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377 lines
13 KiB
377 lines
13 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Rover.h" |
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/********************************************************************************/ |
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// Command Event Handlers |
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/********************************************************************************/ |
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bool Rover::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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DataFlash.Log_Write_Mission_Cmd(mission, 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(MAV_SEVERITY_INFO, "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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do_digicam_configure(cmd); |
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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_digicam_control(cmd); |
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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 (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) { |
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// switch off the camera tracking if enabled |
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if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { |
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camera_mount.set_mode_to_default(); |
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} |
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} else { |
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// send the command to the camera mount |
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camera_mount.set_roi_target(cmd.content.location); |
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} |
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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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void Rover::exit_mission() |
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{ |
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if (control_mode == AUTO) { |
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gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO - setting HOLD"); |
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set_mode(HOLD); |
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} |
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} |
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// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run |
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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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bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd) |
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{ |
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if (control_mode == AUTO) { |
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bool cmd_complete = verify_command(cmd); |
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// send message to GCS |
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if (cmd_complete) { |
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gcs_send_mission_item_reached_message(cmd.index); |
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} |
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return cmd_complete; |
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} |
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return false; |
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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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bool Rover::verify_command(const AP_Mission::Mission_Command& cmd) |
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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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case MAV_CMD_CONDITION_DISTANCE: |
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return verify_within_distance(); |
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default: |
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if (cmd.id > MAV_CMD_CONDITION_LAST) { |
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// this is a command that doesn't require verify |
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return true; |
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} |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"verify_conditon: Unsupported command"); |
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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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// Nav (Must) commands |
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/********************************************************************************/ |
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void Rover::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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void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd) |
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{ |
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// this will be used to remember the time in millis after we reach or pass the WP. |
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loiter_time = 0; |
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// this is the delay, stored in seconds |
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loiter_time_max = abs(cmd.p1); |
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// this is the distance we travel past the waypoint - not there yet so 0 initially |
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distance_past_wp = 0; |
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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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bool Rover::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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// Check if we need to loiter at this waypoint |
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if (loiter_time_max > 0) { |
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if (loiter_time == 0) { // check if we are just starting loiter |
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i - Loiter for %i seconds", |
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(unsigned)cmd.index, |
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(unsigned)loiter_time_max); |
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// record the current time i.e. start timer |
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loiter_time = millis(); |
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} |
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// Check if we have loiter long enough |
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if (((millis() - loiter_time) / 1000) < loiter_time_max) { |
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return false; |
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} |
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} else { |
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "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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} |
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return true; |
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} |
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// have we gone past the waypoint? |
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// We should always go through the waypoint i.e. the above code |
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// first before we go past it. |
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if (location_passed_point(current_loc, prev_WP, next_WP)) { |
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// check if we have gone futher past the wp then last time and output new message if we have |
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if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) { |
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distance_past_wp = get_distance(current_loc, next_WP); |
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed Waypoint #%i dist %um", |
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(unsigned)cmd.index, |
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(unsigned)distance_past_wp); |
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} |
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// Check if we need to loiter at this waypoint |
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if (loiter_time_max > 0) { |
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if (((millis() - loiter_time) / 1000) < loiter_time_max) { |
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return false; |
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} |
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} |
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distance_past_wp = 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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bool Rover::verify_RTL() |
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{ |
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if (wp_distance <= g.waypoint_radius) { |
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gcs_send_text(MAV_SEVERITY_INFO,"Reached Destination"); |
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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(MAV_SEVERITY_INFO, "Reached Destination: Distance away %um", |
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(unsigned)get_distance(current_loc, next_WP)); |
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rtl_complete = true; |
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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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void Rover::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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void Rover::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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bool Rover::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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bool Rover::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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void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd) |
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{ |
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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(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get()); |
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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(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get()); |
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} |
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} |
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void Rover::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 = HOME_SET_NOT_LOCKED; |
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Log_Write_Home_And_Origin(); |
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GCS_MAVLINK::send_home_all(cmd.content.location); |
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} |
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} |
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// do_digicam_configure Send Digicam Configure message with the camera library |
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void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd) |
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{ |
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#if CAMERA == ENABLED |
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camera.configure(cmd.content.digicam_configure.shooting_mode, |
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cmd.content.digicam_configure.shutter_speed, |
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cmd.content.digicam_configure.aperture, |
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cmd.content.digicam_configure.ISO, |
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cmd.content.digicam_configure.exposure_type, |
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cmd.content.digicam_configure.cmd_id, |
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cmd.content.digicam_configure.engine_cutoff_time); |
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#endif |
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} |
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// do_digicam_control Send Digicam Control message with the camera library |
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void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd) |
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{ |
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#if CAMERA == ENABLED |
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camera.control(cmd.content.digicam_control.session, |
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cmd.content.digicam_control.zoom_pos, |
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cmd.content.digicam_control.zoom_step, |
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cmd.content.digicam_control.focus_lock, |
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cmd.content.digicam_control.shooting_cmd, |
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cmd.content.digicam_control.cmd_id); |
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log_picture(); |
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#endif |
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} |
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// do_take_picture - take a picture with the camera library |
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void Rover::do_take_picture() |
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{ |
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#if CAMERA == ENABLED |
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camera.trigger_pic(true); |
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log_picture(); |
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#endif |
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} |
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// log_picture - log picture taken and send feedback to GCS |
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void Rover::log_picture() |
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{ |
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gcs_send_message(MSG_CAMERA_FEEDBACK); |
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if (should_log(MASK_LOG_CAMERA)) { |
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DataFlash.Log_Write_Camera(ahrs, gps, current_loc); |
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} |
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}
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