pos.alt < _pos_sp_triplet.current.altitude + landingslope.flare_relative_alt()) || land_noreturn_vertical) {  //checking for land_noreturn to avoid unwanted climb out
+			if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) {  //checking for land_noreturn to avoid unwanted climb out
 
 				/* land with minimal speed */
 
@@ -912,12 +912,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 				 }
 
-				float flare_curve_alt = landingslope.getFlareCurveAltitude(wp_distance, _pos_sp_triplet.current.altitude);
+				float flare_curve_alt = landingslope.getFlareCurveAltitude(wp_distance, _pos_sp_triplet.current.alt);
 
 				/* avoid climbout */
 				if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)
 				{
-					flare_curve_alt = pos_sp_triplet.current.altitude;
+					flare_curve_alt = pos_sp_triplet.current.alt;
 					land_stayonground = true;
 				}
 
@@ -1009,7 +1009,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				if (altitude_error > 15.0f) {
 
 					/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
-					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min),
+					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min),
 									_airspeed.indicated_airspeed_m_s, eas2tas,
 									true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)),
 									_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
@@ -1020,7 +1020,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 				} else {
 
-					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
+					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
 									_airspeed.indicated_airspeed_m_s, eas2tas,
 									false, math::radians(_parameters.pitch_limit_min),
 									_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
@@ -1042,7 +1042,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		_loiter_hold = false;
 
 		/* reset land state */
-		if (pos_sp_triplet.current.nav_cmd != NAV_CMD_LAND) {
+		if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
 			land_noreturn_horizontal = false;
 			land_noreturn_vertical = false;
 			land_stayonground = false;
@@ -1051,7 +1051,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 
 		/* reset takeoff/launch state */
-		if (pos_sp_triplet.current.nav_cmd != NAV_CMD_TAKEOFF) {
+		if (pos_sp_triplet.current.type != SETPOINT_TYPE_TAKEOFF) {
 			launch_detected = false;
 			usePreTakeoffThrust = false;
 		}
@@ -1283,7 +1283,7 @@ FixedwingPositionControl::task_main()
 				}
 
 				/* XXX check if radius makes sense here */
-				float turn_distance = _l1_control.switch_distance(_pos_sp_triplet.current.acceptance_radius);
+				float turn_distance = _l1_control.switch_distance(100.0f);
 
 				/* lazily publish navigation capabilities */
 				if (turn_distance != _nav_capabilities.turn_distance && turn_distance > 0) {

src/modules/mavlink/orb_listener.c

@@ -411,22 +411,17 @@ void
 l_global_position_setpoint(const struct listener *l)
 {
 	struct position_setpoint_triplet_s triplet;
-	orb_copy(ORB_ID(mission_item_triplet), mavlink_subs.triplet_sub, &triplet);
+	orb_copy(ORB_ID(position_setpoint_triplet), mavlink_subs.triplet_sub, &triplet);
 
-	uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
-	
-	if (!triplet.current_valid)
+	if (!triplet.current.valid)
 		return;
 
-	if (triplet.current.altitude_is_relative)
-		coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
-
 	if (gcs_link)
 		mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
-				coordinate_frame,
+				MAV_FRAME_GLOBAL,
 				(int32_t)(triplet.current.lat * 1e7d),
 				(int32_t)(triplet.current.lon * 1e7d),
-				(int32_t)(triplet.current.altitude * 1e3f),
+				(int32_t)(triplet.current.alt * 1e3f),
 				(int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f));
 }
 
@@ -804,7 +799,7 @@ uorb_receive_start(void)
 	orb_set_interval(mavlink_subs.local_pos_sub, 1000);	/* 1Hz active updates */
 
 	/* --- GLOBAL SETPOINT VALUE --- */
-	mavlink_subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
+	mavlink_subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 	orb_set_interval(mavlink_subs.triplet_sub, 2000);	/* 0.5 Hz updates */
 	
 	/* --- LOCAL SETPOINT VALUE --- */

src/modules/mavlink/orb_topics.h

@@ -51,9 +51,8 @@
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/mission_item_triplet.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/mission_item_triplet.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>

src/modules/mavlink_onboard/orb_topics.h

@@ -50,7 +50,7 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/mission_item_triplet.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/optical_flow.h>

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -65,7 +65,7 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/mission_item_triplet.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
@@ -117,7 +117,7 @@ private:
 	int 	_manual_sub;			/**< notification of manual control updates */
 	int		_arming_sub;			/**< arming status of outputs */
 	int		_local_pos_sub;			/**< vehicle local position */
-	int		_pos_sp_triplet_sub;		/**< mission item triplet */
+	int		_pos_sp_triplet_sub;		/**< position setpoint triplet */
 
 	orb_advert_t	_local_pos_sp_pub;		/**< local position setpoint publication */
 	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
@@ -687,7 +687,7 @@ MulticopterPositionControl::task_main()
 
 			if (!_control_mode.flag_control_manual_enabled) {
 				/* use constant descend rate when landing, ignore altitude setpoint */
-				if (_pos_sp_triplet.current_valid && _pos_sp_triplet.current.nav_cmd == NAV_CMD_LAND) {
+				if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
 					_vel_sp(2) = _params.land_speed;
 				}
 
@@ -789,7 +789,7 @@ MulticopterPositionControl::task_main()
 				float tilt = atan2f(math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(), -thrust_sp(2));
 				float tilt_max = _params.tilt_max;
 				if (!_control_mode.flag_control_manual_enabled) {
-					if (_pos_sp_triplet.current_valid && _pos_sp_triplet.current.nav_cmd == NAV_CMD_LAND) {
+					if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
 						/* limit max tilt and min lift when landing */
 						tilt_max = _params.land_tilt_max;
 						if (thr_min < 0.0f)

src/modules/navigator/navigator_main.cpp

@@ -972,10 +972,10 @@ Navigator::start_loiter()
 
 		/* use current altitude if above min altitude set by parameter */
 		if (_global_pos.alt < min_alt_amsl) {
-			_pos_sp_triplet.current.altitude = min_alt_amsl;
+			_pos_sp_triplet.current.alt = min_alt_amsl;
 			mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
 		} else {
-			_pos_sp_triplet.current.altitude = _global_pos.alt;
+			_pos_sp_triplet.current.alt = _global_pos.alt;
 			mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
 		}
 
@@ -987,6 +987,8 @@ Navigator::start_loiter()
 		}
 	}
 
+	_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
+	_pos_sp_triplet.current.loiter_direction = 1;
 	_pos_sp_triplet.previous.valid = false;
 	_pos_sp_triplet.current.valid = true;
 	_pos_sp_triplet.next.valid = false;
@@ -1052,7 +1054,7 @@ Navigator::set_mission_item()
 				}
 
 				/* check if we really need takeoff */
-				if (_vstatus.condition_landed || _global_pos.alt < takeoff_alt_amsl - item.acceptance_radius) {
+				if (_vstatus.condition_landed || _global_pos.alt < takeoff_alt_amsl - _mission_item.acceptance_radius) {
 					/* force TAKEOFF if landed or waypoint altitude is more than current */
 					_do_takeoff = true;
 
@@ -1067,14 +1069,14 @@ Navigator::set_mission_item()
 					_pos_sp_triplet.current.yaw = NAN;
 					_pos_sp_triplet.current.type = SETPOINT_TYPE_TAKEOFF;
 				}
-			} else if (item.nav_cmd == NAV_CMD_LAND) {
+			} else if (_mission_item.nav_cmd == NAV_CMD_LAND) {
 				/* will need takeoff after landing */
 				_need_takeoff = true;
 			}
 		}
 
 		if (_do_takeoff) {
-			mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm AMSL", _pos_sp_triplet.current.altitude);
+			mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm AMSL", _pos_sp_triplet.current.alt);
 		} else {
 			if (onboard) {
 				mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index);
@@ -1207,7 +1209,7 @@ Navigator::set_rtl_item()
 
 		_pos_sp_triplet.next.valid = false;
 
-		mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm", descend_alt - _home_pos.altitude);
+		mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm AMSL", _mission_item.altitude);
 		break;
 	}
 	case RTL_STATE_LAND: {
@@ -1258,9 +1260,12 @@ Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_
 	} else {
 		sp->lat = item->lat;
 		sp->lon = item->lon;
-		sp->alt = item->altitude_is_relative ? item->alt + _home_pos.altitude : item->alt;
+		sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.altitude : item->altitude;
 	}
 	sp->yaw = item->yaw;
+	sp->loiter_radius = item->loiter_radius;
+	sp->loiter_direction = item->loiter_direction;
+	sp->pitch_min = item->pitch_min;
 	if (item->nav_cmd == NAV_CMD_TAKEOFF) {
 		sp->type = SETPOINT_TYPE_TAKEOFF;
 	} else if (item->nav_cmd == NAV_CMD_LAND) {
@@ -1320,7 +1325,7 @@ Navigator::check_mission_item_reached()
 		/* current relative or AMSL altitude depending on mission item altitude_is_relative flag */
 		float wp_alt_amsl = _mission_item.altitude;
 		if (_mission_item.altitude_is_relative)
-			_mission_itemt.altitude += _home_pos.altitude;
+			wp_alt_amsl += _home_pos.altitude;
 
 		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
 										  (double)_global_pos.lat / 1e7d, (double)_global_pos.lon / 1e7d, _global_pos.alt,

src/modules/sdlog2/sdlog2.c

@@ -73,7 +73,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/mission_item_triplet.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
@@ -908,7 +908,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fdsc_count++;
 
 	/* --- GLOBAL POSITION SETPOINT--- */
-	subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
+	subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 	fds[fdsc_count].fd = subs.triplet_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
@@ -1263,18 +1263,15 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 			/* --- GLOBAL POSITION SETPOINT --- */
 			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet);
+				orb_copy(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet);
 				log_msg.msg_type = LOG_GPSP_MSG;
-				log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative;
 				log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
 				log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
-				log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude;
+				log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
 				log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
-				log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd;				
+				log_msg.body.log_GPSP.type = buf.triplet.current.type;
 				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
 				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-				log_msg.body.log_GPSP.acceptance_radius = buf.triplet.current.acceptance_radius;
-				log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside;
 				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
 				LOGBUFFER_WRITE_AND_COUNT(GPSP);
 			}

src/modules/sdlog2/sdlog2_messages.h

@@ -210,16 +210,13 @@ struct log_GPOS_s {
 /* --- GPSP - GLOBAL POSITION SETPOINT --- */
 #define LOG_GPSP_MSG 17
 struct log_GPSP_s {
-	uint8_t altitude_is_relative;
 	int32_t lat;
 	int32_t lon;
-	float altitude;
+	float alt;
 	float yaw;
-	uint8_t nav_cmd;
+	uint8_t type;
 	float loiter_radius;
 	int8_t loiter_direction;
-	float acceptance_radius;
-	float time_inside;
 	float pitch_min;
 };
 
@@ -307,7 +304,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
 	LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
-	LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitR,LoitDir,AccR,TimeIn,PitMin"),
+	LOG_FORMAT(GPSP, "LLffBfbf", "Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),

src/modules/uORB/topics/position_setpoint_triplet.h

@@ -61,12 +61,15 @@ enum SETPOINT_TYPE
 
 struct position_setpoint_s
 {
-	bool valid;					/**< true if point is valid */
+	bool valid;					/**< true if setpoint is valid */
+	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
 	double lat;					/**< latitude, in deg */
 	double lon;					/**< longitude, in deg */
 	float alt;					/**< altitude AMSL, in m */
-	float yaw;					/**< yaw (only for multirotors), in rad [-PI..PI), NaN to hold current yaw */
-	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
+	float yaw;					/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
+	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
+	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
+	float pitch_min;			/**< minimal pitch angle for fixed wing takeoff waypoints */
 };
 
 /**