Exemple #1
0
void
Mission::on_active()
{
	check_mission_valid();

	/* check if anything has changed */
	bool onboard_updated = false;
	orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
	if (onboard_updated) {
		update_onboard_mission();
	}

	bool offboard_updated = false;
	orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
	if (offboard_updated) {
		update_offboard_mission();
	}

	/* reset the current offboard mission if needed */
	if (need_to_reset_mission(true)) {
		reset_offboard_mission(_offboard_mission);
		update_offboard_mission();
		offboard_updated = true;
	}

	/* reset mission items if needed */
	if (onboard_updated || offboard_updated) {
		set_mission_items();
	}

	/* lets check if we reached the current mission item */
	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
		set_mission_item_reached();
		if (_mission_item.autocontinue) {
			/* switch to next waypoint if 'autocontinue' flag set */
			advance_mission();
			set_mission_items();
		}

	} else if (_mission_type != MISSION_TYPE_NONE && _param_altmode.get() == MISSION_ALTMODE_FOH) {
		altitude_sp_foh_update();

	} else {
		/* if waypoint position reached allow loiter on the setpoint */
		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
			_navigator->set_can_loiter_at_sp(true);
		}
	}

	/* see if we need to update the current yaw heading */
	if ((_param_yawmode.get() != MISSION_YAWMODE_NONE
			&& _param_yawmode.get() < MISSION_YAWMODE_MAX
			&& _mission_type != MISSION_TYPE_NONE)
			|| _navigator->get_vstatus()->is_vtol) {
		heading_sp_update();
	}

}
Exemple #2
0
void
Mission::on_inactive()
{
	if (_inited) {
		/* check if missions have changed so that feedback to ground station is given */
		bool onboard_updated = false;
		orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
		if (onboard_updated) {
			update_onboard_mission();
		}

		bool offboard_updated = false;
		orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
		if (offboard_updated) {
			update_offboard_mission();
		}

		/* reset the current offboard mission if needed */
		if (need_to_reset_mission(false)) {
			reset_offboard_mission(_offboard_mission);
			update_offboard_mission();
		}

	} else {

		/* load missions from storage */
		mission_s mission_state;

		dm_lock(DM_KEY_MISSION_STATE);

		/* read current state */
		int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

		dm_unlock(DM_KEY_MISSION_STATE);

		if (read_res == sizeof(mission_s)) {
			_offboard_mission.dataman_id = mission_state.dataman_id;
			_offboard_mission.count = mission_state.count;
			_current_offboard_mission_index = mission_state.current_seq;
		}

		_inited = true;
	}

	check_mission_valid();

	/* require takeoff after non-loiter or landing */
	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
		_need_takeoff = true;
		/* Reset work item type to default if auto take-off has been paused or aborted,
		   and we landed in manual mode. */
		if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) {
			_work_item_type = WORK_ITEM_TYPE_DEFAULT;		
		}
	}
}
Exemple #3
0
void
Mission::on_inactive()
{
	/* We need to reset the mission cruising speed, otherwise the
	 * mission velocity which might have been set using mission items
	 * is used for missions such as RTL. */
	_navigator->set_cruising_speed();

	/* Without home a mission can't be valid yet anyway, let's wait. */
	if (!_navigator->home_position_valid()) {
		return;
	}

	if (_inited) {
		/* check if missions have changed so that feedback to ground station is given */
		bool onboard_updated = false;
		orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);

		if (onboard_updated) {
			update_onboard_mission();
		}

		bool offboard_updated = false;
		orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);

		if (offboard_updated) {
			update_offboard_mission();
		}

		/* reset the current offboard mission if needed */
		if (need_to_reset_mission(false)) {
			reset_offboard_mission(_offboard_mission);
			update_offboard_mission();
		}

	} else {

		/* load missions from storage */
		mission_s mission_state;

		dm_lock(DM_KEY_MISSION_STATE);

		/* read current state */
		int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

		dm_unlock(DM_KEY_MISSION_STATE);

		if (read_res == sizeof(mission_s)) {
			_offboard_mission.dataman_id = mission_state.dataman_id;
			_offboard_mission.count = mission_state.count;
			_current_offboard_mission_index = mission_state.current_seq;
		}

		/* On init let's check the mission, maybe there is already one available. */
		check_mission_valid(false);

		_inited = true;
	}

	/* require takeoff after non-loiter or landing */
	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
		_need_takeoff = true;

		/* Reset work item type to default if auto take-off has been paused or aborted,
		   and we landed in manual mode. */
		if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) {
			_work_item_type = WORK_ITEM_TYPE_DEFAULT;
		}
	}
}
Exemple #4
0
void
Mission::on_active()
{
	check_mission_valid(false);

	/* check if anything has changed */
	bool onboard_updated = false;
	orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);

	if (onboard_updated) {
		update_onboard_mission();
	}

	bool offboard_updated = false;
	orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);

	if (offboard_updated) {
		update_offboard_mission();
	}

	/* reset the current offboard mission if needed */
	if (need_to_reset_mission(true)) {
		reset_offboard_mission(_offboard_mission);
		update_offboard_mission();
		offboard_updated = true;
	}

	/* reset mission items if needed */
	if (onboard_updated || offboard_updated) {
		set_mission_items();
	}

	/* lets check if we reached the current mission item */
	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {

		/* If we just completed a takeoff which was inserted before the right waypoint,
		   there is no need to report that we reached it because we didn't. */
		if (_work_item_type != WORK_ITEM_TYPE_TAKEOFF) {
			set_mission_item_reached();
		}

		if (_mission_item.autocontinue) {
			/* switch to next waypoint if 'autocontinue' flag set */
			advance_mission();
			set_mission_items();
		}

	} else if (_mission_type != MISSION_TYPE_NONE && _param_altmode.get() == MISSION_ALTMODE_FOH) {
		altitude_sp_foh_update();

	} else {
		/* if waypoint position reached allow loiter on the setpoint */
		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
			_navigator->set_can_loiter_at_sp(true);
		}
	}

	/* see if we need to update the current yaw heading */
	if ((_param_yawmode.get() != MISSION_YAWMODE_NONE
	     && _param_yawmode.get() < MISSION_YAWMODE_MAX
	     && _mission_type != MISSION_TYPE_NONE)
	    || _navigator->get_vstatus()->is_vtol) {

		heading_sp_update();
	}

	/* check if landing needs to be aborted */
	if ((_mission_item.nav_cmd == NAV_CMD_LAND)
	    && (_navigator->abort_landing())) {

		do_abort_landing();
	}

}