void navNavigate(void) {
unsigned long currentTime;
unsigned char leg = navData.missionLeg;
navMission_t *curLeg = &navData.missionLegs[leg];
float tmp;
currentTime = IMU_LASTUPD;
navSetFixType();
// is there sufficient position accuracy to navigate?
if (navData.fixType == 3)
navData.navCapable = 1;
// do not drop out of mission due to (hopefully) temporary GPS degradation
else if (navData.mode < NAV_STATUS_POSHOLD)
navData.navCapable = 0;
// Can we navigate && do we want to be in mission mode?
if ((supervisorData.state & STATE_ARMED) && navData.navCapable && RADIO_FLAPS > 250) {
// are we currently in position hold mode && do we have a clear mission ahead of us?
if ((navData.mode == NAV_STATUS_POSHOLD || navData.mode == NAV_STATUS_DVH) && leg < NAV_MAX_MISSION_LEGS && curLeg->type > 0) {
curLeg = navLoadLeg(leg);
navData.mode = NAV_STATUS_MISSION;
}
}
// do we want to be in position hold mode?
else if ((supervisorData.state & STATE_ARMED) && RADIO_FLAPS > -250) {
// always allow alt hold
if (navData.mode < NAV_STATUS_ALTHOLD) {
// record this altitude as the hold altitude
navSetHoldAlt(ALTITUDE, 0);
// set integral to current RC throttle setting
pidZeroIntegral(navData.altSpeedPID, -VELOCITYD, motorsData.throttle * RADIO_MID_THROTTLE / MOTORS_SCALE);
pidZeroIntegral(navData.altPosPID, ALTITUDE, 0.0f);
navData.holdSpeedAlt = navData.targetHoldSpeedAlt = -VELOCITYD;
navData.holdMaxVertSpeed = p[NAV_ALT_POS_OM];
navData.mode = NAV_STATUS_ALTHOLD;
// notify ground
AQ_NOTICE("Altitude Hold engaged\n");
}
// are we not in position hold mode now?
if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && navData.mode != NAV_STATUS_POSHOLD && navData.mode != NAV_STATUS_DVH) {
// only zero bias if coming from lower mode
if (navData.mode < NAV_STATUS_POSHOLD) {
navData.holdTiltN = 0.0f;
navData.holdTiltE = 0.0f;
// speed
pidZeroIntegral(navData.speedNPID, UKF_VELN, 0.0f);
pidZeroIntegral(navData.speedEPID, UKF_VELE, 0.0f);
// pos
pidZeroIntegral(navData.distanceNPID, UKF_POSN, 0.0f);
pidZeroIntegral(navData.distanceEPID, UKF_POSE, 0.0f);
}
// store this position as hold position
navUkfSetHereAsPositionTarget();
if (navData.navCapable) {
// set this position as home if we have none
if (navData.homeLeg.targetLat == (double)0.0 || navData.homeLeg.targetLon == (double)0.0)
navSetHomeCurrent();
}
// activate pos hold
navData.mode = NAV_STATUS_POSHOLD;
navData.holdSpeedN = 0.0f;
navData.holdSpeedE = 0.0f;
navData.holdMaxHorizSpeed = p[NAV_MAX_SPEED];
navData.holdMaxVertSpeed = p[NAV_ALT_POS_OM];
// notify ground
AQ_NOTICE("Position Hold engaged\n");
}
// DVH
else if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && (
RADIO_PITCH > p[CTRL_DEAD_BAND] ||
RADIO_PITCH < -p[CTRL_DEAD_BAND] ||
RADIO_ROLL > p[CTRL_DEAD_BAND] ||
RADIO_ROLL < -p[CTRL_DEAD_BAND])) {
navData.mode = NAV_STATUS_DVH;
}
else if (navData.mode == NAV_STATUS_DVH) {
// allow speed to drop before holding position (or if RTH engaged)
if ((UKF_VELN < +0.1f && UKF_VELN > -0.1f && UKF_VELE < +0.1f && UKF_VELE > -0.1f) || RADIO_AUX2 < -250) {
navUkfSetHereAsPositionTarget();
navData.mode = NAV_STATUS_POSHOLD;
}
}
}
else {
// switch to manual mode
navData.mode = NAV_STATUS_MANUAL;
// reset mission legs
navData.missionLeg = leg = 0;
// keep up with changing altitude
navSetHoldAlt(ALTITUDE, 0);
}
// ceiling set ?, 0 is disable
if (navData.ceilingAlt) {
// ceiling reached 1st time
if (ALTITUDE > navData.ceilingAlt && !navData.setCeilingFlag) {
navData.setCeilingFlag = 1;
navData.ceilingTimer = timerMicros();
}
// ceiling still reached for 5 seconds
else if (navData.setCeilingFlag && ALTITUDE > navData.ceilingAlt && (timerMicros() - navData.ceilingTimer) > (1e6 * 5) ) {
navData.ceilingTimer = timerMicros();
if (!navData.setCeilingReached)
AQ_NOTICE("Warning: Altitude ceiling reached.");
navData.setCeilingReached = 1;
}
else if ((navData.setCeilingFlag || navData.setCeilingReached) && ALTITUDE <= navData.ceilingAlt) {
if (navData.setCeilingReached)
AQ_NOTICE("Notice: Altitude returned to within ceiling.");
navData.setCeilingFlag = 0;
navData.setCeilingReached = 0;
}
}
// home set
if ((supervisorData.state & STATE_ARMED) && RADIO_AUX2 > 250) {
if (!navData.homeActionFlag) {
navSetHomeCurrent();
navData.homeActionFlag = 1;
}
}
// recall home
else if ((supervisorData.state & STATE_ARMED) && RADIO_AUX2 < -250) {
if (!navData.homeActionFlag) {
navRecallHome();
AQ_NOTICE("Returning to home position\n");
navData.homeActionFlag = 1;
}
}
// switch to middle, clear action flag
else {
navData.homeActionFlag = 0;
}
// heading-free mode
if ((int)p[NAV_HDFRE_CHAN] > 0 && (int)p[NAV_HDFRE_CHAN] <= RADIO_MAX_CHANNELS) {
navSetHeadFreeMode();
// set/maintain headfree frame reference
if (!navData.homeActionFlag && ( navData.headFreeMode == NAV_HEADFREE_SETTING ||
(navData.headFreeMode == NAV_HEADFREE_DYNAMIC && navData.mode == NAV_STATUS_DVH) )) {
uint8_t dfRefTyp = 0;
if ((supervisorData.state & STATE_FLYING) && navData.homeLeg.targetLat != (double)0.0f && navData.homeLeg.targetLon != (double)0.0f) {
if (NAV_HF_HOME_DIST_D_MIN && NAV_HF_HOME_DIST_FREQ && (currentTime - navData.homeDistanceLastUpdate) > (AQ_US_PER_SEC / NAV_HF_HOME_DIST_FREQ)) {
navData.distanceToHome = navCalcDistance(gpsData.lat, gpsData.lon, navData.homeLeg.targetLat, navData.homeLeg.targetLon);
navData.homeDistanceLastUpdate = currentTime;
}
if (!NAV_HF_HOME_DIST_D_MIN || navData.distanceToHome > NAV_HF_HOME_DIST_D_MIN)
dfRefTyp = 1;
}
navSetHfReference(dfRefTyp);
}
}
if (UKF_POSN != 0.0f || UKF_POSE != 0.0f) {
navData.holdCourse = compassNormalize(atan2f(-UKF_POSE, -UKF_POSN) * RAD_TO_DEG);
navData.holdDistance = __sqrtf(UKF_POSN*UKF_POSN + UKF_POSE*UKF_POSE);
}
else {
navData.holdCourse = 0.0f;
navData.holdDistance = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// have we arrived yet?
if (navData.loiterCompleteTime == 0) {
// are we close enough (distance and altitude)?
// goto/home test
if (((curLeg->type == NAV_LEG_GOTO || curLeg->type == NAV_LEG_HOME) &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius) ||
// orbit test
(curLeg->type == NAV_LEG_ORBIT &&
fabsf(navData.holdDistance - curLeg->targetRadius) +
fabsf(navData.holdAlt - ALTITUDE) < 2.0f) ||
// takeoff test
(curLeg->type == NAV_LEG_TAKEOFF &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius)
) {
// freeze heading unless orbiting
if (curLeg->type != NAV_LEG_ORBIT)
navSetHoldHeading(AQ_YAW);
// start the loiter clock
navData.loiterCompleteTime = currentTime + curLeg->loiterTime;
#ifdef USE_MAVLINK
// notify ground
mavlinkWpReached(leg);
#endif
}
}
// have we loitered long enough?
else if (currentTime > navData.loiterCompleteTime && curLeg->type != NAV_LEG_LAND) {
// next leg
if (++leg < NAV_MAX_MISSION_LEGS && navData.missionLegs[leg].type > 0) {
curLeg = navLoadLeg(leg);
}
else {
navData.mode = NAV_STATUS_POSHOLD;
}
}
}
// DVH
if (navData.mode == NAV_STATUS_DVH) {
float factor = (1.0f / 500.0f) * navData.holdMaxHorizSpeed;
float x = 0.0f;
float y = 0.0f;
if (RADIO_PITCH > p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_PITCH < -p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH + p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL > p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL < -p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL + p[CTRL_DEAD_BAND]) * factor;
// do we want to ignore rotation of craft (headfree/carefree mode)?
if (navData.headFreeMode > NAV_HEADFREE_OFF) {
if (navData.hfUseStoredReference) {
// rotate to stored frame
navData.holdSpeedN = x * navData.hfReferenceCos - y * navData.hfReferenceSin;
navData.holdSpeedE = y * navData.hfReferenceCos + x * navData.hfReferenceSin;
}
else {
// don't rotate to any frame (pitch/roll move to N/S/E/W)
navData.holdSpeedN = x;
navData.holdSpeedE = y;
}
}
else {
// rotate to earth frame
navData.holdSpeedN = x * navUkfData.yawCos - y * navUkfData.yawSin;
navData.holdSpeedE = y * navUkfData.yawCos + x * navUkfData.yawSin;
}
}
// orbit POI
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_ORBIT) {
float velX, velY;
// maintain orbital radius
velX = -pidUpdate(navData.distanceNPID, curLeg->targetRadius, navData.holdDistance);
// maintain orbital velocity (clock wise)
velY = -curLeg->maxHorizSpeed;
// rotate to earth frame
navData.holdSpeedN = velX * navUkfData.yawCos - velY * navUkfData.yawSin;
navData.holdSpeedE = velY * navUkfData.yawCos + velX * navUkfData.yawSin;
}
else {
// distance => velocity
navData.holdSpeedN = pidUpdate(navData.distanceNPID, 0.0f, UKF_POSN);
navData.holdSpeedE = pidUpdate(navData.distanceEPID, 0.0f, UKF_POSE);
}
// normalize N/E speed requests to fit below max nav speed
tmp = __sqrtf(navData.holdSpeedN*navData.holdSpeedN + navData.holdSpeedE*navData.holdSpeedE);
if (tmp > navData.holdMaxHorizSpeed) {
navData.holdSpeedN = (navData.holdSpeedN / tmp) * navData.holdMaxHorizSpeed;
navData.holdSpeedE = (navData.holdSpeedE / tmp) * navData.holdMaxHorizSpeed;
}
// velocity => tilt
navData.holdTiltN = -pidUpdate(navData.speedNPID, navData.holdSpeedN, UKF_VELN);
navData.holdTiltE = +pidUpdate(navData.speedEPID, navData.holdSpeedE, UKF_VELE);
if (navData.mode > NAV_STATUS_MANUAL) {
float vertStick;
// Throttle controls vertical speed
vertStick = RADIO_THROT - RADIO_MID_THROTTLE;
if ((vertStick > p[CTRL_DBAND_THRO] && !navData.setCeilingReached) || vertStick < -p[CTRL_DBAND_THRO]) {
// altitude velocity proportional to throttle stick
navData.targetHoldSpeedAlt = (vertStick - p[CTRL_DBAND_THRO] * (vertStick > 0.0f ? 1.0f : -1.0f)) * p[NAV_ALT_POS_OM] * (1.0f / RADIO_MID_THROTTLE);
navData.verticalOverride = 1;
}
// are we trying to land?
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_LAND) {
navData.targetHoldSpeedAlt = -navData.holdMaxVertSpeed;
}
// coming out of vertical override?
else if (navData.verticalOverride) {
navData.targetHoldSpeedAlt = 0.0f;
// slow down before trying to hold altitude
if (fabsf(VELOCITYD) < 0.025f)
navData.verticalOverride = 0;
// set new hold altitude to wherever we are while still in override
if (navData.mode != NAV_STATUS_MISSION)
navSetHoldAlt(ALTITUDE, 0);
}
// PID has the throttle
else {
navData.targetHoldSpeedAlt = pidUpdate(navData.altPosPID, navData.holdAlt, ALTITUDE);
}
// constrain vertical velocity
navData.targetHoldSpeedAlt = constrainFloat(navData.targetHoldSpeedAlt, (navData.holdMaxVertSpeed < p[NAV_MAX_DECENT]) ? -navData.holdMaxVertSpeed : -p[NAV_MAX_DECENT], navData.holdMaxVertSpeed);
// smooth vertical velocity changes
navData.holdSpeedAlt += (navData.targetHoldSpeedAlt - navData.holdSpeedAlt) * 0.05f;
}
else {
navData.verticalOverride = 0;
}
// calculate POI angle (used for tilt in gimbal function)
if (navData.mode == NAV_STATUS_MISSION && curLeg->poiAltitude != 0.0f) {
float a, b, c;
a = navData.holdDistance;
b = ALTITUDE - curLeg->poiAltitude;
c = __sqrtf(a*a + b*b);
navData.poiAngle = asinf(a/c) * RAD_TO_DEG - 90.0f;
}
else {
navData.poiAngle = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// recalculate autonomous heading
navSetHoldHeading(navData.targetHeading);
// wait for low throttle if landing
if (curLeg->type == NAV_LEG_LAND && motorsData.throttle <= 1)
// shut everything down (sure hope we are really on the ground :)
supervisorDisarm();
}
navData.lastUpdate = currentTime;
}
void navDoUserCommands(unsigned char *leg, navMission_t *curLeg) {
// home set
if (rcIsSwitchActive(NAV_CTRL_HOM_SET)) {
if (!navData.homeActionFlag && (supervisorData.state & STATE_ARMED) && navData.navCapable)
navSetHomeCurrent();
navData.homeActionFlag = 1;
}
// recall home
else if (rcIsSwitchActive(NAV_CTRL_HOM_GO)) {
if (!navData.homeActionFlag && (supervisorData.state & STATE_ARMED) && navData.navCapable) {
navRecallHome();
AQ_NOTICE("Returning to home position\n");
}
navData.homeActionFlag = 1;
}
// switch to middle, clear action flag
else {
navData.homeActionFlag = 0;
}
// heading-free mode
if (rcIsControlConfigured(NAV_CTRL_HF_SET) || rcIsControlConfigured(NAV_CTRL_HF_LOCK)) {
navSetHeadFreeMode();
// set/maintain headfree frame reference
if (!navData.homeActionFlag && ( navData.headFreeMode == NAV_HEADFREE_SETTING ||
(navData.headFreeMode == NAV_HEADFREE_DYNAMIC && navData.mode == NAV_STATUS_DVH) )) {
uint8_t dfRefTyp = 0;
unsigned long currentTime = IMU_LASTUPD;
if ((supervisorData.state & STATE_FLYING) && navData.homeLeg.targetLat != (double)0.0f && navData.homeLeg.targetLon != (double)0.0f) {
if (NAV_HF_HOME_DIST_D_MIN && NAV_HF_HOME_DIST_FREQ && navData.navCapable && (currentTime - navData.homeDistanceLastUpdate) > (AQ_US_PER_SEC / NAV_HF_HOME_DIST_FREQ)) {
navData.distanceToHome = navCalcDistance(gpsData.lat, gpsData.lon, navData.homeLeg.targetLat, navData.homeLeg.targetLon);
navData.homeDistanceLastUpdate = currentTime;
}
if (!NAV_HF_HOME_DIST_D_MIN || navData.distanceToHome > NAV_HF_HOME_DIST_D_MIN)
dfRefTyp = 1;
}
navSetHfReference(dfRefTyp);
}
}
// waypoint recording/skip: switch active for 1s = record waypoint or skip to next wpt if already in mission mode
if (rcIsControlConfigured(NAV_CTRL_WP_REC)) {
if (rcIsSwitchActive(NAV_CTRL_WP_REC)) {
if (!navData.wpActionFlag) {
if (!navData.wpRecTimer) {
navData.wpRecTimer = timerMicros();
}
else if (timerMicros() - navData.wpRecTimer > 1e6) {
if (rcIsSwitchActive(NAV_CTRL_MISN)) {
if (*leg + 1 < navGetWaypointCount())
++*leg;
else
*leg = 0;
curLeg = navLoadLeg(*leg);
} else if (RADIO_ROLL < 500 && RADIO_PITCH < 500)
navRecordWaypoint();
navData.wpRecTimer = 0;
navData.wpActionFlag = 1;
}
}
} else {
navData.wpRecTimer = 0;
navData.wpActionFlag = 0;
}
}
}