/*
set the flight stage
*/
void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
{
//if just now entering land flight stage
if (fs == AP_SpdHgtControl::FLIGHT_LAND_APPROACH &&
flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text_P(SEVERITY_HIGH, PSTR("Disable fence failed (autodisable)"));
} else {
gcs_send_text_P(SEVERITY_HIGH, PSTR("Fence disabled (autodisable)"));
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text_P(SEVERITY_HIGH, PSTR("Disable fence floor failed (autodisable)"));
} else {
gcs_send_text_P(SEVERITY_HIGH, PSTR("Fence floor disabled (auto disable)"));
}
}
#endif
}
flight_stage = fs;
}
/*
set the flight stage
*/
void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
{
if (fs == flight_stage) {
return;
}
switch (fs) {
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude());
auto_state.land_in_progress = true;
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
}
}
#endif
break;
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
auto_state.land_in_progress = false;
break;
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
auto_state.land_in_progress = true;
break;
case AP_SpdHgtControl::FLIGHT_NORMAL:
case AP_SpdHgtControl::FLIGHT_VTOL:
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
auto_state.land_in_progress = false;
break;
}
flight_stage = fs;
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
}
//return true on success, false on failure
bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r)
{
if (geofence_state == nullptr && enable) {
geofence_load();
}
if (geofence_state == nullptr) {
return false;
}
geofence_state->is_enabled = enable;
if (enable == true) {
//turn the floor back on if it had been off
geofence_set_floor_enabled(true);
}
geofence_state->enable_reason = r;
return true;
}
void Plane::do_land(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd.content.location);
// configure abort altitude and pitch
// if NAV_LAND has an abort altitude then use it, else use last takeoff, else use 50m
if (cmd.p1 > 0) {
auto_state.takeoff_altitude_rel_cm = (int16_t)cmd.p1 * 100;
} else if (auto_state.takeoff_altitude_rel_cm <= 0) {
auto_state.takeoff_altitude_rel_cm = 3000;
}
if (auto_state.takeoff_pitch_cd <= 0) {
// If no takeoff command has ever been used, default to a conservative 10deg
auto_state.takeoff_pitch_cd = 1000;
}
// zero rangefinder state, start to accumulate good samples now
memset(&rangefinder_state, 0, sizeof(rangefinder_state));
landing.do_land(cmd, relative_altitude);
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
// if we were in an abort we need to explicitly move out of the abort state, as it's sticky
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
}
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
}
}
#endif
}
/*
set the flight stage
*/
void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
{
if (fs == flight_stage) {
return;
}
switch (fs) {
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude());
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
}
}
#endif
break;
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted via throttle. Climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
break;
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
case AP_SpdHgtControl::FLIGHT_NORMAL:
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
break;
}
flight_stage = fs;
}
bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
{
// log when new commands start
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(cmd);
}
// special handling for nav vs non-nav commands
if (AP_Mission::is_nav_cmd(cmd)) {
// set land_complete to false to stop us zeroing the throttle
auto_state.land_complete = false;
auto_state.land_sink_rate = 0;
// set takeoff_complete to true so we don't add extra evevator
// except in a takeoff
auto_state.takeoff_complete = true;
// if a go around had been commanded, clear it now.
auto_state.commanded_go_around = false;
gcs_send_text_fmt(PSTR("Executing nav command ID #%i"),cmd.id);
} else {
gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);
}
switch(cmd.id) {
case MAV_CMD_NAV_TAKEOFF:
do_takeoff(cmd);
break;
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp(cmd);
break;
case MAV_CMD_NAV_LAND: // LAND to Waypoint
do_land(cmd);
break;
case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
do_loiter_unlimited(cmd);
break;
case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
do_loiter_turns(cmd);
break;
case MAV_CMD_NAV_LOITER_TIME:
do_loiter_time(cmd);
break;
case MAV_CMD_NAV_LOITER_TO_ALT:
do_loiter_to_alt(cmd);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
set_mode(RTL);
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
do_continue_and_change_alt(cmd);
break;
// Conditional commands
case MAV_CMD_CONDITION_DELAY:
do_wait_delay(cmd);
break;
case MAV_CMD_CONDITION_DISTANCE:
do_within_distance(cmd);
break;
case MAV_CMD_CONDITION_CHANGE_ALT:
do_change_alt(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;
case MAV_CMD_DO_INVERTED_FLIGHT:
if (cmd.p1 == 0 || cmd.p1 == 1) {
auto_state.inverted_flight = (bool)cmd.p1;
gcs_send_text_fmt(PSTR("Set inverted %u"), cmd.p1);
}
break;
case MAV_CMD_DO_LAND_START:
//ensure go around hasn't been set
auto_state.commanded_go_around = false;
break;
case MAV_CMD_DO_FENCE_ENABLE:
#if GEOFENCE_ENABLED == ENABLED
if (cmd.p1 != 2) {
if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
gcs_send_text_fmt(PSTR("Unable to set fence enabled state to %u"), cmd.p1);
} else {
gcs_send_text_fmt(PSTR("Set fence enabled state to %u"), cmd.p1);
}
} else { //commanding to only disable floor
if (! geofence_set_floor_enabled(false)) {
gcs_send_text_fmt(PSTR("Unabled to disable fence floor.\n"));
} else {
gcs_send_text_fmt(PSTR("Fence floor disabled.\n"));
}
}
#endif
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 Send Digicam Control message with the camera library
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 {
// set mount's target location
camera_mount.set_roi_target(cmd.content.location);
}
break;
#endif
}
return true;
}
bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
{
// default to non-VTOL loiter
auto_state.vtol_loiter = false;
// log when new commands start
if (should_log(MASK_LOG_CMD)) {
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
}
// special handling for nav vs non-nav commands
if (AP_Mission::is_nav_cmd(cmd)) {
// set land_complete to false to stop us zeroing the throttle
auto_state.sink_rate = 0;
// set takeoff_complete to true so we don't add extra elevator
// except in a takeoff
auto_state.takeoff_complete = true;
// start non-idle
auto_state.idle_mode = false;
nav_controller->set_data_is_stale();
// reset loiter start time. New command is a new loiter
loiter.start_time_ms = 0;
AP_Mission::Mission_Command next_nav_cmd;
const uint16_t next_index = mission.get_current_nav_index() + 1;
auto_state.wp_is_land_approach = mission.get_next_nav_cmd(next_index, next_nav_cmd) && (next_nav_cmd.id == MAV_CMD_NAV_LAND);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing nav command ID #%i",cmd.id);
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
}
switch(cmd.id) {
case MAV_CMD_NAV_TAKEOFF:
crash_state.is_crashed = false;
do_takeoff(cmd);
break;
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp(cmd);
break;
case MAV_CMD_NAV_LAND: // LAND to Waypoint
do_land(cmd);
break;
case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
do_loiter_unlimited(cmd);
break;
case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
do_loiter_turns(cmd);
break;
case MAV_CMD_NAV_LOITER_TIME:
do_loiter_time(cmd);
break;
case MAV_CMD_NAV_LOITER_TO_ALT:
do_loiter_to_alt(cmd);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
set_mode(RTL, MODE_REASON_UNKNOWN);
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
do_continue_and_change_alt(cmd);
break;
case MAV_CMD_NAV_ALTITUDE_WAIT:
do_altitude_wait(cmd);
break;
case MAV_CMD_NAV_VTOL_TAKEOFF:
crash_state.is_crashed = false;
return quadplane.do_vtol_takeoff(cmd);
case MAV_CMD_NAV_VTOL_LAND:
crash_state.is_crashed = false;
return quadplane.do_vtol_land(cmd);
// 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;
case MAV_CMD_DO_INVERTED_FLIGHT:
if (cmd.p1 == 0 || cmd.p1 == 1) {
auto_state.inverted_flight = (bool)cmd.p1;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set inverted %u", cmd.p1);
}
break;
case MAV_CMD_DO_LAND_START:
break;
case MAV_CMD_DO_FENCE_ENABLE:
#if GEOFENCE_ENABLED == ENABLED
if (cmd.p1 != 2) {
if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to set fence. Enabled state to %u", cmd.p1);
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set fence enabled state to %u", cmd.p1);
}
} else { //commanding to only disable floor
if (! geofence_set_floor_enabled(false)) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to disable fence floor");
} else {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Fence floor disabled");
}
}
#endif
break;
case MAV_CMD_DO_AUTOTUNE_ENABLE:
autotune_enable(cmd.p1);
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 Send Digicam Control message with the camera library
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 PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
do_parachute(cmd);
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 {
// set mount's target location
camera_mount.set_roi_target(cmd.content.location);
}
break;
case MAV_CMD_DO_MOUNT_CONTROL: // 205
// point the camera to a specified angle
camera_mount.set_angle_targets(cmd.content.mount_control.roll,
cmd.content.mount_control.pitch,
cmd.content.mount_control.yaw);
break;
#endif
case MAV_CMD_DO_VTOL_TRANSITION:
plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)cmd.content.do_vtol_transition.target_state);
break;
case MAV_CMD_DO_ENGINE_CONTROL:
plane.g2.ice_control.engine_control(cmd.content.do_engine_control.start_control,
cmd.content.do_engine_control.cold_start,
cmd.content.do_engine_control.height_delay_cm*0.01f);
break;
}
return true;
}