bool MissionBlock::is_mission_item_reached() { /* handle non-navigation or indefinite waypoints */ switch (_mission_item.nav_cmd) { case NAV_CMD_DO_SET_SERVO: return true; case NAV_CMD_LAND: /* fall through */ case NAV_CMD_VTOL_LAND: return _navigator->get_land_detected()->landed; case NAV_CMD_IDLE: /* fall through */ case NAV_CMD_LOITER_UNLIMITED: return false; case NAV_CMD_DO_LAND_START: case NAV_CMD_DO_TRIGGER_CONTROL: case NAV_CMD_DO_DIGICAM_CONTROL: case NAV_CMD_IMAGE_START_CAPTURE: case NAV_CMD_IMAGE_STOP_CAPTURE: case NAV_CMD_VIDEO_START_CAPTURE: case NAV_CMD_VIDEO_STOP_CAPTURE: case NAV_CMD_DO_MOUNT_CONFIGURE: case NAV_CMD_DO_MOUNT_CONTROL: case NAV_CMD_DO_SET_ROI: case NAV_CMD_DO_SET_CAM_TRIGG_DIST: case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL: case NAV_CMD_SET_CAMERA_MODE: return true; case NAV_CMD_DO_VTOL_TRANSITION: /* * We wait half a second to give the transition command time to propagate. * Then monitor the transition status for completion. */ // TODO: check desired transition state achieved and drop _action_start if (hrt_absolute_time() - _action_start > 500000 && !_navigator->get_vstatus()->in_transition_mode) { _action_start = 0; return true; } else { return false; } case NAV_CMD_DO_CHANGE_SPEED: return true; default: /* do nothing, this is a 3D waypoint */ break; } hrt_abstime now = hrt_absolute_time(); if (!_navigator->get_land_detected()->landed && !_waypoint_position_reached) { float dist = -1.0f; float dist_xy = -1.0f; float dist_z = -1.0f; float altitude_amsl = _mission_item.altitude_is_relative ? _mission_item.altitude + _navigator->get_home_position()->alt : _mission_item.altitude; dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, _navigator->get_global_position()->alt, &dist_xy, &dist_z); /* FW special case for NAV_CMD_WAYPOINT to achieve altitude via loiter */ if (!_navigator->get_vstatus()->is_rotary_wing && (_mission_item.nav_cmd == NAV_CMD_WAYPOINT)) { struct position_setpoint_s *curr_sp = &_navigator->get_position_setpoint_triplet()->current; /* close to waypoint, but altitude error greater than twice acceptance */ if ((dist >= 0.0f) && (dist_z > 2 * _navigator->get_altitude_acceptance_radius()) && (dist_xy < 2 * _navigator->get_loiter_radius())) { /* SETPOINT_TYPE_POSITION -> SETPOINT_TYPE_LOITER */ if (curr_sp->type == position_setpoint_s::SETPOINT_TYPE_POSITION) { curr_sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER; curr_sp->loiter_radius = _navigator->get_loiter_radius(); curr_sp->loiter_direction = 1; _navigator->set_position_setpoint_triplet_updated(); } } else { /* restore SETPOINT_TYPE_POSITION */ if (curr_sp->type == position_setpoint_s::SETPOINT_TYPE_LOITER) { /* loiter acceptance criteria required to revert back to SETPOINT_TYPE_POSITION */ if ((dist >= 0.0f) && (dist_z < _navigator->get_loiter_radius()) && (dist_xy <= _navigator->get_loiter_radius() * 1.2f)) { curr_sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION; _navigator->set_position_setpoint_triplet_updated(); } } } } if ((_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) && _navigator->get_vstatus()->is_rotary_wing) { /* We want to avoid the edge case where the acceptance radius is bigger or equal than * the altitude of the takeoff waypoint above home. Otherwise, we do not really follow * take-off procedures like leaving the landing gear down. */ float takeoff_alt = _mission_item.altitude_is_relative ? _mission_item.altitude : (_mission_item.altitude - _navigator->get_home_position()->alt); float altitude_acceptance_radius = _navigator->get_altitude_acceptance_radius(); /* It should be safe to just use half of the takoeff_alt as an acceptance radius. */ if (takeoff_alt > 0 && takeoff_alt < altitude_acceptance_radius) { altitude_acceptance_radius = takeoff_alt / 2.0f; } /* require only altitude for takeoff for multicopter */ if (_navigator->get_global_position()->alt > altitude_amsl - altitude_acceptance_radius) { _waypoint_position_reached = true; } } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { /* for takeoff mission items use the parameter for the takeoff acceptance radius */ if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius() && dist_z <= _navigator->get_altitude_acceptance_radius()) { _waypoint_position_reached = true; } } else if (!_navigator->get_vstatus()->is_rotary_wing && (_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED || _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT)) { /* Loiter mission item on a non rotary wing: the aircraft is going to circle the * coordinates with a radius equal to the loiter_radius field. It is not flying * through the waypoint center. * Therefore the item is marked as reached once the system reaches the loiter * radius (+ some margin). Time inside and turn count is handled elsewhere. */ if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f) && dist_z <= _navigator->get_altitude_acceptance_radius()) { _waypoint_position_reached = true; } else { _time_first_inside_orbit = 0; } } else if (!_navigator->get_vstatus()->is_rotary_wing && (_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT)) { // NAV_CMD_LOITER_TO_ALT only uses mission item altitude once it's in the loiter // first check if the altitude setpoint is the mission setpoint struct position_setpoint_s *curr_sp = &_navigator->get_position_setpoint_triplet()->current; if (fabsf(curr_sp->alt - altitude_amsl) >= FLT_EPSILON) { // check if the initial loiter has been accepted dist_xy = -1.0f; dist_z = -1.0f; dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, curr_sp->alt, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, _navigator->get_global_position()->alt, &dist_xy, &dist_z); if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f) && dist_z <= _navigator->get_altitude_acceptance_radius()) { // now set the loiter to the final altitude in the NAV_CMD_LOITER_TO_ALT mission item curr_sp->alt = altitude_amsl; _navigator->set_position_setpoint_triplet_updated(); } } else { if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f) && dist_z <= _navigator->get_altitude_acceptance_radius()) { _waypoint_position_reached = true; // set required yaw from bearing to the next mission item if (_mission_item.force_heading) { struct position_setpoint_s next_sp = _navigator->get_position_setpoint_triplet()->next; if (next_sp.valid) { _mission_item.yaw = get_bearing_to_next_waypoint(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon, next_sp.lat, next_sp.lon); _waypoint_yaw_reached = false; } else { _waypoint_yaw_reached = true; } } } } } else if (_mission_item.nav_cmd == NAV_CMD_DELAY) { _waypoint_position_reached = true; _waypoint_yaw_reached = true; _time_wp_reached = now; } else { /* for normal mission items used their acceptance radius */ float mission_acceptance_radius = _navigator->get_acceptance_radius(_mission_item.acceptance_radius); /* if set to zero use the default instead */ if (mission_acceptance_radius < NAV_EPSILON_POSITION) { mission_acceptance_radius = _navigator->get_acceptance_radius(); } /* for vtol back transition calculate acceptance radius based on time and ground speed */ if (_mission_item.vtol_back_transition) { float velocity = sqrtf(_navigator->get_local_position()->vx * _navigator->get_local_position()->vx + _navigator->get_local_position()->vy * _navigator->get_local_position()->vy); if (_param_back_trans_dec_mss.get() > FLT_EPSILON && velocity > FLT_EPSILON) { mission_acceptance_radius = ((velocity / _param_back_trans_dec_mss.get() / 2) * velocity) + _param_reverse_delay.get() * velocity; } } if (dist >= 0.0f && dist <= mission_acceptance_radius && dist_z <= _navigator->get_altitude_acceptance_radius()) { _waypoint_position_reached = true; } } if (_waypoint_position_reached) { // reached just now _time_wp_reached = now; } } /* Check if the waypoint and the requested yaw setpoint. */ if (_waypoint_position_reached && !_waypoint_yaw_reached) { if ((_navigator->get_vstatus()->is_rotary_wing || (_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT && _mission_item.force_heading)) && PX4_ISFINITE(_mission_item.yaw)) { /* check course if defined only for rotary wing except takeoff */ float cog = _navigator->get_vstatus()->is_rotary_wing ? _navigator->get_global_position()->yaw : atan2f( _navigator->get_global_position()->vel_e, _navigator->get_global_position()->vel_n); float yaw_err = _wrap_pi(_mission_item.yaw - cog); /* accept yaw if reached or if timeout is set in which case we ignore not forced headings */ if (fabsf(yaw_err) < math::radians(_param_yaw_err.get()) || (_param_yaw_timeout.get() >= FLT_EPSILON && !_mission_item.force_heading)) { _waypoint_yaw_reached = true; } /* if heading needs to be reached, the timeout is enabled and we don't make it, abort mission */ if (!_waypoint_yaw_reached && _mission_item.force_heading && (_param_yaw_timeout.get() >= FLT_EPSILON) && (now - _time_wp_reached >= (hrt_abstime)_param_yaw_timeout.get() * 1e6f)) { _navigator->set_mission_failure("unable to reach heading within timeout"); } } else { _waypoint_yaw_reached = true; } } /* Once the waypoint and yaw setpoint have been reached we can start the loiter time countdown */ if (_waypoint_position_reached && _waypoint_yaw_reached) { if (_time_first_inside_orbit == 0) { _time_first_inside_orbit = now; } /* check if the MAV was long enough inside the waypoint orbit */ if ((get_time_inside(_mission_item) < FLT_EPSILON) || (now - _time_first_inside_orbit >= (hrt_abstime)(get_time_inside(_mission_item) * 1e6f))) { position_setpoint_s &curr_sp = _navigator->get_position_setpoint_triplet()->current; const position_setpoint_s &next_sp = _navigator->get_position_setpoint_triplet()->next; const float range = get_distance_to_next_waypoint(curr_sp.lat, curr_sp.lon, next_sp.lat, next_sp.lon); // exit xtrack location // reset lat/lon of loiter waypoint so vehicle follows a tangent if (_mission_item.loiter_exit_xtrack && next_sp.valid && PX4_ISFINITE(range) && (_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT)) { float bearing = get_bearing_to_next_waypoint(curr_sp.lat, curr_sp.lon, next_sp.lat, next_sp.lon); float inner_angle = M_PI_2_F - asinf(_mission_item.loiter_radius / range); // Compute "ideal" tangent origin if (curr_sp.loiter_direction > 0) { bearing -= inner_angle; } else { bearing += inner_angle; } // Replace current setpoint lat/lon with tangent coordinate waypoint_from_heading_and_distance(curr_sp.lat, curr_sp.lon, bearing, curr_sp.loiter_radius, &curr_sp.lat, &curr_sp.lon); } return true; } } // all acceptance criteria must be met in the same iteration _waypoint_position_reached = false; _waypoint_yaw_reached = false; return false; }
void RTL::set_rtl_item() { struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); _navigator->set_can_loiter_at_sp(false); switch (_rtl_state) { case RTL_STATE_CLIMB: { // check if we are pretty close to home already float home_dist = get_distance_to_next_waypoint(_navigator->get_home_position()->lat, _navigator->get_home_position()->lon, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); // if we are close to home we do not climb as high, otherwise we climb to return alt float climb_alt = _navigator->get_home_position()->alt + get_rtl_altitude(); // we are close to home, limit climb to min if (home_dist < _param_rtl_min_dist.get()) { climb_alt = _navigator->get_home_position()->alt + _param_descend_alt.get(); } _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; _mission_item.altitude_is_relative = false; _mission_item.altitude = climb_alt; _mission_item.yaw = NAN; _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)", (int)(climb_alt), (int)(climb_alt - _navigator->get_home_position()->alt)); break; } case RTL_STATE_RETURN: { _mission_item.lat = _navigator->get_home_position()->lat; _mission_item.lon = _navigator->get_home_position()->lon; // don't change altitude // use home yaw if close to home /* check if we are pretty close to home already */ float home_dist = get_distance_to_next_waypoint(_navigator->get_home_position()->lat, _navigator->get_home_position()->lon, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); if (home_dist < _param_rtl_min_dist.get()) { _mission_item.yaw = _navigator->get_home_position()->yaw; } else { // use current heading to home _mission_item.yaw = get_bearing_to_next_waypoint( _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, _navigator->get_home_position()->lat, _navigator->get_home_position()->lon); } _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)", (int)(_mission_item.altitude), (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } case RTL_STATE_TRANSITION_TO_MC: { _mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION; _mission_item.params[0] = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC; break; } case RTL_STATE_DESCEND: { _mission_item.lat = _navigator->get_home_position()->lat; _mission_item.lon = _navigator->get_home_position()->lon; _mission_item.altitude_is_relative = false; _mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get(); // check if we are already lower - then we will just stay there if (_mission_item.altitude > _navigator->get_global_position()->alt) { _mission_item.altitude = _navigator->get_global_position()->alt; } _mission_item.yaw = _navigator->get_home_position()->yaw; // except for vtol which might be still off here and should point towards this location float d_current = get_distance_to_next_waypoint( _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, _mission_item.lat, _mission_item.lon); if (_navigator->get_vstatus()->is_vtol && d_current > _navigator->get_acceptance_radius()) { _mission_item.yaw = get_bearing_to_next_waypoint( _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, _mission_item.lat, _mission_item.lon); } _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; /* disable previous setpoint to prevent drift */ pos_sp_triplet->previous.valid = false; mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)", (int)(_mission_item.altitude), (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; } case RTL_STATE_LOITER: { bool autoland = _param_land_delay.get() > -DELAY_SIGMA; _mission_item.lat = _navigator->get_home_position()->lat; _mission_item.lon = _navigator->get_home_position()->lon; // don't change altitude _mission_item.yaw = _navigator->get_home_position()->yaw; _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED; _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get(); _mission_item.autocontinue = autoland; _mission_item.origin = ORIGIN_ONBOARD; _navigator->set_can_loiter_at_sp(true); if (autoland && (get_time_inside(_mission_item) > FLT_EPSILON)) { mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs", (double)get_time_inside(_mission_item)); } else { mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter"); } break; } case RTL_STATE_LAND: { set_land_item(&_mission_item, false); _mission_item.yaw = _navigator->get_home_position()->yaw; mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at home"); break; } case RTL_STATE_LANDED: { set_idle_item(&_mission_item); mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, landed"); break; } default: break; } reset_mission_item_reached(); /* execute command if set. This is required for commands like VTOL transition */ if (!item_contains_position(&_mission_item)) { issue_command(&_mission_item); } /* convert mission item to current position setpoint and make it valid */ mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; _navigator->set_position_setpoint_triplet_updated(); }