bool MissionFeasibilityChecker::checkMissionFeasible(int mavlink_fd, bool isRotarywing,
dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
float home_alt, bool home_valid, double curr_lat, double curr_lon, float max_waypoint_distance, bool &warning_issued,
float default_acceptance_rad,
bool condition_landed)
{
bool failed = false;
bool warned = false;
/* Init if not done yet */
init();
_mavlink_fd = mavlink_fd;
// first check if we have a valid position
if (!home_valid /* can later use global / local pos for finer granularity */) {
failed = true;
warned = true;
mavlink_log_info(_mavlink_fd, "Not yet ready for mission, no position lock.");
} else {
failed = failed || !check_dist_1wp(dm_current, nMissionItems, curr_lat, curr_lon, max_waypoint_distance, warning_issued);
}
// check if all mission item commands are supported
failed = failed || !checkMissionItemValidity(dm_current, nMissionItems, condition_landed);
failed = failed || !checkGeofence(dm_current, nMissionItems, geofence);
failed = failed || !checkHomePositionAltitude(dm_current, nMissionItems, home_alt, home_valid, warned);
if (isRotarywing) {
failed = failed || !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt, home_valid, default_acceptance_rad);
} else {
failed = failed || !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt, home_valid);
}
return !failed;
}
void
Mission::set_mission_items()
{
/* make sure param is up to date */
updateParams();
/* reset the altitude foh logic, if altitude foh is enabled (param) a new foh element starts now */
altitude_sp_foh_reset();
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* set previous position setpoint to current */
set_previous_pos_setpoint();
/* Copy previous mission item altitude (can be extended to a copy of the full mission item if needed) */
if (pos_sp_triplet->previous.valid) {
_mission_item_previous_alt = get_absolute_altitude_for_item(_mission_item);
}
/* get home distance state */
bool home_dist_ok = check_dist_1wp();
/* the home dist check provides user feedback, so we initialize it to this */
bool user_feedback_done = !home_dist_ok;
/* try setting onboard mission item */
if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
}
_mission_type = MISSION_TYPE_ONBOARD;
/* try setting offboard mission item */
} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
} else {
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
} else if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
*/
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
}
_mission_type = MISSION_TYPE_NONE;
/* set loiter mission item */
set_loiter_item(&_mission_item);
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
/* reuse setpoint for LOITER only if it's not IDLE */
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
set_mission_finished();
_navigator->set_position_setpoint_triplet_updated();
return;
}
if (pos_sp_triplet->current.valid) {
_on_arrival_yaw = _mission_item.yaw;
}
/* do takeoff on first waypoint for rotary wing vehicles */
if (_navigator->get_vstatus()->is_rotary_wing) {
/* force takeoff if landed (additional protection) */
if (!_takeoff && _navigator->get_vstatus()->condition_landed) {
_need_takeoff = true;
}
/* new current mission item set, check if we need takeoff */
if (_need_takeoff && (
_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) {
_takeoff = true;
_need_takeoff = false;
}
}
if (_takeoff) {
/* do takeoff before going to setpoint */
/* set mission item as next position setpoint */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->next);
/* calculate takeoff altitude */
float takeoff_alt = get_absolute_altitude_for_item(_mission_item);
/* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
if (_navigator->get_vstatus()->condition_landed) {
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
} else {
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
}
/* check if we already above takeoff altitude */
if (_navigator->get_global_position()->alt < takeoff_alt) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.yaw = NAN;
_mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
return;
} else {
/* skip takeoff */
_takeoff = false;
}
}
/* set current position setpoint from mission item */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
}
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
if (_mission_type == MISSION_TYPE_OFFBOARD) {
set_current_offboard_mission_item();
}
// TODO: report onboard mission item somehow
if (_mission_item.autocontinue && _mission_item.time_inside <= 0.001f) {
/* try to read next mission item */
struct mission_item_s mission_item_next;
if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
} else {
/* next mission item is not available */
pos_sp_triplet->next.valid = false;
}
} else {
/* vehicle will be paused on current waypoint, don't set next item */
pos_sp_triplet->next.valid = false;
}
/* Save the distance between the current sp and the previous one */
if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) {
_distance_current_previous = get_distance_to_next_waypoint(pos_sp_triplet->current.lat,
pos_sp_triplet->current.lon,
pos_sp_triplet->previous.lat,
pos_sp_triplet->previous.lon);
}
_navigator->set_position_setpoint_triplet_updated();
}
