Beispiel #1
0
bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
{
    // log when new commands start
    if (should_log(MASK_LOG_CMD)) {
        DataFlash.Log_Write_Mission_Cmd(mission, cmd);
    }

    gcs().send_text(MAV_SEVERITY_INFO, "Executing command ID #%i", cmd.id);

    switch (cmd.id) {
    case MAV_CMD_NAV_WAYPOINT:  // Navigate to Waypoint
        do_nav_wp(cmd, false);
        break;

    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
        do_RTL();
        break;

    case MAV_CMD_NAV_LOITER_UNLIM:              // Loiter indefinitely
        do_loiter_unlimited(cmd);
        break;

    case MAV_CMD_NAV_LOITER_TIME:
        do_loiter_time(cmd);
        break;

    case MAV_CMD_NAV_SET_YAW_SPEED:
        do_nav_set_yaw_speed(cmd);
        break;

    // Conditional commands
    case MAV_CMD_CONDITION_DELAY:
        do_wait_delay(cmd);
        break;

    case MAV_CMD_CONDITION_DISTANCE:
        do_within_distance(cmd);
        break;

    // Do commands
    case MAV_CMD_DO_CHANGE_SPEED:
        do_change_speed(cmd);
        break;

    case MAV_CMD_DO_SET_HOME:
        do_set_home(cmd);
        break;

    case MAV_CMD_DO_SET_SERVO:
        ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
        break;

    case MAV_CMD_DO_SET_RELAY:
        ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
        break;

    case MAV_CMD_DO_REPEAT_SERVO:
        ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
                                         cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
        break;

    case MAV_CMD_DO_REPEAT_RELAY:
        ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
                                         cmd.content.repeat_relay.cycle_time * 1000.0f);
        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)|
        do_digicam_configure(cmd);
        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|
        do_digicam_control(cmd);
        break;

    case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
        camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
        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:
        if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
            // switch off the camera tracking if enabled
            if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
                camera_mount.set_mode_to_default();
            }
        } else {
            // send the command to the camera mount
            camera_mount.set_roi_target(cmd.content.location);
        }
        break;
#endif

    case MAV_CMD_DO_SET_REVERSE:
        do_set_reverse(cmd);
        break;

    default:
        // return false for unhandled commands
        return false;
    }

    // if we got this far we must have been successful
    return true;
}
bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
{
    // log when new commands start
    if (rover.should_log(MASK_LOG_CMD)) {
        rover.logger.Write_Mission_Cmd(mission, cmd);
    }

    gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)",
                    cmd.type(), cmd.id);

    switch (cmd.id) {
    case MAV_CMD_NAV_WAYPOINT:  // Navigate to Waypoint
        do_nav_wp(cmd, false);
        break;

    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
        do_RTL();
        break;

    case MAV_CMD_NAV_LOITER_UNLIM:  // Loiter indefinitely
    case MAV_CMD_NAV_LOITER_TIME:   // Loiter for specified time
        do_nav_wp(cmd, true);
        break;

    case MAV_CMD_NAV_SET_YAW_SPEED:
        do_nav_set_yaw_speed(cmd);
        break;

    // Conditional commands
    case MAV_CMD_CONDITION_DELAY:
        do_wait_delay(cmd);
        break;

    case MAV_CMD_CONDITION_DISTANCE:
        do_within_distance(cmd);
        break;

    // Do commands
    case MAV_CMD_DO_CHANGE_SPEED:
        do_change_speed(cmd);
        break;

    case MAV_CMD_DO_SET_HOME:
        do_set_home(cmd);
        break;

#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:
        if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
            // switch off the camera tracking if enabled
            if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
                rover.camera_mount.set_mode_to_default();
            }
        } else {
            // send the command to the camera mount
            rover.camera_mount.set_roi_target(cmd.content.location);
        }
        break;
#endif

    case MAV_CMD_DO_SET_REVERSE:
        do_set_reverse(cmd);
        break;

    case MAV_CMD_DO_FENCE_ENABLE:
        if (cmd.p1 == 0) {  //disable
            g2.fence.enable(false);
            gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
        } else {  //enable fence
            g2.fence.enable(true);
            gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
        }
        break;

    default:
        // return false for unhandled commands
        return false;
    }

    // if we got this far we must have been successful
    return true;
}