// start_command - this function will be called when the ap_mission lib wishes to start a new command bool Copter::start_command(const AP_Mission::Mission_Command& cmd) { // To-Do: logging when new commands start/end if (should_log(MASK_LOG_CMD)) { DataFlash.Log_Write_Mission_Cmd(mission, cmd); } switch(cmd.id) { /// /// navigation commands /// case MAV_CMD_NAV_TAKEOFF: // 22 do_takeoff(cmd); break; case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint do_nav_wp(cmd); break; case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint do_land(cmd); break; case MAV_CMD_NAV_PAYLOAD_PLACE: // 94 place at Waypoint do_payload_place(cmd); break; case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely do_loiter_unlimited(cmd); break; case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times do_circle(cmd); break; case MAV_CMD_NAV_LOITER_TIME: // 19 do_loiter_time(cmd); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20 do_RTL(); break; case MAV_CMD_NAV_SPLINE_WAYPOINT: // 82 Navigate to Waypoint using spline do_spline_wp(cmd); break; #if NAV_GUIDED == ENABLED case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer do_nav_guided_enable(cmd); break; #endif case MAV_CMD_NAV_DELAY: // 94 Delay the next navigation command do_nav_delay(cmd); break; // // conditional commands // case MAV_CMD_CONDITION_DELAY: // 112 do_wait_delay(cmd); break; case MAV_CMD_CONDITION_DISTANCE: // 114 do_within_distance(cmd); break; case MAV_CMD_CONDITION_YAW: // 115 do_yaw(cmd); break; /// /// do commands /// case MAV_CMD_DO_CHANGE_SPEED: // 178 do_change_speed(cmd); break; case MAV_CMD_DO_SET_HOME: // 179 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_SET_ROI: // 201 // point the copter and camera at a region of interest (ROI) do_roi(cmd); break; case MAV_CMD_DO_MOUNT_CONTROL: // 205 // point the camera to a specified angle do_mount_control(cmd); 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(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: // Mission command to configure or release parachute do_parachute(cmd); break; #endif #if GRIPPER_ENABLED == ENABLED case MAV_CMD_DO_GRIPPER: // Mission command to control gripper do_gripper(cmd); break; #endif #if NAV_GUIDED == ENABLED case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits do_guided_limits(cmd); break; #endif default: // do nothing with unrecognized MAVLink messages break; } // always return success return true; }
// start_command - this function will be called when the ap_mission lib wishes to start a new command bool Sub::start_command(const AP_Mission::Mission_Command& cmd) { // To-Do: logging when new commands start/end if (should_log(MASK_LOG_CMD)) { logger.Write_Mission_Cmd(mission, cmd); } const Location &target_loc = cmd.content.location; // target alt must be negative (underwater) if (target_loc.alt > 0.0f) { gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT %0.2f", (double)target_loc.alt); return false; } // only tested/supported alt frame so far is ALT_FRAME_ABOVE_HOME, where Home alt is always water's surface ie zero depth if (target_loc.get_alt_frame() != Location::ALT_FRAME_ABOVE_HOME) { gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame()); return false; } switch (cmd.id) { /// /// navigation commands /// case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint do_nav_wp(cmd); break; case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint do_surface(cmd); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: do_RTL(); break; case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely do_loiter_unlimited(cmd); break; case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times do_circle(cmd); break; case MAV_CMD_NAV_LOITER_TIME: // 19 do_loiter_time(cmd); break; case MAV_CMD_NAV_SPLINE_WAYPOINT: // 82 Navigate to Waypoint using spline do_spline_wp(cmd); break; #if NAV_GUIDED == ENABLED case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer do_nav_guided_enable(cmd); break; #endif case MAV_CMD_NAV_DELAY: // 93 Delay the next navigation command do_nav_delay(cmd); break; // // conditional commands // case MAV_CMD_CONDITION_DELAY: // 112 do_wait_delay(cmd); break; case MAV_CMD_CONDITION_DISTANCE: // 114 do_within_distance(cmd); break; case MAV_CMD_CONDITION_YAW: // 115 do_yaw(cmd); break; /// /// do commands /// case MAV_CMD_DO_CHANGE_SPEED: // 178 do_change_speed(cmd); break; case MAV_CMD_DO_SET_HOME: // 179 do_set_home(cmd); break; case MAV_CMD_DO_SET_ROI: // 201 // point the vehicle and camera at a region of interest (ROI) do_roi(cmd); break; case MAV_CMD_DO_MOUNT_CONTROL: // 205 // point the camera to a specified angle do_mount_control(cmd); break; #if NAV_GUIDED == ENABLED case MAV_CMD_DO_GUIDED_LIMITS: // 222 accept guided mode limits do_guided_limits(cmd); break; #endif default: // unable to use the command, allow the vehicle to try the next command return false; } // always return success return true; }