@ -1,3 +1,77 @@
@@ -1,3 +1,77 @@
/********************************************************************************/
// Command Event Handlers
/********************************************************************************/
void
handle_process_must()
{
// reset navigation integrators
// -------------------------
reset_I();
switch(next_command.id){
case MAV_CMD_NAV_TAKEOFF:
do_takeoff();
break;
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp();
break;
case MAV_CMD_NAV_LAND: // LAND to Waypoint
do_land();
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
do_RTL();
break;
}
}
void
handle_process_may()
{
switch(next_command.id){
case MAV_CMD_CONDITION_DELAY:
do_delay();
break;
case MAV_CMD_CONDITION_CHANGE_ALT:
do_change_alt();
break;
case MAV_CMD_CONDITION_YAW:
do_yaw();
break;
default:
break;
}
}
void
handle_process_now()
{
switch(next_command.id){
case MAV_CMD_DO_SET_HOME:
init_home();
break;
case MAV_CMD_DO_REPEAT_SERVO:
new_event(&next_command);
break;
case MAV_CMD_DO_SET_SERVO:
do_set_servo();
break;
case MAV_CMD_DO_SET_RELAY:
do_set_relay();
break;
}
}
void
handle_no_commands()
{
@ -6,87 +80,182 @@ handle_no_commands()
@@ -6,87 +80,182 @@ handle_no_commands()
// don't get a new command
break;
//case GCS_AUTO:
// set_mode(LOITER);
default:
next_command = get_LOITER_home_wp();
set_mode(RTL);
//next_command = get_LOITER_home_wp();
//SendDebug("MSG <load_next_command> Preload RTL cmd id: ");
//SendDebugln(next_command.id,DEC);
break;
}
}
void
handle_process_must(byte id)
bool verify_must()
{
// reset navigation integrators
// -------------------------
reset_I();
switch(command_must_ID) {
switch(id){
case MAV_CMD_NAV_TAKEOFF: // TAKEOFF!
// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
takeoff_altitude = (int)next_command.alt;
next_WP.lat = current_loc.lat + 10; // so we don't have bad calcs
next_WP.lng = current_loc.lng + 10; // so we don't have bad calcs
next_WP.alt = current_loc.alt + takeoff_altitude;
takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
//set_next_WP(&next_WP);
case MAV_CMD_NAV_TAKEOFF: // Takeoff!
return verify_takeoff();
break;
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
case MAV_CMD_NAV_LAND:
return verify_land();
break;
//case MAV_CMD_NAV_R_WAYPOINT: // Navigate to Waypoint
// next_command.lat += home.lat; // offset from home location
// next_command.lng += home.lng; // offset from home location
// we've recalculated the WP so we need to set it again
// set_next_WP(&next_command);
// break;
case MAV_CMD_NAV_WAYPOINT: // reach a waypoint
return verify_nav_wp();
break;
case MAV_CMD_NAV_LAND: // LAND to Waypoint
velocity_land = 1000;
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
next_WP.alt = home.alt;
land_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
break;
/*
case MAV_CMD_ALTITUDE: //
next_WP.lat = current_loc.lat + 10; // so we don't have bad calcs
next_WP.lng = current_loc.lng + 10; // so we don't have bad calcs
default:
//gcs.send_text(SEVERITY_HIGH,"<verify_must: default> No current Must commands");
return false;
break;
*/
}
}
case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
bool verify_may()
{
switch(command_may_ID) {
case MAV_CMD_CONDITION_ANGLE:
return verify_yaw();
break;
case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
case MAV_CMD_CONDITION_DELAY:
return verify_delay();
break;
case MAV_CMD_NAV_LOITER_TIME:
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return_to_launch();
default:
//gcs.send_text(SEVERITY_HIGH,"<verify_must: default> No current May commands");
return false;
break;
}
}
/********************************************************************************/
// Must command implementations
/********************************************************************************/
void
handle_process_may(byte id)
do_takeoff( )
{
switch(id){
Location temp = current_loc;
temp.alt = next_command.alt;
takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
case MAV_CMD_CONDITION_DELAY: // Navigate to Waypoint
delay_start = millis();
delay_timeout = next_command.lat;
break;
set_next_WP(&temp);
}
bool
verify_takeoff()
{
if (current_loc.alt > next_WP.alt){
takeoff_complete = true;
return true;
}else{
return false;
}
}
//case MAV_CMD_NAV_LAND_OPTIONS: // Land this puppy
// break;
void
do_nav_wp()
{
set_next_WP(&next_command);
}
case MAV_CMD_CONDITION_YAW:
bool
verify_nav_wp()
{
update_crosstrack();
if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
//SendDebug("MSG <verify_must: MAV_CMD_NAV_WAYPOINT> REACHED_WAYPOINT #");
//SendDebugln(command_must_index,DEC);
char message[30];
sprintf(message,"Reached Waypoint #%i",command_must_index);
gcs.send_text(SEVERITY_LOW,message);
return true;
}
// add in a more complex case
// Doug to do
if(loiter_sum > 300){
send_message(SEVERITY_MEDIUM,"Missed WP");
return true;
}
return false;
}
void
do_land()
{
land_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
velocity_land = 1000;
Location temp = current_loc;
temp.alt = home.alt;
set_next_WP(&temp);
}
bool
verify_land()
{
update_crosstrack();
velocity_land = ((old_alt - current_loc.alt) *.05) + (velocity_land * .95);
old_alt = current_loc.alt;
if(velocity_land == 0){
land_complete = true;
return true;
}
return false;
}
// add a new command at end of command set to RTL.
void
do_RTL()
{
Location temp = home;
temp.alt = read_alt_to_hold();
//so we know where we are navigating from
next_WP = current_loc;
// Loads WP from Memory
// --------------------
set_next_WP(&temp);
}
bool
verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs.send_text(SEVERITY_LOW,"Reached home");
return true;
}else{
return false;
}
}
/********************************************************************************/
// May command implementations
/********************************************************************************/
void
do_yaw()
{
// p1: bearing
// alt: speed
// lat: direction (-1,1),
@ -141,145 +310,80 @@ handle_process_may(byte id)
@@ -141,145 +310,80 @@ handle_process_may(byte id)
command_yaw_time = command_yaw_delta / command_yaw_speed;
//9000 turn in 10 seconds
//command_yaw_time = 9000/ 10 = 900° per second
}
break;
default:
break;
}}
void
handle_process_now(byte id)
bool
verify_yaw()
{
switch(id){
case MAV_CMD_DO_SET_HOME:
init_home();
break;
case MAV_CMD_DO_REPEAT_SERVO:
new_event(&next_command);
break;
case MAV_CMD_DO_SET_SERVO:
//Serial.print("MAV_CMD_DO_SET_SERVO ");
//Serial.print(next_command.p1,DEC);
//Serial.print(" PWM: ");
//Serial.println(next_command.alt,DEC);
APM_RC.OutputCh(next_command.p1, next_command.alt);
break;
case MAV_CMD_DO_SET_RELAY:
if (next_command.p1 == 0) {
relay_on();
} else if (next_command.p1 == 1) {
relay_off();
if((millis() - command_yaw_start_time) > command_yaw_time){
nav_yaw = command_yaw_end;
return true;
}else{
relay_toggle();
}
break;
// else we need to be at a certain place
// power is a ratio of the time : .5 = half done
float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
return false;
}
}
// Verify commands
// ---------------
void verify_must()
void
do_delay()
{
switch(command_must_ID) {
/*case MAV_CMD_ALTITUDE:
if (abs(next_WP.alt - current_loc.alt) < 100){
command_must_index = 0;
}
break;
*/
case MAV_CMD_NAV_TAKEOFF: // Takeoff!
if (current_loc.alt > (next_WP.alt -100)){
command_must_index = 0;
takeoff_complete = true;
}
break;
case MAV_CMD_NAV_LAND:
// 10 - 9 = 1
velocity_land = ((old_alt - current_loc.alt) *.05) + (velocity_land * .95);
old_alt = current_loc.alt;
if(velocity_land == 0){
land_complete = true;
command_must_index = 0;
}
update_crosstrack();
break;
case MAV_CMD_NAV_WAYPOINT: // reach a waypoint
update_crosstrack();
if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
//SendDebug("MSG <verify_must: MAV_CMD_NAV_WAYPOINT> REACHED_WAYPOINT #");
//SendDebugln(command_must_index,DEC);
char message[50];
sprintf(message,"Reached Waypoint #%i",command_must_index);
gcs.send_text(SEVERITY_LOW,message);
delay_start = millis();
delay_timeout = next_command.lat;
}
// clear the command queue;
command_must_index = 0;
}
// add in a more complex case
// Doug to do
if(loiter_sum > 300){
send_message(SEVERITY_MEDIUM,"Missed WP");
command_must_index = 0 ;
bool
verify_delay()
{
if ((millis() - delay_start) > delay_timeout){
delay_timeout = 0;
return true;
}else{
return false;
}
break;
case MAV_CMD_NAV_LOITER_TURNS: // LOITER N times
break;
}
case MAV_CMD_NAV_LOITER_TIME: // loiter N milliseconds
break;
void
do_change_alt()
{
Location temp = next_WP;
temp.alt = next_command.alt + home.alt;
set_next_WP(&temp);
}
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (wp_distance <= g.waypoint_radius) {
gcs.send_text(SEVERITY_LOW,"Reached home");
command_must_index = 0;
bool
verify_change_alt()
{
if(abs(current_loc.alt - next_WP.alt) < 100){
return true;
}else{
return false;
}
break;
//case MAV_CMD_NAV_LOITER_UNLIM: // Just plain LOITER
// break;
}
/********************************************************************************/
// Now command implementations
/********************************************************************************/
default:
gcs.send_text(SEVERITY_HIGH,"<verify_must: default> No current Must commands");
break;
}
void do_hold_position()
{
set_next_WP(¤t_loc);
}
void verify_may ()
void do_set_servo ()
{
float power ;
switch(command_may_ID) {
APM_RC.OutputCh(next_command.p1, next_command.alt) ;
}
case MAV_CMD_CONDITION_ANGLE:
if((millis() - command_yaw_start_time) > command_yaw_time){
command_must_index = 0;
nav_yaw = command_yaw_end;
void do_set_relay()
{
if (next_command.p1 == 0) {
relay_on();
} else if (next_command.p1 == 1) {
relay_off();
}else{
// else we need to be at a certain place
// power is a ratio of the time : .5 = half done
power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
}
break;
case MAV_CMD_CONDITION_DELAY:
if ((millis() - delay_start) > delay_timeout){
command_may_index = 0;
delay_timeout = 0;
}
//case CMD_LAND_OPTIONS:
// break;
relay_toggle();
}
}
jasonshort
14 years ago