// do_nav_wp - initiate move to next waypoint void Copter::do_nav_wp(const AP_Mission::Mission_Command& cmd) { Location_Class target_loc(cmd.content.location); // use current lat, lon if zero if (target_loc.lat == 0 && target_loc.lng == 0) { target_loc.lat = current_loc.lat; target_loc.lng = current_loc.lng; } // use current altitude if not provided if (target_loc.alt == 0) { // set to current altitude but in command's alt frame int32_t curr_alt; if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); } else { // default to current altitude as alt-above-home target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); } } // this will be used to remember the time in millis after we reach or pass the WP. loiter_time = 0; // this is the delay, stored in seconds loiter_time_max = cmd.p1; // Set wp navigation target auto_wp_start(target_loc); // if no delay set the waypoint as "fast" if (loiter_time_max == 0 ) { wp_nav.set_fast_waypoint(true); } }
// do_loiter_unlimited - start loitering with no end conditions // note: caller should set yaw_mode void Copter::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd) { // convert back to location Location_Class target_loc(cmd.content.location); // use current location if not provided if (target_loc.lat == 0 && target_loc.lng == 0) { // To-Do: make this simpler Vector3f temp_pos; wp_nav.get_wp_stopping_point_xy(temp_pos); Location_Class temp_loc(temp_pos); target_loc.lat = temp_loc.lat; target_loc.lng = temp_loc.lng; } // use current altitude if not provided // To-Do: use z-axis stopping point instead of current alt if (target_loc.alt == 0) { // set to current altitude but in command's alt frame int32_t curr_alt; if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); } else { // default to current altitude as alt-above-home target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); } } // start way point navigator and provide it the desired location auto_wp_start(target_loc); }
// do_land - initiate landing procedure void Copter::do_land(const AP_Mission::Mission_Command& cmd) { // To-Do: check if we have already landed // if location provided we fly to that location at current altitude if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) { // set state to fly to location land_state = LAND_STATE_FLY_TO_LOCATION; // convert to location class Location_Class target_loc(cmd.content.location); // decide if we will use terrain following int32_t curr_terr_alt_cm, target_terr_alt_cm; if (current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) && target_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) { curr_terr_alt_cm = MAX(curr_terr_alt_cm,200); // if using terrain, set target altitude to current altitude above terrain target_loc.set_alt_cm(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN); } else { // set target altitude to current altitude above home target_loc.set_alt_cm(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME); } auto_wp_start(target_loc); }else{ // set landing state land_state = LAND_STATE_DESCENDING; // initialise landing controller auto_land_start(); } }
// terrain_adjusted_location: returns a Location with lat/lon from cmd // and altitude from our current altitude adjusted for location Location_Class Copter::terrain_adjusted_location(const AP_Mission::Mission_Command& cmd) const { // convert to location class Location_Class target_loc(cmd.content.location); // decide if we will use terrain following int32_t curr_terr_alt_cm, target_terr_alt_cm; if (current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) && target_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) { curr_terr_alt_cm = MAX(curr_terr_alt_cm,200); // if using terrain, set target altitude to current altitude above terrain target_loc.set_alt_cm(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN); } else { // set target altitude to current altitude above home target_loc.set_alt_cm(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME); } return target_loc; }
// do_loiter_unlimited - start loitering with no end conditions // note: caller should set yaw_mode void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd) { // convert back to location Location_Class target_loc(cmd.content.location); // use current location if not provided if (target_loc.lat == 0 && target_loc.lng == 0) { // To-Do: make this simpler Vector3f temp_pos; wp_nav.get_wp_stopping_point_xy(temp_pos); Location_Class temp_loc(temp_pos); target_loc.lat = temp_loc.lat; target_loc.lng = temp_loc.lng; } // In mavproxy misseditor: Abs = 0 = ALT_FRAME_ABSOLUTE // Rel = 1 = ALT_FRAME_ABOVE_HOME // AGL = 3 = ALT_FRAME_ABOVE_TERRAIN // 2 = ALT_FRAME_ABOVE_ORIGIN, not an option in mavproxy misseditor // use current altitude if not provided // To-Do: use z-axis stopping point instead of current alt if (target_loc.alt == 0) { // set to current altitude but in command's alt frame int32_t curr_alt; if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); } else { // default to current altitude as alt-above-home target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); } } // start way point navigator and provide it the desired location auto_wp_start(target_loc); }
// do_spline_wp - initiate move to next waypoint void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd) { Location_Class target_loc(cmd.content.location); // use current lat, lon if zero if (target_loc.lat == 0 && target_loc.lng == 0) { target_loc.lat = current_loc.lat; target_loc.lng = current_loc.lng; } // use current altitude if not provided if (target_loc.alt == 0) { // set to current altitude but in command's alt frame int32_t curr_alt; if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); } else { // default to current altitude as alt-above-home target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); } } // this will be used to remember the time in millis after we reach or pass the WP. loiter_time = 0; // this is the delay, stored in seconds loiter_time_max = cmd.p1; // determine segment start and end type bool stopped_at_start = true; AC_WPNav::spline_segment_end_type seg_end_type = AC_WPNav::SEGMENT_END_STOP; AP_Mission::Mission_Command temp_cmd; // if previous command was a wp_nav command with no delay set stopped_at_start to false // To-Do: move processing of delay into wp-nav controller to allow it to determine the stopped_at_start value itself? uint16_t prev_cmd_idx = mission.get_prev_nav_cmd_index(); if (prev_cmd_idx != AP_MISSION_CMD_INDEX_NONE) { if (mission.read_cmd_from_storage(prev_cmd_idx, temp_cmd)) { if ((temp_cmd.id == MAV_CMD_NAV_WAYPOINT || temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) && temp_cmd.p1 == 0) { stopped_at_start = false; } } } // if there is no delay at the end of this segment get next nav command Location_Class next_loc; if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) { next_loc = temp_cmd.content.location; // default lat, lon to first waypoint's lat, lon if (next_loc.lat == 0 && next_loc.lng == 0) { next_loc.lat = target_loc.lat; next_loc.lng = target_loc.lng; } // default alt to first waypoint's alt but in next waypoint's alt frame if (next_loc.alt == 0) { int32_t next_alt; if (target_loc.get_alt_cm(next_loc.get_alt_frame(), next_alt)) { next_loc.set_alt_cm(next_alt, next_loc.get_alt_frame()); } else { // default to first waypoints altitude next_loc.set_alt_cm(target_loc.alt, target_loc.get_alt_frame()); } } // if the next nav command is a waypoint set end type to spline or straight if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT) { seg_end_type = AC_WPNav::SEGMENT_END_STRAIGHT; }else if (temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) { seg_end_type = AC_WPNav::SEGMENT_END_SPLINE; } } // set spline navigation target auto_spline_start(target_loc, stopped_at_start, seg_end_type, next_loc); }
// 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)) { DataFlash.Log_Write_Mission_Cmd(mission, cmd); } Location_Class 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 true; } // 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_Class::ALT_FRAME_ABOVE_HOME) { gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame()); return true; } 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: // 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 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 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 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)) { DataFlash.Log_Write_Mission_Cmd(mission, cmd); } Location_Class 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_Class::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; }