// verify_command - this will be called repeatedly by ap_mission lib to ensure the active commands are progressing // should return true once the active navigation command completes successfully // called at 10hz or higher bool Copter::verify_command(const AP_Mission::Mission_Command& cmd) { switch(cmd.id) { // // navigation commands // case MAV_CMD_NAV_TAKEOFF: return verify_takeoff(); case MAV_CMD_NAV_WAYPOINT: return verify_nav_wp(cmd); case MAV_CMD_NAV_LAND: return verify_land(); case MAV_CMD_NAV_LOITER_UNLIM: return verify_loiter_unlimited(); case MAV_CMD_NAV_LOITER_TURNS: return verify_circle(cmd); case MAV_CMD_NAV_LOITER_TIME: return verify_loiter_time(); case MAV_CMD_NAV_RETURN_TO_LAUNCH: return verify_RTL(); case MAV_CMD_NAV_SPLINE_WAYPOINT: return verify_spline_wp(cmd); #if NAV_GUIDED == ENABLED case MAV_CMD_NAV_GUIDED_ENABLE: return verify_nav_guided_enable(cmd); #endif /// /// conditional commands /// case MAV_CMD_CONDITION_DELAY: return verify_wait_delay(); case MAV_CMD_CONDITION_DISTANCE: return verify_within_distance(); case MAV_CMD_CONDITION_CHANGE_ALT: return verify_change_alt(); case MAV_CMD_CONDITION_YAW: return verify_yaw(); case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully return true; default: // return true if we do not recognize the command so that we move on to the next command return true; } }
bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Returns true if command complete { switch(cmd.id) { case MAV_CMD_NAV_TAKEOFF: return verify_takeoff(); case MAV_CMD_NAV_LAND: return verify_land(); case MAV_CMD_NAV_WAYPOINT: return verify_nav_wp(cmd); case MAV_CMD_NAV_LOITER_UNLIM: return verify_loiter_unlim(); case MAV_CMD_NAV_LOITER_TURNS: return verify_loiter_turns(); case MAV_CMD_NAV_LOITER_TIME: return verify_loiter_time(); case MAV_CMD_NAV_LOITER_TO_ALT: return verify_loiter_to_alt(); case MAV_CMD_NAV_RETURN_TO_LAUNCH: return verify_RTL(); case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: return verify_continue_and_change_alt(); // Conditional commands case MAV_CMD_CONDITION_DELAY: return verify_wait_delay(); break; case MAV_CMD_CONDITION_DISTANCE: return verify_within_distance(); break; case MAV_CMD_CONDITION_CHANGE_ALT: return verify_change_alt(); break; // do commands (always return true) case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_CONTROL_VIDEO: case MAV_CMD_DO_DIGICAM_CONFIGURE: case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_NAV_ROI: case MAV_CMD_DO_MOUNT_CONFIGURE: case MAV_CMD_DO_MOUNT_CONTROL: case MAV_CMD_DO_INVERTED_FLIGHT: case MAV_CMD_DO_LAND_START: case MAV_CMD_DO_FENCE_ENABLE: return true; default: // error message if (AP_Mission::is_nav_cmd(cmd)) { gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd")); }else{ gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Invalid or no current Condition cmd")); } // return true so that we do not get stuck at this command return true; } }
bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Returns true if command complete { switch(cmd.id) { case MAV_CMD_NAV_TAKEOFF: return verify_takeoff(); case MAV_CMD_NAV_LAND: return verify_land(); case MAV_CMD_NAV_WAYPOINT: return verify_nav_wp(cmd); case MAV_CMD_NAV_LOITER_UNLIM: return verify_loiter_unlim(); case MAV_CMD_NAV_LOITER_TURNS: return verify_loiter_turns(); case MAV_CMD_NAV_LOITER_TIME: return verify_loiter_time(); case MAV_CMD_NAV_LOITER_TO_ALT: return verify_loiter_to_alt(); case MAV_CMD_NAV_RETURN_TO_LAUNCH: return verify_RTL(); case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: return verify_continue_and_change_alt(); case MAV_CMD_NAV_ALTITUDE_WAIT: return verify_altitude_wait(cmd); // Conditional commands case MAV_CMD_CONDITION_DELAY: return verify_wait_delay(); case MAV_CMD_CONDITION_DISTANCE: return verify_within_distance(); case MAV_CMD_CONDITION_CHANGE_ALT: return verify_change_alt(); #if PARACHUTE == ENABLED case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully return true; break; #endif // do commands (always return true) case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_CONTROL_VIDEO: case MAV_CMD_DO_DIGICAM_CONFIGURE: case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_NAV_ROI: case MAV_CMD_DO_MOUNT_CONFIGURE: case MAV_CMD_DO_INVERTED_FLIGHT: case MAV_CMD_DO_LAND_START: case MAV_CMD_DO_FENCE_ENABLE: case MAV_CMD_DO_AUTOTUNE_ENABLE: return true; default: // error message if (AP_Mission::is_nav_cmd(cmd)) { gcs_send_text(MAV_SEVERITY_WARNING,"Verify nav. Invalid or no current nav cmd"); }else{ gcs_send_text(MAV_SEVERITY_WARNING,"Verify conditon. Invalid or no current condition cmd"); } // return true so that we do not get stuck at this command return true; } }