uint8_t navRecordWaypoint(void) {
if (!navData.navCapable || navData.mode >= NAV_STATUS_MISSION)
return 0;
uint8_t idx = 0;
if (navData.tempMissionLoaded)
navClearWaypoints();
else
idx = navGetWaypointCount();
if (idx >= NAV_MAX_MISSION_LEGS)
return 0;
navData.missionLegs[idx].type = NAV_LEG_GOTO;
navData.missionLegs[idx].targetAlt = gpsData.height;
navData.missionLegs[idx].targetLat = gpsData.lat;
navData.missionLegs[idx].targetLon = gpsData.lon;
navData.missionLegs[idx].maxHorizSpeed = NAV_DFLT_HOR_SPEED;
navData.missionLegs[idx].maxVertSpeed = NAV_DFLT_VRT_SPEED;
navData.missionLegs[idx].targetRadius = 1.0f;
navData.missionLegs[idx].loiterTime = 1e6;
navData.missionLegs[idx].poiHeading = AQ_YAW;
navData.missionLegs[idx].relativeAlt = 0;
navData.missionLegs[idx].poiAltitude = 0;
AQ_PRINTF("NAV: Waypoint %d recorded\n", idx);
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_WP_RECORDED);
#endif
#ifdef USE_MAVLINK
mavlinkWpSendCount();
#endif
return 1;
}
// set headfree mode based on radio command
void navSetHeadFreeMode(void) {
// HF switch to set/dynamic position
// when disarmed one can also set the orientation heading in this position (for 2-pos control)
if (rcIsSwitchActive(NAV_CTRL_HF_SET) || (!(supervisorData.state & STATE_ARMED) && navData.headFreeMode != NAV_HEADFREE_LOCKED && rcIsSwitchActive(NAV_CTRL_HF_LOCK))) {
if (navData.headFreeMode != NAV_HEADFREE_DYNAMIC) {
if (navData.headFreeMode != NAV_HEADFREE_SETTING && navData.headFreeMode != NAV_HEADFREE_DYN_DELAY) {
navData.headFreeMode = NAV_HEADFREE_SETTING;
navData.hfDynamicModeTimer = timerMicros();
AQ_NOTICE("Set new reference heading for Heading-Free mode\n");
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_HF_SET);
#endif
}
else if ((supervisorData.state & STATE_ARMED) && timerMicros() - navData.hfDynamicModeTimer > NAV_HF_DYNAMIC_DELAY) {
navData.headFreeMode = NAV_HEADFREE_DYNAMIC;
AQ_NOTICE("Now in dynamic Heading-Free DVH mode\n");
}
else if (navData.headFreeMode == NAV_HEADFREE_SETTING)
navData.headFreeMode = NAV_HEADFREE_DYN_DELAY;
}
}
// HF switch to locked/on position
else if (rcIsSwitchActive(NAV_CTRL_HF_LOCK)) {
if (navData.headFreeMode != NAV_HEADFREE_LOCKED) {
AQ_NOTICE("Now in locked Heading-Free DVH mode\n");
navData.headFreeMode = NAV_HEADFREE_LOCKED;
}
}
// HF channel at off position
else {
if (navData.headFreeMode > NAV_HEADFREE_DYN_DELAY)
AQ_NOTICE("Now in normal DVH mode\n");
navData.headFreeMode = NAV_HEADFREE_OFF;
}
}
void supervisorDisarm(void) {
motorsDisarm();
calibDeinit();
supervisorLEDsOff();
supervisorData.state = STATE_DISARMED | (supervisorData.state & (STATE_LOW_BATTERY1 | STATE_LOW_BATTERY2));
AQ_NOTICE("Disarmed\n");
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_DISARMING);
#endif
}
void supervisorArm(void) {
if (motorsArm()) {
supervisorData.state = STATE_ARMED | (supervisorData.state & (STATE_LOW_BATTERY1 | STATE_LOW_BATTERY2));
AQ_NOTICE("Armed\n");
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_ARMING);
#endif
}
else {
motorsDisarm();
AQ_NOTICE("Arm motors failed - disarmed\n");
}
}
unsigned char navClearWaypoints(void) {
if (navData.mode >= NAV_STATUS_MISSION)
return 0;
for (int i = 0; i < NAV_MAX_MISSION_LEGS; i++)
navData.missionLegs[i].type = 0;
navData.tempMissionLoaded = 0;
AQ_NOTICE("NAV: Waypoints cleared.\n");
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_WP_CLEARED);
#endif
#ifdef USE_MAVLINK
mavlinkWpSendCount();
#endif
return 1;
}
void supervisorArm(void) {
uint8_t rcStat = rcCheckValidController();
if (rcStat) {
AQ_NOTICE("Error: Can't arm due to RC error(s):\n");
rcReportAllErrors(rcStat);
}
else if (rcIsSwitchActive(NAV_CTRL_AH) || rcIsSwitchActive(NAV_CTRL_PH) || rcIsSwitchActive(NAV_CTRL_MISN))
AQ_NOTICE("Error: Can't arm, not in manual flight mode.\n");
else if (rcIsSwitchActive(NAV_CTRL_HOM_SET) || rcIsSwitchActive(NAV_CTRL_HOM_GO))
AQ_NOTICE("Error: Can't arm, home command active.\n");
else if (rcIsSwitchActive(NAV_CTRL_HF_SET) || rcIsSwitchActive(NAV_CTRL_HF_LOCK))
AQ_NOTICE("Error: Can't arm, heading-free mode active.\n");
else if (motorsArm()) {
supervisorData.state = STATE_ARMED | (supervisorData.state & (STATE_LOW_BATTERY1 | STATE_LOW_BATTERY2));
AQ_NOTICE("Armed\n");
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_ARMING);
#endif
}
else {
motorsDisarm();
AQ_NOTICE("Error: Arm motors failed - disarmed.\n");
}
}
void navNavigate(void) {
unsigned long currentTime = IMU_LASTUPD;
unsigned char leg = navData.missionLeg;
navMission_t *curLeg = &navData.missionLegs[leg];
int reqFlightMode; // requested flight mode based on user controls or other factors
float tmp;
navSetFixType();
// is there sufficient position accuracy to navigate?
if (navData.fixType == 3)
navData.navCapable = 1;
// do not drop out of mission due to (hopefully) temporary GPS degradation
else if (navData.mode < NAV_STATUS_POSHOLD)
navData.navCapable = 0;
bool hasViableMission = (navData.navCapable && ((navData.mode != NAV_STATUS_MISSION && leg < NAV_MAX_MISSION_LEGS && curLeg->type) || (navData.mode == NAV_STATUS_MISSION && navData.hasMissionLeg)));
// this defines the hierarchy of available flight modes in case of failsafe override or conflicting controls being active
if (navData.spvrModeOverride)
reqFlightMode = navData.spvrModeOverride;
else if (rcIsSwitchActive(NAV_CTRL_MISN))
if (hasViableMission)
reqFlightMode = NAV_STATUS_MISSION;
else
reqFlightMode = NAV_STATUS_POSHOLD;
else if (rcIsSwitchActive(NAV_CTRL_PH)) {
reqFlightMode = NAV_STATUS_POSHOLD;
}
else if (rcIsSwitchActive(NAV_CTRL_AH))
reqFlightMode = NAV_STATUS_ALTHOLD;
// always default to manual
else
reqFlightMode = NAV_STATUS_MANUAL;
// Can we navigate && do we want to be in mission mode?
if ((supervisorData.state & STATE_ARMED) && reqFlightMode == NAV_STATUS_MISSION && hasViableMission) {
// are we currently in position hold mode && do we have a clear mission ahead of us?
if (navData.mode == NAV_STATUS_POSHOLD || navData.mode == NAV_STATUS_DVH) {
curLeg = navLoadLeg(leg);
navData.mode = NAV_STATUS_MISSION;
AQ_NOTICE("Mission mode active\n");
}
}
// do we want to be in position hold mode?
else if ((supervisorData.state & STATE_ARMED) && reqFlightMode > NAV_STATUS_MANUAL) {
// check for DVH
if (reqFlightMode == NAV_STATUS_POSHOLD && (RADIO_PITCH > p[CTRL_DEAD_BAND] || RADIO_PITCH < -p[CTRL_DEAD_BAND] || RADIO_ROLL > p[CTRL_DEAD_BAND] || RADIO_ROLL < -p[CTRL_DEAD_BAND]))
reqFlightMode = NAV_STATUS_DVH;
// allow alt hold regardless of GPS or flow quality
if (navData.mode < NAV_STATUS_ALTHOLD || (navData.mode != NAV_STATUS_ALTHOLD && reqFlightMode == NAV_STATUS_ALTHOLD)) {
// record this altitude as the hold altitude
navSetHoldAlt(ALTITUDE, 0);
// set integral to current RC throttle setting
pidZeroIntegral(navData.altSpeedPID, -VELOCITYD, motorsData.throttle * RADIO_MID_THROTTLE / MOTORS_SCALE);
pidZeroIntegral(navData.altPosPID, ALTITUDE, 0.0f);
navData.holdSpeedAlt = navData.targetHoldSpeedAlt = -VELOCITYD;
navData.holdMaxVertSpeed = NAV_DFLT_VRT_SPEED;
navData.mode = NAV_STATUS_ALTHOLD;
// notify ground
AQ_NOTICE("Altitude Hold engaged\n");
}
// are we not in position hold mode now?
if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && reqFlightMode > NAV_STATUS_ALTHOLD && navData.mode != NAV_STATUS_POSHOLD && navData.mode != NAV_STATUS_DVH) {
// only zero bias if coming from lower mode
if (navData.mode < NAV_STATUS_POSHOLD) {
navData.holdTiltN = 0.0f;
navData.holdTiltE = 0.0f;
// speed
pidZeroIntegral(navData.speedNPID, UKF_VELN, 0.0f);
pidZeroIntegral(navData.speedEPID, UKF_VELE, 0.0f);
// pos
pidZeroIntegral(navData.distanceNPID, UKF_POSN, 0.0f);
pidZeroIntegral(navData.distanceEPID, UKF_POSE, 0.0f);
}
// store this position as hold position
navUkfSetHereAsPositionTarget();
if (navData.navCapable) {
// set this position as home if we have none
if (navData.homeLeg.targetLat == (double)0.0 || navData.homeLeg.targetLon == (double)0.0)
navSetHomeCurrent();
}
// activate pos hold
navData.mode = NAV_STATUS_POSHOLD;
navData.holdSpeedN = 0.0f;
navData.holdSpeedE = 0.0f;
navData.holdMaxHorizSpeed = NAV_DFLT_HOR_SPEED;
navData.holdMaxVertSpeed = NAV_DFLT_VRT_SPEED;
// notify ground
AQ_NOTICE("Position Hold engaged\n");
}
// DVH
else if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && reqFlightMode == NAV_STATUS_DVH) {
navData.mode = NAV_STATUS_DVH;
}
// coming out of DVH mode?
else if (navData.mode == NAV_STATUS_DVH) {
// allow speed to drop before holding position (or if RTH engaged)
// FIXME: RTH switch may no longer be engaged but craft is still returning to home?
if ((UKF_VELN < +0.1f && UKF_VELN > -0.1f && UKF_VELE < +0.1f && UKF_VELE > -0.1f) || rcIsSwitchActive(NAV_CTRL_HOM_GO)) {
navUkfSetHereAsPositionTarget();
navData.mode = NAV_STATUS_POSHOLD;
}
}
}
// default to manual mode
else {
if (navData.mode != NAV_STATUS_MANUAL)
AQ_NOTICE("Manual mode active.\n");
navData.mode = NAV_STATUS_MANUAL;
// reset mission legs
navData.missionLeg = leg = 0;
// keep up with changing altitude
navSetHoldAlt(ALTITUDE, 0);
}
// ceiling set ?, 0 is disable
if (navData.ceilingAlt) {
// ceiling reached 1st time
if (ALTITUDE > navData.ceilingAlt && !navData.setCeilingFlag) {
navData.setCeilingFlag = 1;
navData.ceilingTimer = timerMicros();
}
// ceiling still reached for 5 seconds
else if (navData.setCeilingFlag && ALTITUDE > navData.ceilingAlt && (timerMicros() - navData.ceilingTimer) > (1e6 * 5) ) {
navData.ceilingTimer = timerMicros();
if (!navData.setCeilingReached)
AQ_NOTICE("Warning: Altitude ceiling reached.");
navData.setCeilingReached = 1;
}
else if ((navData.setCeilingFlag || navData.setCeilingReached) && ALTITUDE <= navData.ceilingAlt) {
if (navData.setCeilingReached)
AQ_NOTICE("Notice: Altitude returned to within ceiling.");
navData.setCeilingFlag = 0;
navData.setCeilingReached = 0;
}
}
if (!(supervisorData.state & STATE_RADIO_LOSS1))
navDoUserCommands(&leg, curLeg);
if (UKF_POSN != 0.0f || UKF_POSE != 0.0f) {
navData.holdCourse = compassNormalize(atan2f(-UKF_POSE, -UKF_POSN) * RAD_TO_DEG);
navData.holdDistance = __sqrtf(UKF_POSN*UKF_POSN + UKF_POSE*UKF_POSE);
}
else {
navData.holdCourse = 0.0f;
navData.holdDistance = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// have we arrived yet?
if (navData.loiterCompleteTime == 0) {
// are we close enough (distance and altitude)?
// goto/home test
if (((curLeg->type == NAV_LEG_GOTO || curLeg->type == NAV_LEG_HOME) &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius) ||
// orbit test
(curLeg->type == NAV_LEG_ORBIT &&
fabsf(navData.holdDistance - curLeg->targetRadius) <= 2.0f &&
fabsf(navData.holdAlt - ALTITUDE) <= 1.0f) ||
// takeoff test
(curLeg->type == NAV_LEG_TAKEOFF &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius)
) {
// freeze heading if relative, unless orbiting
if (curLeg->type != NAV_LEG_ORBIT && signbit(navData.targetHeading))
navData.targetHeading = AQ_YAW;
// start the loiter clock
navData.loiterCompleteTime = currentTime + curLeg->loiterTime;
AQ_PRINTF("NAV: Reached waypoint %d.\n", leg);
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_WP_REACHED);
#endif
#ifdef USE_MAVLINK
// notify ground
mavlinkWpReached(leg);
#endif
}
}
// have we loitered long enough?
else if (currentTime > navData.loiterCompleteTime && curLeg->type != NAV_LEG_LAND) {
// next leg
leg = ++navData.missionLeg;
curLeg = navLoadLeg(leg);
if (!navData.hasMissionLeg)
navData.mode = NAV_STATUS_POSHOLD;
}
}
// DVH
if (navData.mode == NAV_STATUS_DVH) {
float factor = (1.0f / 500.0f) * navData.holdMaxHorizSpeed;
float x = 0.0f;
float y = 0.0f;
if (RADIO_PITCH > p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_PITCH < -p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH + p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL > p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL < -p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL + p[CTRL_DEAD_BAND]) * factor;
// do we want to ignore rotation of craft (headfree/carefree mode)?
if (navData.headFreeMode > NAV_HEADFREE_OFF) {
if (navData.hfUseStoredReference) {
// rotate to stored frame
navData.holdSpeedN = x * navData.hfReferenceCos - y * navData.hfReferenceSin;
navData.holdSpeedE = y * navData.hfReferenceCos + x * navData.hfReferenceSin;
}
else {
// don't rotate to any frame (pitch/roll move to N/S/E/W)
navData.holdSpeedN = x;
navData.holdSpeedE = y;
}
}
else {
// rotate to earth frame
navData.holdSpeedN = x * navUkfData.yawCos - y * navUkfData.yawSin;
navData.holdSpeedE = y * navUkfData.yawCos + x * navUkfData.yawSin;
}
}
// orbit POI
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_ORBIT) {
float velX, velY;
// maintain orbital radius
velX = -pidUpdate(navData.distanceNPID, curLeg->targetRadius, navData.holdDistance);
// maintain orbital velocity (clock wise)
velY = -curLeg->maxHorizSpeed;
// rotate to earth frame
navData.holdSpeedN = velX * navUkfData.yawCos - velY * navUkfData.yawSin;
navData.holdSpeedE = velY * navUkfData.yawCos + velX * navUkfData.yawSin;
}
else {
// distance => velocity
navData.holdSpeedN = pidUpdate(navData.distanceNPID, 0.0f, UKF_POSN);
navData.holdSpeedE = pidUpdate(navData.distanceEPID, 0.0f, UKF_POSE);
}
// normalize N/E speed requests to fit below max nav speed
tmp = __sqrtf(navData.holdSpeedN*navData.holdSpeedN + navData.holdSpeedE*navData.holdSpeedE);
if (tmp > navData.holdMaxHorizSpeed) {
navData.holdSpeedN = (navData.holdSpeedN / tmp) * navData.holdMaxHorizSpeed;
navData.holdSpeedE = (navData.holdSpeedE / tmp) * navData.holdMaxHorizSpeed;
}
// velocity => tilt
navData.holdTiltN = -pidUpdate(navData.speedNPID, navData.holdSpeedN, UKF_VELN);
navData.holdTiltE = +pidUpdate(navData.speedEPID, navData.holdSpeedE, UKF_VELE);
if (navData.mode > NAV_STATUS_MANUAL) {
float vertStick;
// Throttle controls vertical speed
vertStick = RADIO_THROT - RADIO_MID_THROTTLE;
if ((vertStick > p[CTRL_DBAND_THRO] && !navData.setCeilingReached) || vertStick < -p[CTRL_DBAND_THRO]) {
// altitude velocity proportional to throttle stick
navData.targetHoldSpeedAlt = (vertStick - p[CTRL_DBAND_THRO] * (vertStick > 0.0f ? 1.0f : -1.0f)) * NAV_DFLT_VRT_SPEED * (1.0f / RADIO_MID_THROTTLE);
navData.verticalOverride = 1;
}
// are we trying to land?
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_LAND) {
navData.targetHoldSpeedAlt = -navData.holdMaxVertSpeed;
}
// coming out of vertical override?
else if (navData.verticalOverride) {
navData.targetHoldSpeedAlt = 0.0f;
// slow down before trying to hold altitude
if (fabsf(VELOCITYD) < 0.025f)
navData.verticalOverride = 0;
// set new hold altitude to wherever we are while still in override
if (navData.mode != NAV_STATUS_MISSION)
navSetHoldAlt(ALTITUDE, 0);
}
// PID has the throttle
else {
navData.targetHoldSpeedAlt = pidUpdate(navData.altPosPID, navData.holdAlt, ALTITUDE);
}
// constrain vertical velocity
tmp = configGetParamValue(NAV_MAX_DECENT);
tmp = (navData.holdMaxVertSpeed < tmp) ? -navData.holdMaxVertSpeed : -tmp;
navData.targetHoldSpeedAlt = constrainFloat(navData.targetHoldSpeedAlt, tmp, navData.holdMaxVertSpeed);
// smooth vertical velocity changes
navData.holdSpeedAlt += (navData.targetHoldSpeedAlt - navData.holdSpeedAlt) * 0.05f;
}
else {
navData.verticalOverride = 0;
}
// calculate POI angle (used for tilt in gimbal function)
if (navData.mode == NAV_STATUS_MISSION && curLeg->poiAltitude != 0.0f) {
float a, b, c;
a = navData.holdDistance;
b = ALTITUDE - curLeg->poiAltitude;
c = __sqrtf(a*a + b*b);
navData.poiAngle = asinf(a/c) * RAD_TO_DEG - 90.0f;
}
else {
navData.poiAngle = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// recalculate autonomous heading
navSetHoldHeading(navData.targetHeading);
// wait for low throttle if landing
if (curLeg->type == NAV_LEG_LAND && motorsData.throttle <= 1)
// shut everything down (sure hope we are really on the ground :)
supervisorDisarm();
}
navData.lastUpdate = currentTime;
}
