// verify_command - this will be called repeatedly by ap_mission lib to ensure the active commands are progressing
// should return true once the active navigation command completes successfully
// called at 10hz or higher
bool Copter::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
return true;
default:
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time(cmd);
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_REVERSE:
return true;
default:
// error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
bool Copter::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_PAYLOAD_PLACE:
return verify_payload_place();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
case MAV_CMD_NAV_DELAY:
return verify_nav_delay(cmd);
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_GUIDED_LIMITS:
return true;
default:
// error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
// check if current mission command has completed
bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_surface(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
case MAV_CMD_NAV_DELAY:
return verify_nav_delay(cmd);
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_GUIDED_LIMITS:
return true;
default:
// error message
gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}