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306 lines
10 KiB
306 lines
10 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// forward declarations to make compiler happy |
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static void do_nav_wp(const AP_Mission::Mission_Command& cmd); |
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static void do_wait_delay(const AP_Mission::Mission_Command& cmd); |
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static void do_within_distance(const AP_Mission::Mission_Command& cmd); |
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static void do_change_speed(const AP_Mission::Mission_Command& cmd); |
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static void do_set_home(const AP_Mission::Mission_Command& cmd); |
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static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd); |
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/********************************************************************************/ |
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// Command Event Handlers |
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/********************************************************************************/ |
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static bool |
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start_command(const AP_Mission::Mission_Command& cmd) |
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{ |
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// log when new commands start |
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if (should_log(MASK_LOG_CMD)) { |
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Log_Write_Cmd(cmd); |
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} |
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// exit immediately if not in AUTO mode |
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if (control_mode != AUTO) { |
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return false; |
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} |
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id); |
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// remember the course of our next navigation leg |
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next_navigation_leg_cd = mission.get_next_ground_course_cd(0); |
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switch(cmd.id){ |
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint |
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do_nav_wp(cmd); |
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break; |
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
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do_RTL(); |
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break; |
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// Conditional commands |
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case MAV_CMD_CONDITION_DELAY: |
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do_wait_delay(cmd); |
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break; |
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case MAV_CMD_CONDITION_DISTANCE: |
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do_within_distance(cmd); |
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break; |
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// Do commands |
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case MAV_CMD_DO_CHANGE_SPEED: |
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do_change_speed(cmd); |
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break; |
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case MAV_CMD_DO_SET_HOME: |
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do_set_home(cmd); |
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break; |
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case MAV_CMD_DO_SET_SERVO: |
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ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm); |
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break; |
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case MAV_CMD_DO_SET_RELAY: |
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ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state); |
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break; |
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case MAV_CMD_DO_REPEAT_SERVO: |
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ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm, |
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cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f); |
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break; |
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case MAV_CMD_DO_REPEAT_RELAY: |
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ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count, |
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cmd.content.repeat_relay.cycle_time * 1000.0f); |
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break; |
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#if CAMERA == ENABLED |
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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| |
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break; |
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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)| |
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break; |
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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| |
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do_take_picture(); |
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break; |
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST: |
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camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters); |
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break; |
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#endif |
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#if MOUNT == ENABLED |
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// Sets the region of interest (ROI) for a sensor set or the |
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// vehicle itself. This can then be used by the vehicles control |
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// system to control the vehicle attitude and the attitude of various |
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// devices such as cameras. |
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// |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| |
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case MAV_CMD_DO_SET_ROI: |
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#if 0 |
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// not supported yet |
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camera_mount.set_roi_cmd(&cmd.content.location); |
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#endif |
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break; |
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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| |
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camera_mount.configure_cmd(); |
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break; |
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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| |
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camera_mount.control_cmd(); |
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break; |
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#endif |
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default: |
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// return false for unhandled commands |
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return false; |
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} |
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// if we got this far we must have been successful |
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return true; |
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} |
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// exit_mission - callback function called from ap-mission when the mission has completed |
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// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode |
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static void exit_mission() |
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{ |
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if (control_mode == AUTO) { |
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gcs_send_text_fmt(PSTR("No commands - setting HOLD")); |
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set_mode(HOLD); |
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} |
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} |
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/********************************************************************************/ |
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// Verify command Handlers |
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// Returns true if command complete |
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/********************************************************************************/ |
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static bool verify_command(const AP_Mission::Mission_Command& cmd) |
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{ |
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// exit immediately if not in AUTO mode |
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// we return true or we will continue to be called by ap-mission |
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if (control_mode != AUTO) { |
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return true; |
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} |
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switch(cmd.id) { |
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case MAV_CMD_NAV_WAYPOINT: |
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return verify_nav_wp(cmd); |
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: |
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return verify_RTL(); |
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case MAV_CMD_CONDITION_DELAY: |
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return verify_wait_delay(); |
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break; |
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case MAV_CMD_CONDITION_DISTANCE: |
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return verify_within_distance(); |
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break; |
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default: |
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command")); |
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return true; |
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break; |
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} |
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return false; |
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} |
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/********************************************************************************/ |
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// Nav (Must) commands |
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/********************************************************************************/ |
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static void do_RTL(void) |
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{ |
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prev_WP = current_loc; |
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control_mode = RTL; |
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next_WP = home; |
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} |
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static void do_nav_wp(const AP_Mission::Mission_Command& cmd) |
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{ |
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set_next_WP(cmd.content.location); |
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} |
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/********************************************************************************/ |
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// Verify Nav (Must) commands |
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/********************************************************************************/ |
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static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd) |
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{ |
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) { |
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gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"), |
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(unsigned)cmd.index, |
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(unsigned)get_distance(current_loc, next_WP)); |
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return true; |
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} |
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// have we gone past the waypoint? |
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if (location_passed_point(current_loc, prev_WP, next_WP)) { |
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gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"), |
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(unsigned)cmd.index, |
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(unsigned)get_distance(current_loc, next_WP)); |
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return true; |
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} |
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return false; |
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} |
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static bool verify_RTL() |
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{ |
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if (wp_distance <= g.waypoint_radius) { |
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gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); |
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rtl_complete = true; |
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return true; |
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} |
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// have we gone past the waypoint? |
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if (location_passed_point(current_loc, prev_WP, next_WP)) { |
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gcs_send_text_fmt(PSTR("Reached Home dist %um"), |
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(unsigned)get_distance(current_loc, next_WP)); |
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return true; |
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} |
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return false; |
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} |
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/********************************************************************************/ |
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// Condition (May) commands |
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/********************************************************************************/ |
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static void do_wait_delay(const AP_Mission::Mission_Command& cmd) |
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{ |
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condition_start = millis(); |
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condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds |
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} |
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static void do_within_distance(const AP_Mission::Mission_Command& cmd) |
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{ |
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condition_value = cmd.content.distance.meters; |
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} |
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/********************************************************************************/ |
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// Verify Condition (May) commands |
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/********************************************************************************/ |
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static bool verify_wait_delay() |
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{ |
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if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){ |
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condition_value = 0; |
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return true; |
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} |
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return false; |
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} |
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static bool verify_within_distance() |
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{ |
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if (wp_distance < condition_value){ |
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condition_value = 0; |
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return true; |
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} |
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return false; |
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} |
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/********************************************************************************/ |
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// Do (Now) commands |
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/********************************************************************************/ |
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static void do_change_speed(const AP_Mission::Mission_Command& cmd) |
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{ |
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switch (cmd.p1) |
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{ |
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case 0: |
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if (cmd.content.speed.target_ms > 0) { |
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g.speed_cruise.set(cmd.content.speed.target_ms); |
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gcs_send_text_fmt(PSTR("Cruise speed: %.1f m/s"), g.speed_cruise.get()); |
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} |
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break; |
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} |
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if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) { |
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g.throttle_cruise.set(cmd.content.speed.throttle_pct); |
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gcs_send_text_fmt(PSTR("Cruise throttle: %.1f"), g.throttle_cruise.get()); |
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} |
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} |
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static void do_set_home(const AP_Mission::Mission_Command& cmd) |
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{ |
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if(cmd.p1 == 1 && have_position) { |
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init_home(); |
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} else { |
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ahrs.set_home(cmd.content.location); |
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home_is_set = true; |
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} |
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} |
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// do_take_picture - take a picture with the camera library |
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static void do_take_picture() |
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{ |
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#if CAMERA == ENABLED |
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camera.trigger_pic(); |
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if (should_log(MASK_LOG_CAMERA)) { |
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Log_Write_Camera(); |
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} |
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#endif |
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}
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