Пример #1
0
// start_command - this function will be called when the ap_mission lib wishes to start a new command
bool Copter::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);
    }

    switch(cmd.id) {

    ///
    /// navigation commands
    ///
    case MAV_CMD_NAV_TAKEOFF:                   // 22
        do_takeoff(cmd);
        break;

    case MAV_CMD_NAV_WAYPOINT:                  // 16  Navigate to Waypoint
        do_nav_wp(cmd);
        break;

    case MAV_CMD_NAV_LAND:              // 21 LAND to Waypoint
        do_land(cmd);
        break;

    case MAV_CMD_NAV_PAYLOAD_PLACE:              // 94 place at Waypoint
        do_payload_place(cmd);
        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_RETURN_TO_LAUNCH:             //20
        do_RTL();
        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 copter 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 PARACHUTE == ENABLED
    case MAV_CMD_DO_PARACHUTE:                          // Mission command to configure or release parachute
        do_parachute(cmd);
        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;
}
Пример #2
0
bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
{
    // default to non-VTOL loiter
    auto_state.vtol_loiter = false;

        // log when new commands start
    if (should_log(MASK_LOG_CMD)) {
        DataFlash.Log_Write_Mission_Cmd(mission, cmd);
    }

    // special handling for nav vs non-nav commands
    if (AP_Mission::is_nav_cmd(cmd)) {
        // set land_complete to false to stop us zeroing the throttle
        auto_state.sink_rate = 0;

        // set takeoff_complete to true so we don't add extra elevator
        // except in a takeoff
        auto_state.takeoff_complete = true;

        // start non-idle
        auto_state.idle_mode = false;
        
        nav_controller->set_data_is_stale();

        // reset loiter start time. New command is a new loiter
        loiter.start_time_ms = 0;

        AP_Mission::Mission_Command next_nav_cmd;
        const uint16_t next_index = mission.get_current_nav_index() + 1;
        auto_state.wp_is_land_approach = mission.get_next_nav_cmd(next_index, next_nav_cmd) && (next_nav_cmd.id == MAV_CMD_NAV_LAND);

        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing nav command ID #%i",cmd.id);
    } else {
        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
    }

    switch(cmd.id) {

    case MAV_CMD_NAV_TAKEOFF:
        crash_state.is_crashed = false;
        do_takeoff(cmd);
        break;

    case MAV_CMD_NAV_WAYPOINT:                  // Navigate to Waypoint
        do_nav_wp(cmd);
        break;

    case MAV_CMD_NAV_LAND:              // LAND to Waypoint
        do_land(cmd);
        break;

    case MAV_CMD_NAV_LOITER_UNLIM:              // Loiter indefinitely
        do_loiter_unlimited(cmd);
        break;

    case MAV_CMD_NAV_LOITER_TURNS:              // Loiter N Times
        do_loiter_turns(cmd);
        break;

    case MAV_CMD_NAV_LOITER_TIME:
        do_loiter_time(cmd);
        break;

    case MAV_CMD_NAV_LOITER_TO_ALT:
        do_loiter_to_alt(cmd);
        break;

    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
        set_mode(RTL, MODE_REASON_UNKNOWN);
        break;

    case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
        do_continue_and_change_alt(cmd);
        break;

    case MAV_CMD_NAV_ALTITUDE_WAIT:
        do_altitude_wait(cmd);
        break;

    case MAV_CMD_NAV_VTOL_TAKEOFF:
        crash_state.is_crashed = false;
        return quadplane.do_vtol_takeoff(cmd);

    case MAV_CMD_NAV_VTOL_LAND:
        crash_state.is_crashed = false;
        return quadplane.do_vtol_land(cmd);
        
    // 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;

    case MAV_CMD_DO_INVERTED_FLIGHT:
        if (cmd.p1 == 0 || cmd.p1 == 1) {
            auto_state.inverted_flight = (bool)cmd.p1;
            gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set inverted %u", cmd.p1);
        }
        break;

    case MAV_CMD_DO_LAND_START:
        break;

    case MAV_CMD_DO_FENCE_ENABLE:
#if GEOFENCE_ENABLED == ENABLED
        if (cmd.p1 != 2) {
            if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
                gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to set fence. Enabled state to %u", cmd.p1);
            } else {
                gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set fence enabled state to %u", cmd.p1);
            }
        } else { //commanding to only disable floor
            if (! geofence_set_floor_enabled(false)) {
                gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Unable to disable fence floor");
            } else {
                gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Fence floor disabled");
            }
        }    
#endif
        break;

    case MAV_CMD_DO_AUTOTUNE_ENABLE:
        autotune_enable(cmd.p1);
        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 Send Digicam Control message with the camera library
        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 PARACHUTE == ENABLED
    case MAV_CMD_DO_PARACHUTE:
        do_parachute(cmd);
        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 {
            // set mount's target location
            camera_mount.set_roi_target(cmd.content.location);
        }
        break;

    case MAV_CMD_DO_MOUNT_CONTROL:          // 205
        // point the camera to a specified angle
        camera_mount.set_angle_targets(cmd.content.mount_control.roll, 
                                       cmd.content.mount_control.pitch, 
                                       cmd.content.mount_control.yaw);
        break;
#endif

    case MAV_CMD_DO_VTOL_TRANSITION:
        plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)cmd.content.do_vtol_transition.target_state);
        break;

    case MAV_CMD_DO_ENGINE_CONTROL:
        plane.g2.ice_control.engine_control(cmd.content.do_engine_control.start_control,
                                            cmd.content.do_engine_control.cold_start,
                                            cmd.content.do_engine_control.height_delay_cm*0.01f);
        break;
    }

    return true;
}