bool Rover::start_command(const AP_Mission::Mission_Command& cmd) { // log when new commands start if (should_log(MASK_LOG_CMD)) { DataFlash.Log_Write_Mission_Cmd(mission, cmd); } gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)", cmd.type(), cmd.id); switch (cmd.id) { case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint do_nav_wp(cmd, false); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: do_RTL(); break; case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely case MAV_CMD_NAV_LOITER_TIME: // Loiter for specified time do_nav_wp(cmd, true); break; case MAV_CMD_NAV_SET_YAW_SPEED: do_nav_set_yaw_speed(cmd); break; // Conditional commands case MAV_CMD_CONDITION_DELAY: do_wait_delay(cmd); break; case MAV_CMD_CONDITION_DISTANCE: do_within_distance(cmd); break; // Do commands case MAV_CMD_DO_CHANGE_SPEED: do_change_speed(cmd); break; case MAV_CMD_DO_SET_HOME: 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; #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 MOUNT == ENABLED // Sets the region of interest (ROI) for a sensor set or the // vehicle itself. This can then be used by the vehicles control // system to control the vehicle attitude and the attitude of various // devices such as cameras. // |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| case MAV_CMD_DO_SET_ROI: if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) { // switch off the camera tracking if enabled if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { camera_mount.set_mode_to_default(); } } else { // send the command to the camera mount camera_mount.set_roi_target(cmd.content.location); } break; #endif case MAV_CMD_DO_SET_REVERSE: do_set_reverse(cmd); break; case MAV_CMD_DO_FENCE_ENABLE: if (cmd.p1 == 0) { //disable g2.fence.enable(false); gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled"); } else { //enable fence g2.fence.enable(true); gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled"); } break; default: // return false for unhandled commands return false; } // if we got this far we must have been successful return true; }
bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd) { // log when new commands start if (rover.should_log(MASK_LOG_CMD)) { rover.logger.Write_Mission_Cmd(mission, cmd); } gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)", cmd.type(), cmd.id); switch (cmd.id) { case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint do_nav_wp(cmd, false); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: do_RTL(); break; case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely case MAV_CMD_NAV_LOITER_TIME: // Loiter for specified time do_nav_wp(cmd, true); break; case MAV_CMD_NAV_SET_YAW_SPEED: do_nav_set_yaw_speed(cmd); break; // Conditional commands case MAV_CMD_CONDITION_DELAY: do_wait_delay(cmd); break; case MAV_CMD_CONDITION_DISTANCE: do_within_distance(cmd); break; // Do commands case MAV_CMD_DO_CHANGE_SPEED: do_change_speed(cmd); break; case MAV_CMD_DO_SET_HOME: do_set_home(cmd); break; #if MOUNT == ENABLED // Sets the region of interest (ROI) for a sensor set or the // vehicle itself. This can then be used by the vehicles control // system to control the vehicle attitude and the attitude of various // devices such as cameras. // |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| case MAV_CMD_DO_SET_ROI: if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) { // switch off the camera tracking if enabled if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { rover.camera_mount.set_mode_to_default(); } } else { // send the command to the camera mount rover.camera_mount.set_roi_target(cmd.content.location); } break; #endif case MAV_CMD_DO_SET_REVERSE: do_set_reverse(cmd); break; case MAV_CMD_DO_FENCE_ENABLE: if (cmd.p1 == 0) { //disable g2.fence.enable(false); gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled"); } else { //enable fence g2.fence.enable(true); gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled"); } break; default: // return false for unhandled commands return false; } // if we got this far we must have been successful return true; }