bool_t nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After)
{
struct Point2D V;
struct Point2D P;
float dv;
switch (CFLStatus) {
case FLInitialize:
//Translate WPs so From_WP is origin
V.x = WaypointX(To_WP) - WaypointX(From_WP);
V.y = WaypointY(To_WP) - WaypointY(From_WP);
//Record Aircraft Position
P.x = stateGetPositionEnu_f()->x;
P.y = stateGetPositionEnu_f()->y;
//Rotate Aircraft Position so V is aligned with x axis
TranslateAndRotateFromWorld(&P, atan2f(V.y, V.x), WaypointX(From_WP), WaypointY(From_WP));
//Find which side of the flight line the aircraft is on
if (P.y > 0) {
FLRadius = -radius;
} else {
FLRadius = radius;
}
//Find unit vector of V
dv = sqrtf(V.x * V.x + V.y * V.y);
V.x = V.x / dv;
V.y = V.y / dv;
//Find begin and end points of flight line
FLFROMWP.x = -V.x * Space_Before;
FLFROMWP.y = -V.y * Space_Before;
FLTOWP.x = V.x * (dv + Space_After);
FLTOWP.y = V.y * (dv + Space_After);
//Find center of circle
FLCircle.x = FLFROMWP.x + V.y * FLRadius;
FLCircle.y = FLFROMWP.y - V.x * FLRadius;
//Find the angle to exit the circle
FLQDR = atan2f(FLFROMWP.x - FLCircle.x, FLFROMWP.y - FLCircle.y);
//Translate back
FLFROMWP.x = FLFROMWP.x + WaypointX(From_WP);
FLFROMWP.y = FLFROMWP.y + WaypointY(From_WP);
FLTOWP.x = FLTOWP.x + WaypointX(From_WP);
FLTOWP.y = FLTOWP.y + WaypointY(From_WP);
FLCircle.x = FLCircle.x + WaypointX(From_WP);
FLCircle.y = FLCircle.y + WaypointY(From_WP);
CFLStatus = FLCircleS;
nav_init_stage();
break;
case FLCircleS:
NavVerticalAutoThrottleMode(0); /* No pitch */
NavVerticalAltitudeMode(waypoints[From_WP].a, 0);
nav_circle_XY(FLCircle.x, FLCircle.y, FLRadius);
if (NavCircleCount() > 0.2 && NavQdrCloseTo(DegOfRad(FLQDR))) {
CFLStatus = FLLine;
LINE_START_FUNCTION;
nav_init_stage();
}
break;
case FLLine:
NavVerticalAutoThrottleMode(0); /* No pitch */
NavVerticalAltitudeMode(waypoints[From_WP].a, 0);
nav_route_xy(FLFROMWP.x, FLFROMWP.y, FLTOWP.x, FLTOWP.y);
if (nav_approaching_xy(FLTOWP.x, FLTOWP.y, FLFROMWP.x, FLFROMWP.y, 0)) {
CFLStatus = FLFinished;
LINE_STOP_FUNCTION;
nav_init_stage();
}
break;
case FLFinished:
CFLStatus = FLInitialize;
nav_init_stage();
return FALSE;
break;
default:
break;
}
return TRUE;
}
bool_t disc_survey( uint8_t center, float radius) {
struct FloatVect2* wind = stateGetHorizontalWindspeed_f();
float wind_dir = atan2(wind->x, wind->y) + M_PI;
/** Not null even if wind_east=wind_north=0 */
float upwind_x = cos(wind_dir);
float upwind_y = sin(wind_dir);
float grid = nav_survey_shift / 2;
switch (status) {
case UTURN: Ｕ形弯模式
nav_circle_XY(c.x, c.y, grid*sign);
if (NavQdrCloseTo(DegOfRad(M_PI_2-wind_dir))) {
c1.x = stateGetPositionEnu_f()->x;
c1.y = stateGetPositionEnu_f()->y;
float d = ScalarProduct(upwind_x, upwind_y, stateGetPositionEnu_f()->x-WaypointX(center), stateGetPositionEnu_f()->y-WaypointY(center));
if (d > radius) {
status = DOWNWIND;
} else {
float w = sqrt(radius*radius - d*d) - 1.5*grid;
float crosswind_x = - upwind_y;
float crosswind_y = upwind_x;
c2.x = WaypointX(center)+d*upwind_x-w*sign*crosswind_x;
c2.y = WaypointY(center)+d*upwind_y-w*sign*crosswind_y;
status = SEGMENT;
}
nav_init_stage();
}
break;
case DOWNWIND: //这是什么模式？
c2.x = WaypointX(center) - upwind_x * radius;
c2.y = WaypointY(center) - upwind_y * radius;
status = SEGMENT;
/* No break; */
case SEGMENT: //线段模式
nav_route_xy(c1.x, c1.y, c2.x, c2.y);
if (nav_approaching_xy(c2.x, c2.y, c1.x, c1.y, CARROT)) {
c.x = c2.x + grid*upwind_x;
c.y = c2.y + grid*upwind_y;
sign = -sign;
status = UTURN;
nav_init_stage();
}
break;
default:
break;
}
NavVerticalAutoThrottleMode(0.); /* No pitch */
NavVerticalAltitudeMode(WaypointAlt(center), 0.); /* No preclimb */
return TRUE;
}
bool_t SkidLanding(void)
{
switch(CLandingStatus)
{
case CircleDown:
NavVerticalAutoThrottleMode(0); /* No pitch */
if(NavCircleCount() < .1)
{
NavVerticalAltitudeMode(LandAppAlt, 0);
}
else
NavVerticalAltitudeMode(waypoints[AFWaypoint].a, 0);
nav_circle_XY(LandCircle.x, LandCircle.y, LandRadius);
if(estimator_z < waypoints[AFWaypoint].a + 5)
{
CLandingStatus = LandingWait;
nav_init_stage();
}
break;
case LandingWait:
NavVerticalAutoThrottleMode(0); /* No pitch */
NavVerticalAltitudeMode(waypoints[AFWaypoint].a, 0);
nav_circle_XY(LandCircle.x, LandCircle.y, LandRadius);
if(NavCircleCount() > 0.5 && NavQdrCloseTo(DegOfRad(ApproachQDR)))
{
CLandingStatus = Approach;
nav_init_stage();
}
break;
case Approach:
kill_throttle = 1;
NavVerticalAutoThrottleMode(0); /* No pitch */
NavVerticalAltitudeMode(waypoints[AFWaypoint].a, 0);
nav_circle_XY(LandCircle.x, LandCircle.y, LandRadius);
if(NavQdrCloseTo(DegOfRad(LandCircleQDR)))
{
CLandingStatus = Final;
nav_init_stage();
}
break;
case Final:
kill_throttle = 1;
NavVerticalAutoThrottleMode(0);
NavVerticalAltitudeMode(waypoints[TDWaypoint].a+FinalLandAltitude, 0);
nav_route_xy(waypoints[AFWaypoint].x,waypoints[AFWaypoint].y,waypoints[TDWaypoint].x,waypoints[TDWaypoint].y);
if(stage_time >= Landing_FinalStageTime*FinalLandCount)
{
FinalLandAltitude = FinalLandAltitude/2;
FinalLandCount++;
}
break;
default:
break;
}
return TRUE;
}
bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume)
{
if (chemo_sensor) {
last_plume_was_here();
waypoints[plume].x = stateGetPositionEnu_f()->x;
waypoints[plume].y = stateGetPositionEnu_f()->y;
// DownlinkSendWp(plume);
}
struct FloatVect2 *wind = stateGetHorizontalWindspeed_f();
float wind_dir = atan2(wind->x, wind->y) + M_PI;
/** Not null even if wind_east=wind_north=0 */
float upwind_x = cos(wind_dir);
float upwind_y = sin(wind_dir);
switch (status) {
case UTURN:
NavCircleWaypoint(c, DEFAULT_CIRCLE_RADIUS * sign);
if (NavQdrCloseTo(DegOfRad(M_PI_2 - wind_dir))) {
float crosswind_x = - upwind_y;
float crosswind_y = upwind_x;
waypoints[c1].x = waypoints[c].x + DEFAULT_CIRCLE_RADIUS * upwind_x;
waypoints[c1].y = waypoints[c].y + DEFAULT_CIRCLE_RADIUS * upwind_y;
float width = Max(2 * ScalarProduct(upwind_x, upwind_y, stateGetPositionEnu_f()->x - last_plume.x,
stateGetPositionEnu_f()->y - last_plume.y), DEFAULT_CIRCLE_RADIUS);
waypoints[c2].x = waypoints[c1].x - width * crosswind_x * sign;
waypoints[c2].y = waypoints[c1].y - width * crosswind_y * sign;
// DownlinkSendWp(c1);
// DownlinkSendWp(c2);
status = CROSSWIND;
nav_init_stage();
}
break;
case CROSSWIND:
NavSegment(c1, c2);
if (NavApproaching(c2, CARROT)) {
waypoints[c].x = waypoints[c2].x + DEFAULT_CIRCLE_RADIUS * upwind_x;
waypoints[c].y = waypoints[c2].y + DEFAULT_CIRCLE_RADIUS * upwind_y;
// DownlinkSendWp(c);
sign = -sign;
status = UTURN;
nav_init_stage();
}
if (chemo_sensor) {
waypoints[c].x = stateGetPositionEnu_f()->x + DEFAULT_CIRCLE_RADIUS * upwind_x;
waypoints[c].y = stateGetPositionEnu_f()->y + DEFAULT_CIRCLE_RADIUS * upwind_y;
// DownlinkSendWp(c);
sign = -sign;
status = UTURN;
nav_init_stage();
}
break;
}
chemo_sensor = 0;
return true;
}
bool_t VerticalRaster(uint8_t l1, uint8_t l2, float radius, float AltSweep) {
radius = fabs(radius);
float alt = waypoints[l1].a;
waypoints[l2].a = alt;
float l2_l1_x = waypoints[l1].x - waypoints[l2].x;
float l2_l1_y = waypoints[l1].y - waypoints[l2].y;
float d = sqrt(l2_l1_x*l2_l1_x+l2_l1_y*l2_l1_y);
/* Unit vector from l1 to l2 */
float u_x = l2_l1_x / d;
float u_y = l2_l1_y / d;
/* The half circle centers and the other leg */
struct point l2_c1 = { waypoints[l1].x + radius * u_y,
waypoints[l1].y + radius * -u_x,
alt };
struct point l2_c2 = { waypoints[l1].x + 1.732*radius * u_x,
waypoints[l1].y + 1.732*radius * u_y,
alt };
struct point l2_c3 = { waypoints[l1].x + radius * -u_y,
waypoints[l1].y + radius * u_x,
alt };
struct point l1_c1 = { waypoints[l2].x + radius * -u_y,
waypoints[l2].y + radius * u_x,
alt };
struct point l1_c2 = { waypoints[l2].x +1.732*radius * -u_x,
waypoints[l2].y + 1.732*radius * -u_y,
alt };
struct point l1_c3 = { waypoints[l2].x + radius * u_y,
waypoints[l2].y + radius * -u_x,
alt };
float qdr_out_2_1 = M_PI/3. - atan2(u_y, u_x);
float qdr_out_2_2 = -M_PI/3. - atan2(u_y, u_x);
float qdr_out_2_3 = M_PI - atan2(u_y, u_x);
/* Vertical target */
NavVerticalAutoThrottleMode(0); /* No pitch */
NavVerticalAltitudeMode(WaypointAlt(l1), 0.);
switch (line_status) {
case LR12: /* From wp l2 to wp l1 */
NavSegment(l2, l1);
if (NavApproachingFrom(l1, l2, CARROT)) {
line_status = LQC21;
waypoints[l1].a = waypoints[l1].a+AltSweep;
nav_init_stage();
}
break;
case LQC21:
nav_circle_XY(l2_c1.x, l2_c1.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_1)-10)) {
line_status = LTC2;
nav_init_stage();
}
break;
case LTC2:
nav_circle_XY(l2_c2.x, l2_c2.y, -radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_2)+10) && estimator_z >= (waypoints[l1].a-10)) {
line_status = LQC22;
nav_init_stage();
}
break;
case LQC22:
nav_circle_XY(l2_c3.x, l2_c3.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_3)-10)) {
line_status = LR21;
nav_init_stage();
}
break;
case LR21: /* From wp l1 to wp l2 */
NavSegment(l1, l2);
if (NavApproachingFrom(l2, l1, CARROT)) {
line_status = LQC12;
waypoints[l1].a = waypoints[l1].a+AltSweep;
nav_init_stage();
}
break;
case LQC12:
nav_circle_XY(l1_c1.x, l1_c1.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_1 + M_PI)-10)) {
line_status = LTC1;
nav_init_stage();
}
break;
case LTC1:
nav_circle_XY(l1_c2.x, l1_c2.y, -radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_2 + M_PI)+10) && estimator_z >= (waypoints[l1].a-5)) {
line_status = LQC11;
nav_init_stage();
}
break;
case LQC11:
nav_circle_XY(l1_c3.x, l1_c3.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_3 + M_PI)-10)) {
line_status = LR12;
nav_init_stage();
}
}
return TRUE; /* This pattern never ends */
}
bool_t PolygonSurvey(void)
{
struct Point2D C;
struct Point2D ToP;
struct Point2D FromP;
float ys;
static struct Point2D LastPoint;
int i;
bool_t SweepingBack = FALSE;
float XIntercept1 = 0;
float XIntercept2 = 0;
float DInt1 = 0;
float DInt2 = 0;
NavVerticalAutoThrottleMode(0); /* No pitch */
NavVerticalAltitudeMode(waypoints[SurveyEntryWP].a, 0.);
switch(CSurveyStatus)
{
case Entry:
//Rotate and translate circle point into real world
C.x = SurveyCircle.x;
C.y = SurveyCircle.y;
RotateAndTranslateToWorld(&C, 0, SmallestCorner.x, SmallestCorner.y);
RotateAndTranslateToWorld(&C, SurveyTheta, 0, 0);
//follow the circle
nav_circle_XY(C.x, C.y, SurveyRadius);
if(NavQdrCloseTo(SurveyCircleQdr) && NavCircleCount() > .1 && estimator_z > waypoints[SurveyEntryWP].a-10)
{
CSurveyStatus = Sweep;
nav_init_stage();
LINE_START_FUNCTION;
}
break;
case Sweep:
//Rotate and Translate Line points into real world
ToP.x = SurveyToWP.x;
ToP.y = SurveyToWP.y;
FromP.x = SurveyFromWP.x;
FromP.y = SurveyFromWP.y;
RotateAndTranslateToWorld(&ToP, 0, SmallestCorner.x, SmallestCorner.y);
RotateAndTranslateToWorld(&ToP, SurveyTheta, 0, 0);
RotateAndTranslateToWorld(&FromP, 0, SmallestCorner.x, SmallestCorner.y);
RotateAndTranslateToWorld(&FromP, SurveyTheta, 0, 0);
//follow the line
nav_route_xy(FromP.x,FromP.y,ToP.x,ToP.y);
if(nav_approaching_xy(ToP.x,ToP.y,FromP.x,FromP.y, 0))
{
LastPoint.x = SurveyToWP.x;
LastPoint.y = SurveyToWP.y;
if(LastPoint.y+dSweep >= MaxY || LastPoint.y+dSweep <= 0) //Your out of the Polygon so Sweep Back
{
dSweep = -dSweep;
ys = LastPoint.y+(dSweep/2);
if(dSweep >= 0)
SurveyCircleQdr = -DegOfRad(SurveyTheta);
else
SurveyCircleQdr = 180-DegOfRad(SurveyTheta);
SweepingBack = TRUE;
PolySurveySweepBackNum++;
}
else
{
//Find y value of the first sweep
ys = LastPoint.y+dSweep;
}
//Find the edges which intercet the sweep line first
for(i = 0; i < SurveySize; i++)
{
if(EdgeMinY[i] < ys && EdgeMaxY[i] >= ys)
{
XIntercept2 = XIntercept1;
XIntercept1 = EvaluateLineForX(ys, Edges[i]);
}
}
//Find point to come from and point to go to
DInt1 = XIntercept1 - LastPoint.x;
DInt2 = XIntercept2 - LastPoint.x;
if(DInt1 * DInt2 >= 0)
{
if(fabs(DInt2) <= fabs(DInt1))
{
SurveyToWP.x = XIntercept1;
SurveyToWP.y = ys;
SurveyFromWP.x = XIntercept2;
SurveyFromWP.y = ys;
}
else
{
SurveyToWP.x = XIntercept2;
SurveyToWP.y = ys;
SurveyFromWP.x = XIntercept1;
SurveyFromWP.y = ys;
}
}
else
{
if((SurveyToWP.x - SurveyFromWP.x) > 0 && DInt2 > 0)
{
SurveyToWP.x = XIntercept1;
SurveyToWP.y = ys;
SurveyFromWP.x = XIntercept2;
SurveyFromWP.y = ys;
}
else if((SurveyToWP.x - SurveyFromWP.x) < 0 && DInt2 < 0)
{
SurveyToWP.x = XIntercept1;
SurveyToWP.y = ys;
SurveyFromWP.x = XIntercept2;
SurveyFromWP.y = ys;
}
else
{
SurveyToWP.x = XIntercept2;
SurveyToWP.y = ys;
SurveyFromWP.x = XIntercept1;
SurveyFromWP.y = ys;
}
}
if(fabs(LastPoint.x-SurveyToWP.x) > fabs(SurveyFromWP.x-SurveyToWP.x))
SurveyCircle.x = LastPoint.x;
else
SurveyCircle.x = SurveyFromWP.x;
if(!SweepingBack)
SurveyCircle.y = LastPoint.y+(dSweep/2);
else
SurveyCircle.y = LastPoint.y;
//Find the direction to circle
if(ys > 0 && SurveyToWP.x > SurveyFromWP.x)
SurveyRadius = dSweep/2;
else if(ys < 0 && SurveyToWP.x < SurveyFromWP.x)
SurveyRadius = dSweep/2;
else
SurveyRadius = -dSweep/2;
//Go into circle state
CSurveyStatus = SweepCircle;
nav_init_stage();
LINE_STOP_FUNCTION;
PolySurveySweepNum++;
}
break;
case SweepCircle:
//Rotate and translate circle point into real world
C.x = SurveyCircle.x;
C.y = SurveyCircle.y;
RotateAndTranslateToWorld(&C, 0, SmallestCorner.x, SmallestCorner.y);
RotateAndTranslateToWorld(&C, SurveyTheta, 0, 0);
//follow the circle
nav_circle_XY(C.x, C.y, SurveyRadius);
if(NavQdrCloseTo(SurveyCircleQdr) && NavCircleCount() > 0)
{
CSurveyStatus = Sweep;
nav_init_stage();
LINE_START_FUNCTION;
}
break;
case Init:
return FALSE;
default:
return FALSE;
}
return TRUE;
}
void nav_oval(uint8_t p1, uint8_t p2, float radius) {
radius = - radius; /* Historical error ? */
float alt = waypoints[p1].a;
waypoints[p2].a = alt;
float p2_p1_x = waypoints[p1].x - waypoints[p2].x;
float p2_p1_y = waypoints[p1].y - waypoints[p2].y;
float d = sqrt(p2_p1_x*p2_p1_x+p2_p1_y*p2_p1_y);
/* Unit vector from p1 to p2 */
float u_x = p2_p1_x / d;
float u_y = p2_p1_y / d;
/* The half circle centers and the other leg */
struct point p1_center = { waypoints[p1].x + radius * -u_y,
waypoints[p1].y + radius * u_x,
alt };
struct point p1_out = { waypoints[p1].x + 2*radius * -u_y,
waypoints[p1].y + 2*radius * u_x,
alt };
struct point p2_in = { waypoints[p2].x + 2*radius * -u_y,
waypoints[p2].y + 2*radius * u_x,
alt };
struct point p2_center = { waypoints[p2].x + radius * -u_y,
waypoints[p2].y + radius * u_x,
alt };
float qdr_out_2 = M_PI - atan2(u_y, u_x);
float qdr_out_1 = qdr_out_2 + M_PI;
if (radius < 0) {
qdr_out_2 += M_PI;
qdr_out_1 += M_PI;
}
float qdr_anticipation = (radius > 0 ? -15 : 15);
switch (oval_status) {
case OC1 :
nav_circle_XY(p1_center.x,p1_center.y, -radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_1)-qdr_anticipation)) {
oval_status = OR12;
InitStage();
LINE_START_FUNCTION;
}
return;
case OR12:
nav_route_xy(p1_out.x, p1_out.y, p2_in.x, p2_in.y);
if (nav_approaching_xy(p2_in.x, p2_in.y, p1_out.x, p1_out.y, CARROT)) {
oval_status = OC2;
nav_oval_count++;
InitStage();
LINE_STOP_FUNCTION;
}
return;
case OC2 :
nav_circle_XY(p2_center.x, p2_center.y, -radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2)-qdr_anticipation)) {
oval_status = OR21;
InitStage();
LINE_START_FUNCTION;
}
return;
case OR21:
nav_route_xy(waypoints[p2].x, waypoints[p2].y, waypoints[p1].x, waypoints[p1].y);
if (nav_approaching_xy(waypoints[p1].x, waypoints[p1].y, waypoints[p2].x, waypoints[p2].y, CARROT)) {
oval_status = OC1;
InitStage();
LINE_STOP_FUNCTION;
}
return;
default: /* Should not occur !!! Doing nothing */
return;
}
}
/** Navigation along a figure 8. The cross center is defined by the waypoint
[target], the center of one of the circles is defined by [c1]. Altitude is
given by [target].
The navigation goes through 6 states: C1 (circle around [c1]), R1T, RT2
(route from circle 1 to circle 2 over [target]), C2 and R2T, RT1.
If necessary, the [c1] waypoint is moved in the direction of [target]
to be not far than [2*radius].
*/
void nav_eight(uint8_t target, uint8_t c1, float radius) {
float aradius = fabs(radius);
float alt = waypoints[target].a;
waypoints[c1].a = alt;
float target_c1_x = waypoints[c1].x - waypoints[target].x;
float target_c1_y = waypoints[c1].y - waypoints[target].y;
float d = sqrt(target_c1_x*target_c1_x+target_c1_y*target_c1_y);
d = Max(d, 1.); /* To prevent a division by zero */
/* Unit vector from target to c1 */
float u_x = target_c1_x / d;
float u_y = target_c1_y / d;
/* Move [c1] closer if needed */
if (d > 2 * aradius) {
d = 2*aradius;
waypoints[c1].x = waypoints[target].x + d*u_x;
waypoints[c1].y = waypoints[target].y + d*u_y;
}
/* The other center */
struct point c2 = {
waypoints[target].x - d*u_x,
waypoints[target].y - d*u_y,
alt };
struct point c1_in = {
waypoints[c1].x + radius * -u_y,
waypoints[c1].y + radius * u_x,
alt };
struct point c1_out = {
waypoints[c1].x - radius * -u_y,
waypoints[c1].y - radius * u_x,
alt };
struct point c2_in = {
c2.x + radius * -u_y,
c2.y + radius * u_x,
alt };
struct point c2_out = {
c2.x - radius * -u_y,
c2.y - radius * u_x,
alt };
float qdr_out = M_PI - atan2(u_y, u_x);
if (radius < 0)
qdr_out += M_PI;
switch (eight_status) {
case C1 :
NavCircleWaypoint(c1, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out)-10)) {
eight_status = R1T;
InitStage();
}
return;
case R1T:
nav_route_xy(c1_out.x, c1_out.y, c2_in.x, c2_in.y);
if (nav_approaching_xy(waypoints[target].x, waypoints[target].y, c1_out.x, c1_out.y, 0)) {
eight_status = RT2;
InitStage();
}
return;
case RT2:
nav_route_xy(c1_out.x, c1_out.y, c2_in.x, c2_in.y);
if (nav_approaching_xy(c2_in.x, c2_in.y, c1_out.x, c1_out.y, CARROT)) {
eight_status = C2;
InitStage();
}
return;
case C2 :
nav_circle_XY(c2.x, c2.y, -radius);
if (NavQdrCloseTo(DegOfRad(qdr_out)+10)) {
eight_status = R2T;
InitStage();
}
return;
case R2T:
nav_route_xy(c2_out.x, c2_out.y, c1_in.x, c1_in.y);
if (nav_approaching_xy(waypoints[target].x, waypoints[target].y, c2_out.x, c2_out.y, 0)) {
eight_status = RT1;
InitStage();
}
return;
case RT1:
nav_route_xy(c2_out.x, c2_out.y, c1_in.x, c1_in.y);
if (nav_approaching_xy(c1_in.x, c1_in.y, c2_out.x, c2_out.y, CARROT)) {
eight_status = C1;
InitStage();
}
return;
default:/* Should not occur !!! Doing nothing */
return;
} /* switch */
}
bool_t ZHAWSkidLanding(void)
{
switch(CLandingStatus)
{
case CircleDown: // Kreisen bis die Höhe, die im AFWaypoint vorgegeben ist erreicht ist (um den Wegpunkt der in InitializeSkidLanding berechnet wurde)
if(NavCircleCount() < .1)
{
NavVerticalAltitudeMode(LandAppAlt, 0);
}
else
NavVerticalAltitudeMode(waypoints[AFWaypoint].a, 0);
nav_circle_XY(LandCircle.x, LandCircle.y, LandRadius);
if(estimator_z < waypoints[AFWaypoint].a + 5) //Drohne hat die Höhe des AF_Waypoints erreicht.
{
CLandingStatus = LandingWait;
nav_init_stage();
}
msgLandStatus=1;
break;
case LandingWait: // Höhe halten und weiter um CircleCircle kreisen
NavVerticalAltitudeMode(waypoints[AFWaypoint].a, 0);
nav_circle_XY(LandCircle.x, LandCircle.y, LandRadius);
if(NavCircleCount() > 0.5 && NavQdrCloseTo(DegOfRad(ApproachQDR))) // Drohne nähert sich dem Winkel (bzw. Kurs) auf dem Sie fliegen muss um zu landen (45° fehlen)
{
CLandingStatus = ApproachHeading;
nav_init_stage();
}
msgLandStatus=2;
break;
case ApproachHeading: //Drohne fliegt den Kreis fertig, bis sie auf Landekurs ist
NavVerticalAltitudeMode(waypoints[AFWaypoint].a, 0); //Sollhöhe geben
nav_circle_XY(LandCircle.x, LandCircle.y, LandRadius);
if(NavQdrCloseTo(DegOfRad(LandCircleQDR))) //Drohne ist auf Landekurs und auf Höhe AF
{
CLandingStatus = DeclineToSonar;
nav_init_stage();
set_land_params();
}
msgLandStatus=3;
break;
case DeclineToSonar: // Sinken, bis Sonar sich meldet
NavVerticalAltitudeMode(waypoints[TDWaypoint].a+Landing_SonarHeight, 0);
nav_route_xy(waypoints[AFWaypoint].x,waypoints[AFWaypoint].y,waypoints[TDWaypoint].x,waypoints[TDWaypoint].y);
if(sonar_dist < (Landing_SonarHeight + 0.5))
{
CLandingStatus = Approach;
estimator_z_mode = SONAR_HEIGHT;
nav_init_stage();
AboveCheckPoint = CalculateCheckPoint();
}
msgLandStatus=4;
break;
case Approach: //Sonar Höhe (ca. 6m) halten, bis zum FlarePoint, wo die Landung begonnen werden kann.
NavVerticalAltitudeMode(Landing_SonarHeight, 0); //Sonarhöhe ÜBER BODEN!!!!
nav_route_xy(waypoints[AFWaypoint].x,waypoints[AFWaypoint].y,waypoints[TDWaypoint].x,waypoints[TDWaypoint].y);
//find ouf if the UAV has crossed the CheckPoint first time
if (UAVcrossedCheckPoint() == 1)
{
CLandingStatus = Flare;
nav_init_stage();
// SonarHeight = SonarHeight * Landing_FlareFactor;
kill_throttle = 1;
set_fixed_pitch_pitch(0.2);
}
msgLandStatus=5;
break;
case Flare:
// NavVerticalAltitudeMode(Landing_SonarHeight, 0);
nav_route_xy(waypoints[AFWaypoint].x,waypoints[AFWaypoint].y,waypoints[TDWaypoint].x,waypoints[TDWaypoint].y);
if (estimator_z < 0.6)
{
float flare_pitch = 1/estimator_z*Landing_FLARE_FACTOR;
set_fixed_pitch_pitch(flare_pitch);
}
msgLandStatus=6;
break;
case Stall:
kill_throttle = 1;
NavVerticalAltitudeMode(Landing_SonarHeight, 0);
nav_route_xy(waypoints[AFWaypoint].x,waypoints[AFWaypoint].y,waypoints[TDWaypoint].x,waypoints[TDWaypoint].y);
msgLandStatus=7;
break;
default:
break;
}
RunOnceEvery(5, DOWNLINK_SEND_ZHAWLAND(DefaultChannel, &msgLandStatus, &estimator_z_mode, &AboveCheckPoint, &CurrentAboveCheckPoint, &SonarHeight, &estimator_z_sonar, &estimator_z));
//Failsave Height
if ((estimator_z < Landing_SaveHeight) && (CLandingStatus != Flare) && (CLandingStatus != Stall))
{
estimator_z_mode=GPS_HEIGHT;
set_max_pitch(99);
set_min_pitch(99);
set_max_roll(99);
return FALSE;
}
//Failsave CheckPoint
if ((CLandingStatus == DeclineToSonar) && ( UAVcrossedCheckPoint() == 1 ))
{
estimator_z_mode=GPS_HEIGHT;
set_max_pitch(99);
set_min_pitch(99);
set_max_roll(99);
return FALSE;
}
return TRUE;
}
