/** \fn void navigation_task( void )
* \brief Compute desired_course
*/
static void navigation_task( void ) {
#if defined FAILSAFE_DELAY_WITHOUT_GPS
/** This section is used for the failsafe of GPS */
static uint8_t last_pprz_mode;
/** If aircraft is launched and is in autonomus mode, go into
PPRZ_MODE_GPS_OUT_OF_ORDER mode (Failsafe) if we lost the GPS */
if (launch) {
if (GpsTimeoutError) {
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) {
last_pprz_mode = pprz_mode;
pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel);
gps_lost = TRUE;
}
} else /* GPS is ok */ if (gps_lost) {
/** If aircraft was in failsafe mode, come back in previous mode */
pprz_mode = last_pprz_mode;
gps_lost = FALSE;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel);
}
}
#endif /* GPS && FAILSAFE_DELAY_WITHOUT_GPS */
common_nav_periodic_task_4Hz();
if (pprz_mode == PPRZ_MODE_HOME)
nav_home();
else if (pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER)
nav_without_gps();
else
nav_periodic_task();
#ifdef TCAS
CallTCAS();
#endif
#ifndef PERIOD_NAVIGATION_DefaultChannel_0 // If not sent periodically (in default 0 mode)
SEND_NAVIGATION(DefaultChannel);
#endif
SEND_CAM(DefaultChannel);
/* The nav task computes only nav_altitude. However, we are interested
by desired_altitude (= nav_alt+alt_shift) in any case.
So we always run the altitude control loop */
if (v_ctl_mode == V_CTL_MODE_AUTO_ALT)
v_ctl_altitude_loop();
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME
|| pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER) {
#ifdef H_CTL_RATE_LOOP
/* Be sure to be in attitude mode, not roll */
h_ctl_auto1_rate = FALSE;
#endif
if (lateral_mode >=LATERAL_MODE_COURSE)
h_ctl_course_loop(); /* aka compute nav_desired_roll */
if (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB)
v_ctl_climb_loop();
if (v_ctl_mode == V_CTL_MODE_AUTO_THROTTLE)
v_ctl_throttle_setpoint = nav_throttle_setpoint;
#if defined V_CTL_THROTTLE_IDLE
Bound(v_ctl_throttle_setpoint, TRIM_PPRZ(V_CTL_THROTTLE_IDLE*MAX_PPRZ), MAX_PPRZ);
#endif
#ifdef V_CTL_POWER_CTL_BAT_NOMINAL
if (vsupply > 0.) {
v_ctl_throttle_setpoint *= 10. * V_CTL_POWER_CTL_BAT_NOMINAL / (float)vsupply;
v_ctl_throttle_setpoint = TRIM_UPPRZ(v_ctl_throttle_setpoint);
}
#endif
h_ctl_pitch_setpoint = nav_pitch;
Bound(h_ctl_pitch_setpoint, H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT);
if (kill_throttle || (!estimator_flight_time && !launch))
v_ctl_throttle_setpoint = 0;
}
energy += ((float)current) / 3600.0f * 0.25f; // mAh = mA * dt (4Hz -> hours)
}
/**
* Compute desired_course
*/
void navigation_task( void ) {
#if defined FAILSAFE_DELAY_WITHOUT_GPS
/** This section is used for the failsafe of GPS */
static uint8_t last_pprz_mode;
/** If aircraft is launched and is in autonomus mode, go into
PPRZ_MODE_GPS_OUT_OF_ORDER mode (Failsafe) if we lost the GPS */
if (launch) {
if (GpsTimeoutError) {
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) {
last_pprz_mode = pprz_mode;
pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice);
gps_lost = TRUE;
}
} else if (gps_lost) { /* GPS is ok */
/** If aircraft was in failsafe mode, come back in previous mode */
pprz_mode = last_pprz_mode;
gps_lost = FALSE;
PERIODIC_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice);
}
}
#endif /* GPS && FAILSAFE_DELAY_WITHOUT_GPS */
common_nav_periodic_task_4Hz();
if (pprz_mode == PPRZ_MODE_HOME)
nav_home();
else if (pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER)
nav_without_gps();
else
nav_periodic_task();
#ifdef TCAS
CallTCAS();
#endif
#ifndef PERIOD_NAVIGATION_0 // If not sent periodically (in default 0 mode)
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
#endif
SEND_CAM(DefaultChannel, DefaultDevice);
/* The nav task computes only nav_altitude. However, we are interested
by desired_altitude (= nav_alt+alt_shift) in any case.
So we always run the altitude control loop */
if (v_ctl_mode == V_CTL_MODE_AUTO_ALT)
v_ctl_altitude_loop();
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME
|| pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER) {
#ifdef H_CTL_RATE_LOOP
/* Be sure to be in attitude mode, not roll */
h_ctl_auto1_rate = FALSE;
#endif
if (lateral_mode >=LATERAL_MODE_COURSE)
h_ctl_course_loop(); /* aka compute nav_desired_roll */
// climb_loop(); //4Hz
}
energy += ((float)current) / 3600.0f * 0.25f; // mAh = mA * dt (4Hz -> hours)
}
