/** \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)
}
static void send_nav(void) {
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
}
void dl_parse_msg(void) {
datalink_time = 0;
uint8_t msg_id = IdOfMsg(dl_buffer);
#if 0 // not ready yet
uint8_t sender_id = SenderIdOfMsg(dl_buffer);
/* parse telemetry messages coming from other AC */
if (sender_id != 0) {
switch (msg_id) {
#ifdef TCAS
case DL_TCAS_RA:
{
if (DL_TCAS_RESOLVE_ac_id(dl_buffer) == AC_ID && SenderIdOfMsg(dl_buffer) != AC_ID) {
uint8_t ac_id_conflict = SenderIdOfMsg(dl_buffer);
tcas_acs_status[the_acs_id[ac_id_conflict]].resolve = DL_TCAS_RA_resolve(dl_buffer);
}
}
#endif
}
return;
}
#endif
if (msg_id == DL_PING) {
DOWNLINK_SEND_PONG(DefaultChannel);
} else
#ifdef TRAFFIC_INFO
if (msg_id == DL_ACINFO && DL_ACINFO_ac_id(dl_buffer) != AC_ID) {
uint8_t id = DL_ACINFO_ac_id(dl_buffer);
float ux = MOfCm(DL_ACINFO_utm_east(dl_buffer));
float uy = MOfCm(DL_ACINFO_utm_north(dl_buffer));
float a = MOfCm(DL_ACINFO_alt(dl_buffer));
float c = RadOfDeg(((float)DL_ACINFO_course(dl_buffer))/ 10.);
float s = MOfCm(DL_ACINFO_speed(dl_buffer));
float cl = MOfCm(DL_ACINFO_climb(dl_buffer));
uint32_t t = DL_ACINFO_itow(dl_buffer);
SetAcInfo(id, ux, uy, c, a, s, cl, t);
} else
#endif
#ifdef NAV
if (msg_id == DL_MOVE_WP && DL_MOVE_WP_ac_id(dl_buffer) == AC_ID) {
uint8_t wp_id = DL_MOVE_WP_wp_id(dl_buffer);
float a = MOfCm(DL_MOVE_WP_alt(dl_buffer));
/* Computes from (lat, long) in the referenced UTM zone */
float lat = RadOfDeg((float)(DL_MOVE_WP_lat(dl_buffer) / 1e7));
float lon = RadOfDeg((float)(DL_MOVE_WP_lon(dl_buffer) / 1e7));
latlong_utm_of(lat, lon, nav_utm_zone0);
nav_move_waypoint(wp_id, latlong_utm_x, latlong_utm_y, a);
/* Waypoint range is limited. Computes the UTM pos back from the relative
coordinates */
latlong_utm_x = waypoints[wp_id].x + nav_utm_east0;
latlong_utm_y = waypoints[wp_id].y + nav_utm_north0;
DOWNLINK_SEND_WP_MOVED(DefaultChannel, &wp_id, &latlong_utm_x, &latlong_utm_y, &a, &nav_utm_zone0);
} else if (msg_id == DL_BLOCK && DL_BLOCK_ac_id(dl_buffer) == AC_ID) {
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
SEND_NAVIGATION(DefaultChannel);
} else
#endif /** NAV */
#ifdef WIND_INFO
if (msg_id == DL_WIND_INFO && DL_WIND_INFO_ac_id(dl_buffer) == AC_ID) {
wind_east = DL_WIND_INFO_east(dl_buffer);
wind_north = DL_WIND_INFO_north(dl_buffer);
#ifndef USE_AIRSPEED
estimator_airspeed = DL_WIND_INFO_airspeed(dl_buffer);
#endif
#ifdef WIND_INFO_RET
DOWNLINK_SEND_WIND_INFO_RET(DefaultChannel, &wind_east, &wind_north, &estimator_airspeed);
#endif
} else
#endif /** WIND_INFO */
#ifdef HITL
/** Infrared and GPS sensors are replaced by messages on the datalink */
if (msg_id == DL_HITL_INFRARED) {
/** This code simulates infrared.c:ir_update() */
ir_roll = DL_HITL_INFRARED_roll(dl_buffer);
ir_pitch = DL_HITL_INFRARED_pitch(dl_buffer);
ir_top = DL_HITL_INFRARED_top(dl_buffer);
} else if (msg_id == DL_HITL_UBX) {
/** This code simulates gps_ubx.c:parse_ubx() */
if (gps_msg_received) {
gps_nb_ovrn++;
} else {
ubx_class = DL_HITL_UBX_class(dl_buffer);
ubx_id = DL_HITL_UBX_id(dl_buffer);
uint8_t l = DL_HITL_UBX_ubx_payload_length(dl_buffer);
uint8_t *ubx_payload = DL_HITL_UBX_ubx_payload(dl_buffer);
memcpy(ubx_msg_buf, ubx_payload, l);
gps_msg_received = TRUE;
}
} else
#endif
#ifdef DlSetting
if (msg_id == DL_SETTING && DL_SETTING_ac_id(dl_buffer) == AC_ID) {
uint8_t i = DL_SETTING_index(dl_buffer);
float val = DL_SETTING_value(dl_buffer);
DlSetting(i, val);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val);
} else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) {
uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val);
} else
#endif /** Else there is no dl_settings section in the flight plan */
#ifdef USE_JOYSTICK
if (msg_id == DL_JOYSTICK_RAW && DL_JOYSTICK_RAW_ac_id(dl_buffer) == AC_ID) {
JoystickHandeDatalink(DL_JOYSTICK_RAW_roll(dl_buffer),
DL_JOYSTICK_RAW_pitch(dl_buffer),
DL_JOYSTICK_RAW_throttle(dl_buffer));
} else
#endif // USE_JOYSTICK
#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
if (msg_id == DL_RC_3CH /*&& DL_RC_3CH_ac_id(dl_buffer) == TX_ID*/) {
LED_TOGGLE(3);
parse_rc_datalink(
DL_RC_3CH_throttle_mode(dl_buffer),
DL_RC_3CH_roll(dl_buffer),
DL_RC_3CH_pitch(dl_buffer));
} else
#endif // RC_DATALINK
{ /* Last else */
/* Parse modules datalink */
modules_parse_datalink(msg_id);
}
}
static void send_nav(struct transport_tx *trans, struct link_device *dev) {
SEND_NAVIGATION(trans, dev);
}
/**
* 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)
}
