Julian Oes
11 years ago
10 changed files with 276 additions and 1208 deletions
@ -1,399 +0,0 @@
@@ -1,399 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file missionlib.h |
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* MAVLink missionlib components |
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*/ |
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// XXX trim includes
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#include <nuttx/config.h> |
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#include <unistd.h> |
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#include <pthread.h> |
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#include <stdio.h> |
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#include <math.h> |
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#include <stdbool.h> |
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#include <fcntl.h> |
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#include <mqueue.h> |
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#include <string.h> |
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#include "mavlink_bridge_header.h" |
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#include <drivers/drv_hrt.h> |
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#include <time.h> |
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#include <float.h> |
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#include <unistd.h> |
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#include <nuttx/sched.h> |
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#include <sys/prctl.h> |
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#include <termios.h> |
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#include <errno.h> |
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#include <stdlib.h> |
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#include <poll.h> |
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#include <systemlib/err.h> |
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#include <systemlib/param/param.h> |
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#include <systemlib/systemlib.h> |
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#include <mavlink/mavlink_log.h> |
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#include "geo/geo.h" |
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#include "waypoints.h" |
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#include "orb_topics.h" |
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#include "missionlib.h" |
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#include "mavlink_hil.h" |
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#include "util.h" |
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#include "waypoints.h" |
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#include "mavlink_parameters.h" |
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static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; |
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static uint64_t loiter_start_time; |
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#if 0 |
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static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command, |
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struct vehicle_global_position_setpoint_s *sp); |
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#endif |
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int |
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mavlink_missionlib_send_message(mavlink_message_t *msg) |
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{ |
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uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); |
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mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); |
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return 0; |
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} |
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int |
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mavlink_missionlib_send_gcs_string(const char *string) |
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{ |
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const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; |
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mavlink_statustext_t statustext; |
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int i = 0; |
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while (i < len - 1) { |
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statustext.text[i] = string[i]; |
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if (string[i] == '\0') |
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break; |
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i++; |
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} |
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if (i > 1) { |
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/* Enforce null termination */ |
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statustext.text[i] = '\0'; |
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mavlink_message_t msg; |
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mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); |
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return mavlink_missionlib_send_message(&msg); |
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} else { |
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return 1; |
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} |
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} |
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/**
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* Get system time since boot in microseconds |
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* |
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* @return the system time since boot in microseconds |
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*/ |
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uint64_t mavlink_missionlib_get_system_timestamp() |
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{ |
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return hrt_absolute_time(); |
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} |
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#if 0 |
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/**
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* Set special vehicle setpoint fields based on current mission item. |
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* |
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* @return true if the mission item could be interpreted |
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* successfully, it return false on failure. |
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*/ |
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bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command, |
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struct vehicle_global_position_setpoint_s *sp) |
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{ |
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switch (command) { |
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case MAV_CMD_NAV_LOITER_UNLIM: |
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sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED; |
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break; |
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case MAV_CMD_NAV_LOITER_TIME: |
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sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; |
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loiter_start_time = hrt_absolute_time(); |
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break; |
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// case MAV_CMD_NAV_LOITER_TURNS:
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// sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT;
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// break;
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case MAV_CMD_NAV_WAYPOINT: |
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sp->nav_cmd = NAV_CMD_WAYPOINT; |
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break; |
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
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sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH; |
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break; |
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case MAV_CMD_NAV_LAND: |
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sp->nav_cmd = NAV_CMD_LAND; |
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break; |
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case MAV_CMD_NAV_TAKEOFF: |
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sp->nav_cmd = NAV_CMD_TAKEOFF; |
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break; |
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default: |
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/* abort */ |
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return false; |
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} |
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sp->loiter_radius = param3; |
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sp->loiter_direction = (param3 >= 0) ? 1 : -1; |
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sp->param1 = param1; |
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sp->param2 = param2; |
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sp->param3 = param3; |
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sp->param4 = param4; |
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/* define the turn distance */ |
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float orbit = 15.0f; |
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if (command == (int)MAV_CMD_NAV_WAYPOINT) { |
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orbit = param2; |
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} else if (command == (int)MAV_CMD_NAV_LOITER_TURNS || |
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command == (int)MAV_CMD_NAV_LOITER_TIME || |
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command == (int)MAV_CMD_NAV_LOITER_UNLIM) { |
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orbit = param3; |
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} else { |
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// XXX set default orbit via param
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// 15 initialized above
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} |
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sp->turn_distance_xy = orbit; |
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sp->turn_distance_z = orbit; |
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} |
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/**
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* This callback is executed each time a waypoint changes. |
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* |
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* It publishes the vehicle_global_position_setpoint_s or the |
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* vehicle_local_position_setpoint_s topic, depending on the type of waypoint |
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*/ |
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void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, |
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float param2, float param3, float param4, float param5_lat_x, |
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float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command) |
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{ |
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static orb_advert_t global_position_setpoint_pub = -1; |
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// static orb_advert_t global_position_set_triplet_pub = -1;
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static orb_advert_t local_position_setpoint_pub = -1; |
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static unsigned last_waypoint_index = -1; |
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char buf[50] = {0}; |
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// XXX include check if WP is supported, jump to next if not
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/* Update controller setpoints */ |
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if (frame == (int)MAV_FRAME_GLOBAL) { |
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/* global, absolute waypoint */ |
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struct vehicle_global_position_setpoint_s sp; |
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sp.lat = param5_lat_x * 1e7f; |
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sp.lon = param6_lon_y * 1e7f; |
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sp.altitude = param7_alt_z; |
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sp.altitude_is_relative = false; |
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sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); |
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set_special_fields(param1, param2, param3, param4, command, &sp); |
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/* Initialize setpoint publication if necessary */ |
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if (global_position_setpoint_pub < 0) { |
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global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); |
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} else { |
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orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); |
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} |
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/* fill triplet: previous, current, next waypoint */ |
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// struct vehicle_global_position_set_triplet_s triplet;
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/* current waypoint is same as sp */ |
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// memcpy(&(triplet.current), &sp, sizeof(sp));
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/*
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* Check if previous WP (in mission, not in execution order)
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* is available and identify correct index |
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*/ |
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int last_setpoint_index = -1; |
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bool last_setpoint_valid = false; |
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if (index > 0) { |
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last_setpoint_index = index - 1; |
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} |
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while (last_setpoint_index >= 0) { |
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if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && |
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(wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT || |
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wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS || |
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wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME || |
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wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) { |
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last_setpoint_valid = true; |
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break; |
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} |
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last_setpoint_index--; |
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} |
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/*
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* Check if next WP (in mission, not in execution order)
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* is available and identify correct index |
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*/ |
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int next_setpoint_index = -1; |
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bool next_setpoint_valid = false; |
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/* next waypoint */ |
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if (wpm->size > 1) { |
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next_setpoint_index = index + 1; |
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} |
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while (next_setpoint_index < wpm->size) { |
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if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT || |
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wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS || |
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wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME || |
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wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) { |
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next_setpoint_valid = true; |
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break; |
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} |
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next_setpoint_index++; |
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} |
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/* populate last and next */ |
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// triplet.previous_valid = false;
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// triplet.next_valid = false;
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// if (last_setpoint_valid) {
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// triplet.previous_valid = true;
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// struct vehicle_global_position_setpoint_s sp;
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// sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f;
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// sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
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// sp.altitude = wpm->waypoints[last_setpoint_index].z;
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// sp.altitude_is_relative = false;
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// sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F);
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// set_special_fields(wpm->waypoints[last_setpoint_index].param1,
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// wpm->waypoints[last_setpoint_index].param2,
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// wpm->waypoints[last_setpoint_index].param3,
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// wpm->waypoints[last_setpoint_index].param4,
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// wpm->waypoints[last_setpoint_index].command, &sp);
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// memcpy(&(triplet.previous), &sp, sizeof(sp));
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// }
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// if (next_setpoint_valid) {
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// triplet.next_valid = true;
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// struct vehicle_global_position_setpoint_s sp;
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// sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f;
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// sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
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// sp.altitude = wpm->waypoints[next_setpoint_index].z;
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// sp.altitude_is_relative = false;
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// sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F);
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// set_special_fields(wpm->waypoints[next_setpoint_index].param1,
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// wpm->waypoints[next_setpoint_index].param2,
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// wpm->waypoints[next_setpoint_index].param3,
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// wpm->waypoints[next_setpoint_index].param4,
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// wpm->waypoints[next_setpoint_index].command, &sp);
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// memcpy(&(triplet.next), &sp, sizeof(sp));
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// }
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/* Initialize triplet publication if necessary */ |
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// if (global_position_set_triplet_pub < 0) {
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// global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet);
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// } else {
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// orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet);
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// }
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sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); |
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} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { |
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/* global, relative alt (in relation to HOME) waypoint */ |
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struct vehicle_global_position_setpoint_s sp; |
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sp.lat = param5_lat_x * 1e7f; |
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sp.lon = param6_lon_y * 1e7f; |
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sp.altitude = param7_alt_z; |
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sp.altitude_is_relative = true; |
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sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); |
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set_special_fields(param1, param2, param3, param4, command, &sp); |
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/* Initialize publication if necessary */ |
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if (global_position_setpoint_pub < 0) { |
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global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); |
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} else { |
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orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); |
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} |
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sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); |
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} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) { |
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/* local, absolute waypoint */ |
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struct vehicle_local_position_setpoint_s sp; |
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sp.x = param5_lat_x; |
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sp.y = param6_lon_y; |
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sp.z = param7_alt_z; |
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sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); |
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/* Initialize publication if necessary */ |
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if (local_position_setpoint_pub < 0) { |
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local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp); |
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} else { |
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orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp); |
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} |
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sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); |
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} else { |
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warnx("non-navigation WP, ignoring"); |
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mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring."); |
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return; |
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} |
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/* only set this for known waypoint types (non-navigation types would have returned earlier) */ |
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last_waypoint_index = index; |
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mavlink_missionlib_send_gcs_string(buf); |
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printf("%s\n", buf); |
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//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
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} |
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#endif |
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@ -1,52 +0,0 @@
@@ -1,52 +0,0 @@
|
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/****************************************************************************
|
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* |
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
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/**
|
||||
* @file missionlib.h |
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* MAVLink mission helper library |
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*/ |
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#pragma once |
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#include "mavlink_bridge_header.h" |
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//extern void mavlink_wpm_send_message(mavlink_message_t *msg);
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//extern void mavlink_wpm_send_gcs_string(const char *string);
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//extern uint64_t mavlink_wpm_get_system_timestamp(void);
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extern int mavlink_missionlib_send_message(mavlink_message_t *msg); |
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extern int mavlink_missionlib_send_gcs_string(const char *string); |
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extern uint64_t mavlink_missionlib_get_system_timestamp(void); |
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extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, |
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float param2, float param3, float param4, float param5_lat_x, |
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float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); |
||||
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