void
Navigator::task_main()
{
bool have_geofence_position_data = false;
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file
* else clear geofence data in datamanager */
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
warnx("Try to load geofence.txt");
_geofence.loadFromFile(GEOFENCE_FILENAME);
} else {
if (_geofence.clearDm() != OK) {
mavlink_log_critical(&_mavlink_log_pub, "failed clearing geofence");
}
}
/* do subscriptions */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
_fw_pos_ctrl_status_sub = orb_subscribe(ORB_ID(fw_pos_ctrl_status));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
/* copy all topics first time */
vehicle_status_update();
vehicle_land_detected_update();
vehicle_control_mode_update();
global_position_update();
gps_position_update();
sensor_combined_update();
home_position_update(true);
fw_pos_ctrl_status_update();
params_update();
/* wakeup source(s) */
px4_pollfd_struct_t fds[2] = {};
/* Setup of loop */
fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _vehicle_command_sub;
fds[1].events = POLLIN;
bool global_pos_available_once = false;
while (!_task_should_exit) {
/* wait for up to 200ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
if (pret == 0) {
/* timed out - periodic check for _task_should_exit, etc. */
if (global_pos_available_once) {
global_pos_available_once = false;
PX4_WARN("navigator: global position timeout");
}
/* Let the loop run anyway, don't do `continue` here. */
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
PX4_WARN("nav: poll error %d, %d", pret, errno);
continue;
} else {
/* success, global pos was available */
global_pos_available_once = true;
}
perf_begin(_loop_perf);
bool updated;
/* gps updated */
orb_check(_gps_pos_sub, &updated);
if (updated) {
gps_position_update();
if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) {
have_geofence_position_data = true;
}
}
/* sensors combined updated */
orb_check(_sensor_combined_sub, &updated);
if (updated) {
sensor_combined_update();
}
/* parameters updated */
orb_check(_param_update_sub, &updated);
if (updated) {
params_update();
updateParams();
}
/* vehicle control mode updated */
orb_check(_control_mode_sub, &updated);
if (updated) {
vehicle_control_mode_update();
}
/* vehicle status updated */
orb_check(_vstatus_sub, &updated);
if (updated) {
vehicle_status_update();
}
/* vehicle land detected updated */
orb_check(_land_detected_sub, &updated);
if (updated) {
vehicle_land_detected_update();
}
/* navigation capabilities updated */
orb_check(_fw_pos_ctrl_status_sub, &updated);
if (updated) {
fw_pos_ctrl_status_update();
}
/* home position updated */
orb_check(_home_pos_sub, &updated);
if (updated) {
home_position_update();
}
orb_check(_vehicle_command_sub, &updated);
if (updated) {
vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
struct position_setpoint_triplet_s *rep = get_reposition_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_global_position()->yaw;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
// Go on and check which changes had been requested
if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4;
} else {
rep->current.yaw = NAN;
}
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7;
} else {
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
}
if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7;
} else {
rep->current.alt = get_global_position()->alt;
}
rep->previous.valid = true;
rep->current.valid = true;
rep->next.valid = false;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) {
struct position_setpoint_triplet_s *rep = get_takeoff_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_global_position()->yaw;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.yaw = cmd.param4;
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7;
} else {
// If one of them is non-finite, reset both
rep->current.lat = NAN;
rep->current.lon = NAN;
}
rep->current.alt = cmd.param7;
rep->previous.valid = true;
rep->current.valid = true;
rep->next.valid = false;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_PAUSE_CONTINUE) {
warnx("navigator: got pause/continue command");
}
}
/* global position updated */
if (fds[0].revents & POLLIN) {
global_position_update();
if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
have_geofence_position_data = true;
}
}
/* Check geofence violation */
static hrt_abstime last_geofence_check = 0;
if (have_geofence_position_data &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter, _home_pos, home_position_valid());
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
_geofence_result.geofence_action = _geofence.getGeofenceAction();
if (!inside) {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = true;
publish_geofence_result();
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(&_mavlink_log_pub, "Geofence violation");
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = false;
publish_geofence_result();
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
}
/* Do stuff according to navigation state set by commander */
switch (_vstatus.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
if (_fw_pos_ctrl_status.abort_landing) {
// pos controller aborted landing, requests loiter
// above landing waypoint
_navigation_mode = &_loiter;
_pos_sp_triplet_published_invalid_once = false;
} else {
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_loiter;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_act.get() == 1) {
_navigation_mode = &_loiter;
} else if (_param_rcloss_act.get() == 3) {
_navigation_mode = &_land;
} else if (_param_rcloss_act.get() == 4) {
_navigation_mode = &_rcLoss;
} else { /* if == 2 or unknown, RTL */
_navigation_mode = &_rtl;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rtl;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_takeoff;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
if (_param_datalinkloss_act.get() == 1) {
_navigation_mode = &_loiter;
} else if (_param_datalinkloss_act.get() == 3) {
_navigation_mode = &_land;
} else if (_param_datalinkloss_act.get() == 4) {
_navigation_mode = &_dataLinkLoss;
} else { /* if == 2 or unknown, RTL */
_navigation_mode = &_rtl;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_engineFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_follow_target;
break;
default:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
}
/* iterate through navigation modes and set active/inactive for each */
for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
/* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
_pos_sp_triplet_published_invalid_once = true;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet_updated = true;
}
if (_pos_sp_triplet_updated) {
publish_position_setpoint_triplet();
_pos_sp_triplet_updated = false;
}
if (_mission_result_updated) {
publish_mission_result();
_mission_result_updated = false;
}
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;
return;
}
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[navigator] started");
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file
* else clear geofence data in datamanager
*/
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
warnx("Try to load geofence.txt");
_geofence.loadFromFile(GEOFENCE_FILENAME);
} else {
if (_geofence.clearDm() > 0)
warnx("Geofence cleared");
else
warnx("Could not clear geofence");
}
/*
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
/* copy all topics first time */
vehicle_status_update();
vehicle_control_mode_update();
parameters_update();
global_position_update();
home_position_update();
navigation_capabilities_update();
offboard_mission_update(_vstatus.is_rotary_wing);
onboard_mission_update();
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
unsigned prevState = NAV_STATE_NONE;
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[8];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
fds[2].fd = _home_pos_sub;
fds[2].events = POLLIN;
fds[3].fd = _capabilities_sub;
fds[3].events = POLLIN;
fds[4].fd = _offboard_mission_sub;
fds[4].events = POLLIN;
fds[5].fd = _onboard_mission_sub;
fds[5].events = POLLIN;
fds[6].fd = _vstatus_sub;
fds[6].events = POLLIN;
fds[7].fd = _control_mode_sub;
fds[7].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
/* vehicle control mode updated */
if (fds[7].revents & POLLIN) {
vehicle_control_mode_update();
}
/* vehicle status updated */
if (fds[6].revents & POLLIN) {
vehicle_status_update();
/* evaluate state machine from commander and set the navigator mode accordingly */
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
bool stick_mode = false;
if (!_vstatus.rc_signal_lost) {
/* RC signal available, use control switches to set mode */
/* RETURN switch, overrides MISSION switch */
if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
/* switch to RTL if not already landed after RTL and home position set */
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
stick_mode = true;
} else {
/* MISSION switch */
if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
request_loiter_or_ready();
stick_mode = true;
} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
request_mission_if_available();
stick_mode = true;
}
if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
request_mission_if_available();
stick_mode = true;
}
}
}
if (!stick_mode) {
if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) {
/* commander requested new navigation mode, try to set it */
_set_nav_state_timestamp = _vstatus.set_nav_state_timestamp;
switch (_vstatus.set_nav_state) {
case NAV_STATE_NONE:
/* nothing to do */
break;
case NAV_STATE_LOITER:
request_loiter_or_ready();
break;
case NAV_STATE_MISSION:
request_mission_if_available();
break;
case NAV_STATE_RTL:
if (!(_rtl_state == RTL_STATE_DESCEND &&
(myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
break;
case NAV_STATE_LAND:
dispatch(EVENT_LAND_REQUESTED);
break;
default:
warnx("ERROR: Requested navigation state not supported");
break;
}
} else {
/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
if (myState == NAV_STATE_NONE) {
request_mission_if_available();
}
}
}
} else {
/* navigator shouldn't act */
dispatch(EVENT_NONE_REQUESTED);
}
}
/* parameters updated */
if (fds[0].revents & POLLIN) {
parameters_update();
/* note that these new parameters won't be in effect until a mission triplet is published again */
}
/* navigation capabilities updated */
if (fds[3].revents & POLLIN) {
navigation_capabilities_update();
}
/* offboard mission updated */
if (fds[4].revents & POLLIN) {
offboard_mission_update(_vstatus.is_rotary_wing);
// XXX check if mission really changed
dispatch(EVENT_MISSION_CHANGED);
}
/* onboard mission updated */
if (fds[5].revents & POLLIN) {
onboard_mission_update();
// XXX check if mission really changed
dispatch(EVENT_MISSION_CHANGED);
}
/* home position updated */
if (fds[2].revents & POLLIN) {
home_position_update();
// XXX check if home position really changed
dispatch(EVENT_HOME_POSITION_CHANGED);
}
/* global position updated */
if (fds[1].revents & POLLIN) {
global_position_update();
/* publish position setpoint triplet on each position update if navigator active */
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
_pos_sp_triplet_updated = true;
if (myState == NAV_STATE_LAND && _global_pos.global_valid && !_global_pos_valid) {
/* got global position when landing, update setpoint */
start_land();
}
_global_pos_valid = _global_pos.global_valid;
/* check if waypoint has been reached in MISSION, RTL and LAND modes */
if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) {
if (check_mission_item_reached()) {
on_mission_item_reached();
}
}
}
/* Check geofence violation */
if (!_geofence.inside(&_global_pos)) {
//xxx: publish geofence violation here (or change local flag depending on which app handles the flight termination)
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation");
_geofence_violation_warning_sent = true;
}
} else {
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
}
/* publish position setpoint triplet if updated */
if (_pos_sp_triplet_updated) {
_pos_sp_triplet_updated = false;
publish_position_setpoint_triplet();
}
/* notify user about state changes */
if (myState != prevState) {
mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]);
prevState = myState;
}
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;
_exit(0);
}
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
_geofence.setMavlinkFd(_mavlink_fd);
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file
* else clear geofence data in datamanager */
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
warnx("Try to load geofence.txt");
_geofence.loadFromFile(GEOFENCE_FILENAME);
} else {
mavlink_log_critical(_mavlink_fd, "#audio: No geofence file");
if (_geofence.clearDm() > 0)
warnx("Geofence cleared");
else
warnx("Could not clear geofence");
}
/* do subscriptions */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
/* copy all topics first time */
vehicle_status_update();
vehicle_control_mode_update();
global_position_update();
gps_position_update();
sensor_combined_update();
home_position_update();
navigation_capabilities_update();
params_update();
/* rate limit position and sensor updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
orb_set_interval(_sensor_combined_sub, 20);
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[8];
/* Setup of loop */
fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _home_pos_sub;
fds[1].events = POLLIN;
fds[2].fd = _capabilities_sub;
fds[2].events = POLLIN;
fds[3].fd = _vstatus_sub;
fds[3].events = POLLIN;
fds[4].fd = _control_mode_sub;
fds[4].events = POLLIN;
fds[5].fd = _param_update_sub;
fds[5].events = POLLIN;
fds[6].fd = _sensor_combined_sub;
fds[6].events = POLLIN;
fds[7].fd = _gps_pos_sub;
fds[7].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
if (pret == 0) {
/* timed out - periodic check for _task_should_exit, etc. */
continue;
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
static bool have_geofence_position_data = false;
/* gps updated */
if (fds[7].revents & POLLIN) {
gps_position_update();
if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) {
have_geofence_position_data = true;
}
}
/* sensors combined updated */
if (fds[6].revents & POLLIN) {
sensor_combined_update();
}
/* parameters updated */
if (fds[5].revents & POLLIN) {
params_update();
updateParams();
}
/* vehicle control mode updated */
if (fds[4].revents & POLLIN) {
vehicle_control_mode_update();
}
/* vehicle status updated */
if (fds[3].revents & POLLIN) {
vehicle_status_update();
}
/* navigation capabilities updated */
if (fds[2].revents & POLLIN) {
navigation_capabilities_update();
}
/* home position updated */
if (fds[1].revents & POLLIN) {
home_position_update();
}
/* global position updated */
if (fds[0].revents & POLLIN) {
global_position_update();
if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
have_geofence_position_data = true;
}
}
/* Check geofence violation */
static hrt_abstime last_geofence_check = 0;
if (have_geofence_position_data && hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL) {
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter);
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
if (!inside) {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = true;
publish_geofence_result();
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation");
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = false;
publish_geofence_result();
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
}
/* Do stuff according to navigation state set by commander */
switch (_vstatus.nav_state) {
case NAVIGATION_STATE_MANUAL:
case NAVIGATION_STATE_ACRO:
case NAVIGATION_STATE_ALTCTL:
case NAVIGATION_STATE_POSCTL:
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
case NAVIGATION_STATE_OFFBOARD:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
break;
case NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_obc.get() != 0) {
_navigation_mode = &_rcLoss;
} else {
_navigation_mode = &_rtl;
}
break;
case NAVIGATION_STATE_AUTO_RTL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
if (_param_datalinkloss_obc.get() != 0) {
_navigation_mode = &_dataLinkLoss;
} else {
_navigation_mode = &_rtl;
}
break;
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_engineFailure;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
break;
default:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
}
/* iterate through navigation modes and set active/inactive for each */
for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
/* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
_pos_sp_triplet_published_invalid_once = true;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet_updated = true;
}
if (_pos_sp_triplet_updated) {
publish_position_setpoint_triplet();
_pos_sp_triplet_updated = false;
}
if (_mission_result_updated) {
publish_mission_result();
_mission_result_updated = false;
}
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;
_exit(0);
}
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file
* else clear geofence data in datamanager */
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
warnx("Try to load geofence.txt");
_geofence.loadFromFile(GEOFENCE_FILENAME);
} else {
if (_geofence.clearDm() > 0)
warnx("Geofence cleared");
else
warnx("Could not clear geofence");
}
/* do subscriptions */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
/* copy all topics first time */
vehicle_status_update();
vehicle_control_mode_update();
global_position_update();
home_position_update();
navigation_capabilities_update();
params_update();
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[6];
/* Setup of loop */
fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _home_pos_sub;
fds[1].events = POLLIN;
fds[2].fd = _capabilities_sub;
fds[2].events = POLLIN;
fds[3].fd = _vstatus_sub;
fds[3].events = POLLIN;
fds[4].fd = _control_mode_sub;
fds[4].events = POLLIN;
fds[5].fd = _param_update_sub;
fds[5].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
if (pret == 0) {
/* timed out - periodic check for _task_should_exit, etc. */
continue;
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
/* parameters updated */
if (fds[5].revents & POLLIN) {
params_update();
updateParams();
}
/* vehicle control mode updated */
if (fds[4].revents & POLLIN) {
vehicle_control_mode_update();
}
/* vehicle status updated */
if (fds[3].revents & POLLIN) {
vehicle_status_update();
}
/* navigation capabilities updated */
if (fds[2].revents & POLLIN) {
navigation_capabilities_update();
}
/* home position updated */
if (fds[1].revents & POLLIN) {
home_position_update();
}
/* global position updated */
if (fds[0].revents & POLLIN) {
global_position_update();
/* Check geofence violation */
if (!_geofence.inside(&_global_pos)) {
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation");
_geofence_violation_warning_sent = true;
}
} else {
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
}
/* Do stuff according to navigation state set by commander */
switch (_vstatus.nav_state) {
case NAVIGATION_STATE_MANUAL:
case NAVIGATION_STATE_ACRO:
case NAVIGATION_STATE_ALTCTL:
case NAVIGATION_STATE_POSCTL:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
_navigation_mode = &_mission;
break;
case NAVIGATION_STATE_AUTO_LOITER:
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RTL:
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS:
_navigation_mode = &_rtl; /* TODO: change this to something else */
break;
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
default:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
}
/* iterate through navigation modes and set active/inactive for each */
for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
if (_navigation_mode == _navigation_mode_array[i]) {
_update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet);
} else {
_navigation_mode_array[i]->on_inactive();
}
}
/* if nothing is running, set position setpoint triplet invalid */
if (_navigation_mode == nullptr) {
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_update_triplet = true;
}
if (_update_triplet) {
publish_position_setpoint_triplet();
_update_triplet = false;
}
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;
_exit(0);
}
