FW implement MAV_CMD_DO_GO_AROUND

Makefile

@@ -279,7 +279,7 @@ checks_last: \
 	check_format \
 
 check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_last
-quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_tests check_format
+quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_posix_sitl_default check_tests check_format
 
 check_format:
 	$(call colorecho,"Checking formatting with astyle")

msg/vehicle_command.msg

@@ -31,7 +31,8 @@ uint32 VEHICLE_CMD_DO_SET_RELAY = 181			# Set a relay to a condition. |Relay num
 uint32 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| 
-uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION=185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185	# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */ 
 uint32 VEHICLE_CMD_DO_REPOSITION = 192
 uint32 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
 uint32 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| 

src/modules/commander/commander.cpp

@@ -1084,6 +1084,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 	case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST:
 	case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
 	case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
+	case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND:
 	case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
 		/* ignore commands that handled in low prio loop */
 		break;

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -94,6 +94,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/tecs_status.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_land_detected.h>
@@ -164,6 +165,7 @@ private:
 	int		_pos_sp_triplet_sub;
 	int		_ctrl_state_sub;			/**< control state subscription */
 	int		_control_mode_sub;		/**< control mode subscription */
+	int		_vehicle_command_sub;		/**< vehicle command subscription */
 	int		_vehicle_status_sub;		/**< vehicle status subscription */
 	int		_vehicle_land_detected_sub;	/**< vehicle land detected subscription */
 	int		_params_sub;			/**< notification of parameter updates */
@@ -181,6 +183,7 @@ private:
 	struct fw_pos_ctrl_status_s		_fw_pos_ctrl_status;		/**< navigation capabilities */
 	struct manual_control_setpoint_s		_manual;			/**< r/c channel data */
 	struct vehicle_control_mode_s			_control_mode;			/**< control mode */
+	struct vehicle_command_s			_vehicle_command;		/**< vehicle commands */
 	struct vehicle_status_s				_vehicle_status;		/**< vehicle status */
 	struct vehicle_land_detected_s			_vehicle_land_detected;		/**< vehicle land detected */
 	struct vehicle_global_position_s		_global_pos;			/**< global vehicle position */
@@ -387,6 +390,11 @@ private:
 	 */
 	void		vehicle_control_mode_poll();
 
+	/**
+	 * Check for new in vehicle commands
+	 */
+	void		vehicle_command_poll();
+
 	/**
 	 * Check for changes in vehicle status.
 	 */
@@ -477,6 +485,11 @@ private:
 	void		calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed_2d,
 			const struct position_setpoint_triplet_s &pos_sp_triplet);
 
+	/**
+	 * Handle incoming vehicle commands
+	 */
+	void		handle_command();
+
 	/**
 	 * Shim for calling task_main from task_create.
 	 */
@@ -533,6 +546,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_pos_sp_triplet_sub(-1),
 	_ctrl_state_sub(-1),
 	_control_mode_sub(-1),
+	_vehicle_command_sub(-1),
 	_vehicle_status_sub(-1),
 	_vehicle_land_detected_sub(-1),
 	_params_sub(-1),
@@ -553,6 +567,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_fw_pos_ctrl_status(),
 	_manual(),
 	_control_mode(),
+	_vehicle_command(),
 	_vehicle_status(),
 	_vehicle_land_detected(),
 	_global_pos(),
@@ -830,6 +845,19 @@ FixedwingPositionControl::vehicle_control_mode_poll()
 	}
 }
 
+void
+FixedwingPositionControl::vehicle_command_poll()
+{
+	bool updated;
+
+	orb_check(_vehicle_command_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &_vehicle_command);
+		handle_command();
+	}
+}
+
 void
 FixedwingPositionControl::vehicle_status_poll()
 {
@@ -1396,34 +1424,36 @@ 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();
 
-			float alt_sp;
-
-			if (_fw_pos_ctrl_status.abort_landing == true) {
-				// if we entered loiter due to an aborted landing, demand
-				// altitude setpoint well above landing waypoint
-				alt_sp = pos_sp_triplet.current.alt + 2.0f * _parameters.climbout_diff;
-
-			} else {
-				// use altitude given by waypoint
-				alt_sp = pos_sp_triplet.current.alt;
-			}
+			float alt_sp = pos_sp_triplet.current.alt;
 
 			if (in_takeoff_situation()) {
 				alt_sp = math::max(alt_sp, _takeoff_ground_alt + _parameters.climbout_diff);
+				_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-5.0f), math::radians(5.0f));
 			}
 
-			if (in_takeoff_situation() ||
-			    ((_global_pos.alt < pos_sp_triplet.current.alt + _parameters.climbout_diff)
-			     && _fw_pos_ctrl_status.abort_landing == true)) {
-				/* limit roll motion to ensure enough lift */
-				_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f),
-								    math::radians(10.0f));
+			if (_fw_pos_ctrl_status.abort_landing) {
+				if (pos_sp_triplet.current.alt - _global_pos.alt  < _parameters.climbout_diff) {
+					// aborted landing complete, normal loiter over landing point
+					_fw_pos_ctrl_status.abort_landing = false;
+
+				} else {
+					// continue straight until vehicle has sufficient altitude
+					_att_sp.roll_body = 0.0f;
+				}
 			}
 
-			tecs_update_pitch_throttle(alt_sp, calculate_target_airspeed(mission_airspeed), eas2tas,
-						   math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
-						   _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-						   false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
+			tecs_update_pitch_throttle(alt_sp,
+						   calculate_target_airspeed(mission_airspeed),
+						   eas2tas,
+						   math::radians(_parameters.pitch_limit_min),
+						   math::radians(_parameters.pitch_limit_max),
+						   _parameters.throttle_min,
+						   _parameters.throttle_max,
+						   _parameters.throttle_cruise,
+						   false,
+						   math::radians(_parameters.pitch_limit_min),
+						   _global_pos.alt,
+						   ground_speed);
 
 		} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
 
@@ -1431,9 +1461,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			// if they have been enabled using the corresponding parameter
 			_att_sp.apply_flaps = true;
 
-			// save time at which we started landing
+			// save time at which we started landing and reset abort_landing
 			if (_time_started_landing == 0) {
 				_time_started_landing = hrt_absolute_time();
+
+				_fw_pos_ctrl_status.abort_landing = false;
 			}
 
 			float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
@@ -2037,13 +2069,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		// reset hold altitude
 		_hold_alt = _global_pos.alt;
 
-		// reset terrain estimation relevant values
-		_time_started_landing = 0;
-		_time_last_t_alt = 0;
-
-		// reset lading abort state
-		_fw_pos_ctrl_status.abort_landing = false;
-
 		/* reset landing and takeoff state */
 		if (!_last_manual) {
 			reset_landing_state();
@@ -2147,6 +2172,25 @@ FixedwingPositionControl::get_tecs_thrust()
 	}
 }
 
+void
+FixedwingPositionControl::handle_command()
+{
+	if (_vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND) {
+		// only abort landing before point of no return (horizontal and vertical)
+		if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
+
+			if (_land_noreturn_vertical) {
+				mavlink_log_info(&_mavlink_log_pub, "#Landing, can't abort after flare");
+
+			} else {
+				_fw_pos_ctrl_status.abort_landing = true;
+				mavlink_log_info(&_mavlink_log_pub, "#Landing, aborted");
+			}
+		}
+	}
+}
+
+
 void
 FixedwingPositionControl::task_main()
 {
@@ -2159,6 +2203,7 @@ FixedwingPositionControl::task_main()
 	_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
 	_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
+	_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
 	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 	_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -2210,6 +2255,9 @@ FixedwingPositionControl::task_main()
 		/* check vehicle control mode for changes to publication state */
 		vehicle_control_mode_poll();
 
+		/* check for new vehicle commands */
+		vehicle_command_poll();
+
 		/* check vehicle status for changes to publication state */
 		vehicle_status_poll();
 
@@ -2321,12 +2369,23 @@ void FixedwingPositionControl::reset_landing_state()
 {
 	_time_started_landing = 0;
 
+	// reset terrain estimation relevant values
+	_time_last_t_alt = 0;
+
 	_land_noreturn_horizontal = false;
 	_land_noreturn_vertical = false;
 	_land_stayonground = false;
 	_land_motor_lim = false;
 	_land_onslope = false;
 	_land_useterrain = false;
+
+	// reset abort land, unless loitering after an abort
+	if (_fw_pos_ctrl_status.abort_landing == true
+	    && _pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER) {
+
+		_fw_pos_ctrl_status.abort_landing = false;
+	}
+
 }
 
 void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas,

src/modules/navigator/mission.cpp

@@ -74,6 +74,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_param_altmode(this, "MIS_ALTMODE", false),
 	_param_yawmode(this, "MIS_YAWMODE", false),
 	_param_force_vtol(this, "VT_NAV_FORCE_VT", false),
+	_param_fw_climbout_diff(this, "FW_CLMBOUT_DIFF", false),
 	_onboard_mission{},
 	_offboard_mission{},
 	_current_onboard_mission_index(-1),
@@ -226,9 +227,17 @@ Mission::on_active()
 	     && _param_yawmode.get() < MISSION_YAWMODE_MAX
 	     && _mission_type != MISSION_TYPE_NONE)
 	    || _navigator->get_vstatus()->is_vtol) {
+
 		heading_sp_update();
 	}
 
+	/* check if landing needs to be aborted */
+	if ((_mission_item.nav_cmd == NAV_CMD_LAND)
+	    && (_navigator->abort_landing())) {
+
+		do_abort_landing();
+	}
+
 }
 
 void
@@ -382,6 +391,7 @@ Mission::set_mission_items()
 	/* try setting onboard mission item */
 	if (_param_onboard_enabled.get()
 	    && prepare_mission_items(true, &_mission_item, &mission_item_next_position, &has_next_position_item)) {
+
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_ONBOARD) {
 			mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing internal mission");
@@ -819,6 +829,7 @@ Mission::heading_sp_update()
 	    || _mission_item.nav_cmd == NAV_CMD_LAND
 	    || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
 	    || _work_item_type == WORK_ITEM_TYPE_ALIGN) {
+
 		return;
 	}
 
@@ -852,6 +863,7 @@ Mission::heading_sp_update()
 		    // (which would result in a wrong yaw setpoint spike during back transition)
 		    && _navigator->get_vstatus()->is_rotary_wing
 		    && !(_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION || _navigator->get_vstatus()->in_transition_mode)) {
+
 			point_to_latlon[0] = _navigator->get_home_position()->lat;
 			point_to_latlon[1] = _navigator->get_home_position()->lon;
 
@@ -957,6 +969,47 @@ Mission::altitude_sp_foh_reset()
 	_min_current_sp_distance_xy = FLT_MAX;
 }
 
+void
+Mission::do_abort_landing()
+{
+	// Abort FW landing
+	//  turn the land waypoint into a loiter and stay there
+
+	if (_mission_item.nav_cmd != NAV_CMD_LAND) {
+		return;
+	}
+
+	// loiter at the larger of MIS_LTRMIN_ALT above the landing point
+	//  or 2 * FW_CLMBOUT_DIFF above the current altitude
+	float alt_landing = get_absolute_altitude_for_item(_mission_item);
+	float alt_sp =  math::max(alt_landing + _param_loiter_min_alt.get(),
+				  _navigator->get_global_position()->alt + (2 * _param_fw_climbout_diff.get()));
+
+	_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+	_mission_item.altitude_is_relative = false;
+	_mission_item.altitude = alt_sp;
+	_mission_item.yaw = NAN;
+	_mission_item.loiter_radius = _navigator->get_loiter_radius();
+	_mission_item.loiter_direction = 1;
+	_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+	_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+	_mission_item.autocontinue = false;
+	_mission_item.origin = ORIGIN_ONBOARD;
+
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+
+	_navigator->set_position_setpoint_triplet_updated();
+
+	mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %dm above landing)",
+			 (int)(alt_sp - alt_landing));
+
+	// move mission index back 1 (landing approach point) so that re-entering
+	//  the mission doesn't try to land from the loiter above land
+	// TODO: reset index to MAV_CMD_DO_LAND_START
+	_current_offboard_mission_index -= 1;
+}
+
 bool
 Mission::prepare_mission_items(bool onboard, struct mission_item_s *mission_item,
 			       struct mission_item_s *next_position_mission_item, bool *has_next_position_item)

src/modules/navigator/mission.h

@@ -164,6 +164,11 @@ private:
 	 */
 	void altitude_sp_foh_reset();
 
+	/**
+	 * Abort landing
+	 */
+	void do_abort_landing();
+
 	float get_absolute_altitude_for_item(struct mission_item_s &mission_item);
 
 	/**
@@ -230,6 +235,7 @@ private:
 	control::BlockParamInt _param_altmode;
 	control::BlockParamInt _param_yawmode;
 	control::BlockParamInt _param_force_vtol;
+	control::BlockParamFloat _param_fw_climbout_diff;
 
 	struct mission_s _onboard_mission;
 	struct mission_s _offboard_mission;

src/modules/navigator/mission_block.cpp

@@ -276,14 +276,16 @@ MissionBlock::is_mission_item_reached()
 
 			/* accept yaw if reached or if timeout is set in which case we ignore not forced headings */
 			if (fabsf(yaw_err) < math::radians(_param_yaw_err.get())
-					|| (_param_yaw_timeout.get() >= FLT_EPSILON && !_mission_item.force_heading)) {
+				|| (_param_yaw_timeout.get() >= FLT_EPSILON && !_mission_item.force_heading)) {
+
 				_waypoint_yaw_reached = true;
 			}
 
 			/* if heading needs to be reached, the timeout is enabled and we don't make it, abort mission */
 			if (!_waypoint_yaw_reached && _mission_item.force_heading &&
-						_param_yaw_timeout.get() >= FLT_EPSILON &&
-						now - _time_wp_reached >= (hrt_abstime)_param_yaw_timeout.get() * 1e6f) {
+				(_param_yaw_timeout.get() >= FLT_EPSILON) &&
+				(now - _time_wp_reached >= (hrt_abstime)_param_yaw_timeout.get() * 1e6f)) {
+
 				_navigator->set_mission_failure("unable to reach heading within timeout");
 			}
 
@@ -403,6 +405,7 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
 		item->nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
 		item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
 		item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
+
 		return false;
 	}
 

src/modules/navigator/navigator.h

@@ -115,13 +115,13 @@ public:
 	/**
 	 * Publish the geofence result
 	 */
-	void publish_geofence_result();
+	void		publish_geofence_result();
 
 	/**
 	 * Publish the attitude sp, only to be used in very special modes when position control is deactivated
 	 * Example: mode that is triggered on gps failure
 	 */
-	void publish_att_sp();
+	void		publish_att_sp();
 
 	/**
 	 * Setters
@@ -157,7 +157,7 @@ public:
 	/**
 	 * Returns the default acceptance radius defined by the parameter
 	 */
-	float get_default_acceptance_radius();
+	float		get_default_acceptance_radius();
 
 	/**
 	 * Get the acceptance radius
@@ -185,7 +185,6 @@ public:
 	 */
 	void		set_cruising_speed(float speed=-1.0f) { _mission_cruising_speed = speed; }
 
-
 	/**
 	 * Get the target throttle
 	 *
@@ -214,6 +213,8 @@ public:
 
 	bool		is_planned_mission() { return _navigation_mode == &_mission; }
 
+	bool		abort_landing();
+
 private:
 
 	bool		_task_should_exit;		/**< if true, sensor task should exit */

src/modules/navigator/navigator_main.cpp

@@ -540,15 +540,8 @@ Navigator::task_main()
 				_can_loiter_at_sp = false;
 				break;
 			case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
-				if (_fw_pos_ctrl_status.abort_landing) {
-					// pos controller aborted landing, requests loiter
-					// above landing waypoint
-					_navigation_mode = &_loiter;
-					_pos_sp_triplet_published_invalid_once = false;
-				} else {
-					_pos_sp_triplet_published_invalid_once = false;
-					_navigation_mode = &_mission;
-				}
+				_pos_sp_triplet_published_invalid_once = false;
+				_navigation_mode = &_mission;
 				break;
 			case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 				_pos_sp_triplet_published_invalid_once = false;
@@ -780,16 +773,36 @@ Navigator::get_acceptance_radius(float mission_item_radius)
 	return radius;
 }
 
-void Navigator::add_fence_point(int argc, char *argv[])
+void
+Navigator::add_fence_point(int argc, char *argv[])
 {
 	_geofence.addPoint(argc, argv);
 }
 
-void Navigator::load_fence_from_file(const char *filename)
+void
+Navigator::load_fence_from_file(const char *filename)
 {
 	_geofence.loadFromFile(filename);
 }
 
+bool
+Navigator::abort_landing()
+{
+	bool should_abort = false;
+
+	if (!_vstatus.is_rotary_wing && !_vstatus.in_transition_mode) {
+		if (hrt_elapsed_time(&_fw_pos_ctrl_status.timestamp) < 1000000) {
+
+			if (get_position_setpoint_triplet()->current.valid
+			&& get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
+
+				should_abort = _fw_pos_ctrl_status.abort_landing;
+			}
+		}
+	}
+
+	return should_abort;
+}
 
 static void usage()
 {