You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
602 lines
16 KiB
602 lines
16 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
/********************************************************************************/ |
|
// Command Event Handlers |
|
/********************************************************************************/ |
|
static void |
|
handle_process_nav_cmd() |
|
{ |
|
// reset navigation integrators |
|
// ------------------------- |
|
reset_I(); |
|
|
|
gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nav_command.id); |
|
switch(next_nav_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_LOITER_UNLIM: // Loiter indefinitely |
|
do_loiter_unlimited(); |
|
break; |
|
|
|
case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times |
|
do_loiter_turns(); |
|
break; |
|
|
|
case MAV_CMD_NAV_LOITER_TIME: |
|
do_loiter_time(); |
|
break; |
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
|
do_RTL(); |
|
break; |
|
|
|
default: |
|
break; |
|
} |
|
} |
|
|
|
static void |
|
handle_process_condition_command() |
|
{ |
|
gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); |
|
switch(next_nonnav_command.id){ |
|
|
|
case MAV_CMD_CONDITION_DELAY: |
|
do_wait_delay(); |
|
break; |
|
|
|
case MAV_CMD_CONDITION_DISTANCE: |
|
do_within_distance(); |
|
break; |
|
|
|
case MAV_CMD_CONDITION_CHANGE_ALT: |
|
do_change_alt(); |
|
break; |
|
|
|
default: |
|
break; |
|
} |
|
} |
|
|
|
static void handle_process_do_command() |
|
{ |
|
gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); |
|
switch(next_nonnav_command.id){ |
|
|
|
case MAV_CMD_DO_JUMP: |
|
do_jump(); |
|
break; |
|
|
|
case MAV_CMD_DO_CHANGE_SPEED: |
|
do_change_speed(); |
|
break; |
|
|
|
case MAV_CMD_DO_SET_HOME: |
|
do_set_home(); |
|
break; |
|
|
|
case MAV_CMD_DO_SET_SERVO: |
|
do_set_servo(); |
|
break; |
|
|
|
case MAV_CMD_DO_SET_RELAY: |
|
do_set_relay(); |
|
break; |
|
|
|
case MAV_CMD_DO_REPEAT_SERVO: |
|
do_repeat_servo(); |
|
break; |
|
|
|
case MAV_CMD_DO_REPEAT_RELAY: |
|
do_repeat_relay(); |
|
break; |
|
|
|
#if CAMERA == ENABLED |
|
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |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| |
|
break; |
|
|
|
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| |
|
break; |
|
|
|
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| |
|
break; |
|
#endif |
|
|
|
#if MOUNT == ENABLED |
|
// Sets the region of interest (ROI) for a sensor set or the |
|
// vehicle itself. This can then be used by the vehicles control |
|
// system to control the vehicle attitude and the attitude of various |
|
// devices such as cameras. |
|
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| |
|
case MAV_CMD_DO_SET_ROI: |
|
camera_mount.set_roi_cmd(); |
|
break; |
|
|
|
case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| |
|
camera_mount.configure_cmd(); |
|
break; |
|
|
|
case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| |
|
camera_mount.control_cmd(); |
|
break; |
|
#endif |
|
} |
|
} |
|
|
|
static void handle_no_commands() |
|
{ |
|
gcs_send_text_fmt(PSTR("Returning to Home")); |
|
next_nav_command = home; |
|
next_nav_command.alt = read_alt_to_hold(); |
|
next_nav_command.id = MAV_CMD_NAV_LOITER_UNLIM; |
|
nav_command_ID = MAV_CMD_NAV_LOITER_UNLIM; |
|
non_nav_command_ID = WAIT_COMMAND; |
|
handle_process_nav_cmd(); |
|
|
|
} |
|
|
|
/********************************************************************************/ |
|
// Verify command Handlers |
|
/********************************************************************************/ |
|
|
|
static bool verify_nav_command() // Returns true if command complete |
|
{ |
|
switch(nav_command_ID) { |
|
|
|
case MAV_CMD_NAV_TAKEOFF: |
|
return verify_takeoff(); |
|
break; |
|
|
|
case MAV_CMD_NAV_LAND: |
|
return verify_land(); |
|
break; |
|
|
|
case MAV_CMD_NAV_WAYPOINT: |
|
return verify_nav_wp(); |
|
break; |
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM: |
|
return verify_loiter_unlim(); |
|
break; |
|
|
|
case MAV_CMD_NAV_LOITER_TURNS: |
|
return verify_loiter_turns(); |
|
break; |
|
|
|
case MAV_CMD_NAV_LOITER_TIME: |
|
return verify_loiter_time(); |
|
break; |
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
|
return verify_RTL(); |
|
break; |
|
|
|
default: |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd")); |
|
return false; |
|
break; |
|
} |
|
} |
|
|
|
static bool verify_condition_command() // Returns true if command complete |
|
{ |
|
switch(non_nav_command_ID) { |
|
case NO_COMMAND: |
|
break; |
|
|
|
case MAV_CMD_CONDITION_DELAY: |
|
return verify_wait_delay(); |
|
break; |
|
|
|
case MAV_CMD_CONDITION_DISTANCE: |
|
return verify_within_distance(); |
|
break; |
|
|
|
case MAV_CMD_CONDITION_CHANGE_ALT: |
|
return verify_change_alt(); |
|
break; |
|
|
|
case WAIT_COMMAND: |
|
return 0; |
|
break; |
|
|
|
|
|
default: |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Invalid or no current Condition cmd")); |
|
break; |
|
} |
|
return false; |
|
} |
|
|
|
/********************************************************************************/ |
|
// Nav (Must) commands |
|
/********************************************************************************/ |
|
|
|
static void do_RTL(void) |
|
{ |
|
control_mode = RTL; |
|
crash_timer = 0; |
|
next_WP = home; |
|
|
|
// Altitude to hold over home |
|
// Set by configuration tool |
|
// ------------------------- |
|
next_WP.alt = read_alt_to_hold(); |
|
|
|
if (g.log_bitmask & MASK_LOG_MODE) |
|
Log_Write_Mode(control_mode); |
|
} |
|
|
|
static void do_takeoff() |
|
{ |
|
set_next_WP(&next_nav_command); |
|
// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0 |
|
takeoff_pitch = (int)next_nav_command.p1 * 100; |
|
//Serial.printf_P(PSTR("TO pitch:")); Serial.println(takeoff_pitch); |
|
//Serial.printf_P(PSTR("home.alt:")); Serial.println(home.alt); |
|
takeoff_altitude = next_nav_command.alt; |
|
//Serial.printf_P(PSTR("takeoff_altitude:")); Serial.println(takeoff_altitude); |
|
next_WP.lat = home.lat + 1000; // so we don't have bad calcs |
|
next_WP.lng = home.lng + 1000; // so we don't have bad calcs |
|
takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction |
|
// Flag also used to override "on the ground" throttle disable |
|
} |
|
|
|
static void do_nav_wp() |
|
{ |
|
set_next_WP(&next_nav_command); |
|
} |
|
|
|
static void do_land() |
|
{ |
|
set_next_WP(&next_nav_command); |
|
} |
|
|
|
static void do_loiter_unlimited() |
|
{ |
|
set_next_WP(&next_nav_command); |
|
} |
|
|
|
static void do_loiter_turns() |
|
{ |
|
set_next_WP(&next_nav_command); |
|
loiter_total = next_nav_command.p1 * 360; |
|
} |
|
|
|
static void do_loiter_time() |
|
{ |
|
set_next_WP(&next_nav_command); |
|
loiter_time = millis(); |
|
loiter_time_max = next_nav_command.p1; // units are (seconds * 10) |
|
} |
|
|
|
/********************************************************************************/ |
|
// Verify Nav (Must) commands |
|
/********************************************************************************/ |
|
static bool verify_takeoff() |
|
{ |
|
if (g_gps->ground_speed > 300){ |
|
if (hold_course == -1) { |
|
// save our current course to take off |
|
if(g.compass_enabled) { |
|
hold_course = ahrs.yaw_sensor; |
|
} else { |
|
hold_course = g_gps->ground_course; |
|
} |
|
} |
|
} |
|
|
|
if (hold_course != -1) { |
|
// recalc bearing error with hold_course; |
|
nav_bearing = hold_course; |
|
// recalc bearing error |
|
calc_bearing_error(); |
|
} |
|
|
|
if (current_loc.alt > takeoff_altitude) { |
|
hold_course = -1; |
|
takeoff_complete = true; |
|
return true; |
|
} else { |
|
return false; |
|
} |
|
} |
|
|
|
// we are executing a landing |
|
static bool verify_land() |
|
{ |
|
// we don't 'verify' landing in the sense that it never completes, |
|
// so we don't verify command completion. Instead we use this to |
|
// adjust final landing parameters |
|
|
|
// Set land_complete if we are within 2 seconds distance or within |
|
// 3 meters altitude of the landing point |
|
if (((wp_distance > 0) && (wp_distance <= (2*g_gps->ground_speed/100))) |
|
|| (current_loc.alt <= next_WP.alt + 300)){ |
|
|
|
land_complete = 1; |
|
|
|
if(hold_course == -1) { |
|
// we have just reached the threshold of 2 seconds or 3 |
|
// meters to landing. We now don't want to do any radical |
|
// turns, as rolling could put the wings into the runway. |
|
// To prevent further turns we set hold_course to the |
|
// current heading. Previously we set this to |
|
// crosstrack_bearing, but the xtrack bearing can easily |
|
// be quite large at this point, and that could induce a |
|
// sudden large roll correction which is very nasty at |
|
// this point in the landing. |
|
hold_course = ahrs.yaw_sensor; |
|
} |
|
} |
|
|
|
if (hold_course != -1){ |
|
// recalc bearing error with hold_course; |
|
nav_bearing = hold_course; |
|
// recalc bearing error |
|
calc_bearing_error(); |
|
} |
|
|
|
update_crosstrack(); |
|
return false; |
|
} |
|
|
|
static bool verify_nav_wp() |
|
{ |
|
hold_course = -1; |
|
update_crosstrack(); |
|
if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) { |
|
gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"), |
|
(unsigned)nav_command_index, |
|
(unsigned)get_distance(¤t_loc, &next_WP)); |
|
return true; |
|
} |
|
|
|
// have we circled around the waypoint? |
|
if (loiter_sum > 300){ |
|
gcs_send_text_P(SEVERITY_MEDIUM,PSTR("Missed WP")); |
|
return true; |
|
} |
|
|
|
// have we flown past the waypoint? |
|
if (location_passed_point(current_loc, prev_WP, next_WP)) { |
|
gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"), |
|
(unsigned)nav_command_index, |
|
(unsigned)get_distance(¤t_loc, &next_WP)); |
|
return true; |
|
} |
|
|
|
return false; |
|
} |
|
|
|
static bool verify_loiter_unlim() |
|
{ |
|
update_loiter(); |
|
calc_bearing_error(); |
|
return false; |
|
} |
|
|
|
static bool verify_loiter_time() |
|
{ |
|
update_loiter(); |
|
calc_bearing_error(); |
|
if ((millis() - loiter_time) > (unsigned long)loiter_time_max * 10000l) { // scale loiter_time_max from (sec*10) to milliseconds |
|
gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER time complete")); |
|
return true; |
|
} |
|
return false; |
|
} |
|
|
|
static bool verify_loiter_turns() |
|
{ |
|
update_loiter(); |
|
calc_bearing_error(); |
|
if(loiter_sum > loiter_total) { |
|
loiter_total = 0; |
|
gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER orbits complete")); |
|
// clear the command queue; |
|
return true; |
|
} |
|
return false; |
|
} |
|
|
|
static bool verify_RTL() |
|
{ |
|
if (wp_distance <= g.waypoint_radius) { |
|
gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); |
|
return true; |
|
}else{ |
|
return false; |
|
} |
|
} |
|
|
|
/********************************************************************************/ |
|
// Condition (May) commands |
|
/********************************************************************************/ |
|
|
|
static void do_wait_delay() |
|
{ |
|
condition_start = millis(); |
|
condition_value = next_nonnav_command.lat * 1000; // convert to milliseconds |
|
} |
|
|
|
static void do_change_alt() |
|
{ |
|
condition_rate = abs((int)next_nonnav_command.lat); |
|
condition_value = next_nonnav_command.alt; |
|
if(condition_value < current_loc.alt) condition_rate = -condition_rate; |
|
target_altitude = current_loc.alt + (condition_rate / 10); // Divide by ten for 10Hz update |
|
next_WP.alt = condition_value; // For future nav calculations |
|
offset_altitude = 0; // For future nav calculations |
|
} |
|
|
|
static void do_within_distance() |
|
{ |
|
condition_value = next_nonnav_command.lat; |
|
} |
|
|
|
/********************************************************************************/ |
|
// Verify Condition (May) commands |
|
/********************************************************************************/ |
|
|
|
static bool verify_wait_delay() |
|
{ |
|
if (millis() - condition_start > condition_value){ |
|
condition_value = 0; |
|
return true; |
|
} |
|
return false; |
|
} |
|
|
|
static bool verify_change_alt() |
|
{ |
|
if( (condition_rate>=0 && current_loc.alt >= condition_value) || (condition_rate<=0 && current_loc.alt <= condition_value)) { |
|
condition_value = 0; |
|
return true; |
|
} |
|
target_altitude += condition_rate / 10; |
|
return false; |
|
} |
|
|
|
static bool verify_within_distance() |
|
{ |
|
if (wp_distance < condition_value){ |
|
condition_value = 0; |
|
return true; |
|
} |
|
return false; |
|
} |
|
|
|
/********************************************************************************/ |
|
// Do (Now) commands |
|
/********************************************************************************/ |
|
|
|
static void do_loiter_at_location() |
|
{ |
|
next_WP = current_loc; |
|
} |
|
|
|
static void do_jump() |
|
{ |
|
struct Location temp; |
|
gcs_send_text_fmt(PSTR("In jump. Jumps left: %i"),next_nonnav_command.lat); |
|
if(next_nonnav_command.lat > 0) { |
|
|
|
nav_command_ID = NO_COMMAND; |
|
next_nav_command.id = NO_COMMAND; |
|
non_nav_command_ID = NO_COMMAND; |
|
|
|
temp = get_cmd_with_index(g.command_index); |
|
temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter |
|
|
|
set_cmd_with_index(temp, g.command_index); |
|
gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1); |
|
g.command_index.set_and_save(next_nonnav_command.p1 - 1); |
|
nav_command_index = next_nonnav_command.p1 - 1; |
|
next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump |
|
process_next_command(); |
|
} else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever |
|
nav_command_ID = NO_COMMAND; |
|
non_nav_command_ID = NO_COMMAND; |
|
gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1); |
|
g.command_index.set_and_save(next_nonnav_command.p1 - 1); |
|
nav_command_index = next_nonnav_command.p1 - 1; |
|
next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump |
|
process_next_command(); |
|
} |
|
} |
|
|
|
static void do_change_speed() |
|
{ |
|
switch (next_nonnav_command.p1) |
|
{ |
|
case 0: // Airspeed |
|
if(next_nonnav_command.alt > 0) |
|
g.airspeed_cruise_cm.set(next_nonnav_command.alt * 100); |
|
break; |
|
case 1: // Ground speed |
|
g.min_gndspeed.set(next_nonnav_command.alt * 100); |
|
break; |
|
} |
|
|
|
if(next_nonnav_command.lat > 0) |
|
g.throttle_cruise.set(next_nonnav_command.lat); |
|
} |
|
|
|
static void do_set_home() |
|
{ |
|
if(next_nonnav_command.p1 == 1 && GPS_enabled) { |
|
init_home(); |
|
} else { |
|
home.id = MAV_CMD_NAV_WAYPOINT; |
|
home.lng = next_nonnav_command.lng; // Lon * 10**7 |
|
home.lat = next_nonnav_command.lat; // Lat * 10**7 |
|
home.alt = max(next_nonnav_command.alt, 0); |
|
home_is_set = true; |
|
} |
|
} |
|
|
|
static void do_set_servo() |
|
{ |
|
APM_RC.OutputCh(next_nonnav_command.p1 - 1, next_nonnav_command.alt); |
|
} |
|
|
|
static void do_set_relay() |
|
{ |
|
if (next_nonnav_command.p1 == 1) { |
|
relay.on(); |
|
} else if (next_nonnav_command.p1 == 0) { |
|
relay.off(); |
|
}else{ |
|
relay.toggle(); |
|
} |
|
} |
|
|
|
static void do_repeat_servo() |
|
{ |
|
event_id = next_nonnav_command.p1 - 1; |
|
|
|
if(next_nonnav_command.p1 >= CH_5 + 1 && next_nonnav_command.p1 <= CH_8 + 1) { |
|
|
|
event_timer = 0; |
|
event_delay = next_nonnav_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) |
|
event_repeat = next_nonnav_command.lat * 2; |
|
event_value = next_nonnav_command.alt; |
|
|
|
switch(next_nonnav_command.p1) { |
|
case CH_5: |
|
event_undo_value = g.rc_5.radio_trim; |
|
break; |
|
case CH_6: |
|
event_undo_value = g.rc_6.radio_trim; |
|
break; |
|
case CH_7: |
|
event_undo_value = g.rc_7.radio_trim; |
|
break; |
|
case CH_8: |
|
event_undo_value = g.rc_8.radio_trim; |
|
break; |
|
} |
|
update_events(); |
|
} |
|
} |
|
|
|
static void do_repeat_relay() |
|
{ |
|
event_id = RELAY_TOGGLE; |
|
event_timer = 0; |
|
event_delay = next_nonnav_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) |
|
event_repeat = next_nonnav_command.alt * 2; |
|
update_events(); |
|
}
|
|
|