示例#1
0
文件: roamstep4d.c 项目: corum/maxb3d
static roamdm dm_create(roam rm)
{
    roamdm dm;

    /* recycle least recently used diamond from free list */
    dm=rm->dm_free0;
    if (!dm) {
        /* to do: get all calling code to deal with out-of-mem failure */
        /* return (roamdm)0; */
        exit(1);
    }

    /* if not NEW, unlink from parents, otherwise set to not NEW */
    if (dm->r_bound>=0.0f) {
        dm->p[0]->k[dm->i[0]]=(roamdm)0; dm_unlock(dm->p[0]);
        dm->p[1]->k[dm->i[1]]=(roamdm)0; dm_unlock(dm->p[1]);
        dm->iq=IQMAX>>1;
    }else dm->r_bound=0.0f;
示例#2
0
void
Mission::on_inactive()
{
	if (_inited) {
		/* check if missions have changed so that feedback to ground station is given */
		bool onboard_updated = false;
		orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
		if (onboard_updated) {
			update_onboard_mission();
		}

		bool offboard_updated = false;
		orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
		if (offboard_updated) {
			update_offboard_mission();
		}

		/* reset the current offboard mission if needed */
		if (need_to_reset_mission(false)) {
			reset_offboard_mission(_offboard_mission);
			update_offboard_mission();
		}

	} else {

		/* load missions from storage */
		mission_s mission_state;

		dm_lock(DM_KEY_MISSION_STATE);

		/* read current state */
		int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

		dm_unlock(DM_KEY_MISSION_STATE);

		if (read_res == sizeof(mission_s)) {
			_offboard_mission.dataman_id = mission_state.dataman_id;
			_offboard_mission.count = mission_state.count;
			_current_offboard_mission_index = mission_state.current_seq;
		}

		_inited = true;
	}

	check_mission_valid();

	/* require takeoff after non-loiter or landing */
	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
		_need_takeoff = true;
		/* Reset work item type to default if auto take-off has been paused or aborted,
		   and we landed in manual mode. */
		if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) {
			_work_item_type = WORK_ITEM_TYPE_DEFAULT;		
		}
	}
}
示例#3
0
void
Mission::reset_offboard_mission(struct mission_s &mission)
{
	dm_lock(DM_KEY_MISSION_STATE);

	if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
		if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
			/* set current item to 0 */
			mission.current_seq = 0;

			/* reset jump counters */
			if (mission.count > 0) {
				dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(mission.dataman_id);

				for (unsigned index = 0; index < mission.count; index++) {
					struct mission_item_s item;
					const ssize_t len = sizeof(struct mission_item_s);

					if (dm_read(dm_current, index, &item, len) != len) {
						PX4_WARN("could not read mission item during reset");
						break;
					}

					if (item.nav_cmd == NAV_CMD_DO_JUMP) {
						item.do_jump_current_count = 0;

						if (dm_write(dm_current, index, DM_PERSIST_POWER_ON_RESET,
							     &item, len) != len) {
							PX4_WARN("could not save mission item during reset");
							break;
						}
					}
				}
			}

		} else {
			mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission");

			/* initialize mission state in dataman */
			mission.dataman_id = 0;
			mission.count = 0;
			mission.current_seq = 0;
		}

		dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
	}

	dm_unlock(DM_KEY_MISSION_STATE);
}
示例#4
0
void
Delivery::on_inactive()
{
////////////////////////////////////
	if (_inited) {
		/* check if missions have changed so that feedback to ground station is given */
		bool onboard_updated = false;
		orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
		if (onboard_updated) {
			update_onboard_mission();
		}

		bool offboard_updated = false;
		orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
		if (offboard_updated) {
			update_offboard_mission();
		}

	} else {

		/* load missions from storage */
		mission_s mission_state;

		dm_lock(DM_KEY_MISSION_STATE);

		/* read current state */
		int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

		dm_unlock(DM_KEY_MISSION_STATE);

		if (read_res == sizeof(mission_s)) {
			_offboard_mission.dataman_id = mission_state.dataman_id;
			_offboard_mission.count = mission_state.count;
			_current_offboard_mission_index = mission_state.current_seq;
		}

		_inited = true;
	}

	check_mission_valid();

	/* reset RTL state only if setpoint moved */
	if (!_navigator->get_can_loiter_at_sp()) {
		_rtl_state = RTL_STATE_NONE;
	}
}
示例#5
0
文件: mission.cpp 项目: DC00/Firmware
void
Mission::save_offboard_mission_state()
{
	mission_s mission_state;

	/* lock MISSION_STATE item */
	dm_lock(DM_KEY_MISSION_STATE);

	/* read current state */
	int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

	if (read_res == sizeof(mission_s)) {
		/* data read successfully, check dataman ID and items count */
		if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) {
			/* navigator may modify only sequence, write modified state only if it changed */
			if (mission_state.current_seq != _current_offboard_mission_index) {
				if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
					     sizeof(mission_s)) != sizeof(mission_s)) {

					warnx("ERROR: can't save mission state");
					mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
				}
			}
		}

	} else {
		/* invalid data, this must not happen and indicates error in offboard_mission publisher */
		mission_state.dataman_id = _offboard_mission.dataman_id;
		mission_state.count = _offboard_mission.count;
		mission_state.current_seq = _current_offboard_mission_index;

		warnx("ERROR: invalid mission state");
		mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: invalid mission state");

		/* write modified state only if changed */
		if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
			     sizeof(mission_s)) != sizeof(mission_s)) {

			warnx("ERROR: can't save mission state");
			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
		}
	}

	/* unlock MISSION_STATE item */
	dm_unlock(DM_KEY_MISSION_STATE);
}
示例#6
0
void
Mission::on_inactive()
{
	if (_inited) {
		/* check if missions have changed so that feedback to ground station is given */
		bool onboard_updated = false;
		orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
		if (onboard_updated) {
			update_onboard_mission();
		}

		bool offboard_updated = false;
		orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
		if (offboard_updated) {
			update_offboard_mission();
		}

	} else {

		/* load missions from storage */
		mission_s mission_state;

		dm_lock(DM_KEY_MISSION_STATE);

		/* read current state */
		int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

		dm_unlock(DM_KEY_MISSION_STATE);

		if (read_res == sizeof(mission_s)) {
			_offboard_mission.dataman_id = mission_state.dataman_id;
			_offboard_mission.count = mission_state.count;
			_current_offboard_mission_index = mission_state.current_seq;
		}

		_inited = true;
	}

	check_mission_valid();

	/* require takeoff after non-loiter or landing */
	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
		_need_takeoff = true;
	}
}
示例#7
0
文件: roamstep4d.c 项目: corum/maxb3d
static void dm_split(roamdm dm)
{
    int i,s;
    roamdm k,p;

    /* if already split, then skip */
    if (dm->flags&ROAM_SPLIT) return;

    /* split parents as needed recursively */
    for (i=0;i<2;i++) {
        p=dm->p[i];
        dm_split(p);
        /* if dm is p's first split kid, take p off of mergeq */
        if (!(p->splitflags&SPLIT_K)) dm_enqueue(p,ROAM_UNQ,p->iq);
        p->splitflags|=SPLIT_K0<<dm->i[i];
    }

    /* fetch kids, update cull/priority, and put on split queue */
    for (i=0;i<4;i++) {
        k=dm_fetchkid(dm,i);
        dm_cull_update(k);
        dm_priority_update(k);
        /* kids of a freshly-split diamond go on splitq */
        dm_enqueue(k,ROAM_SPLITQ,k->iq);
        s=(k->p[1]==dm?1:0);
        k->splitflags|=SPLIT_P0<<s;
        dm_unlock(k);
        dm_grabtri(k,s); /* put kid tris on draw list */
    }

    /* indicate diamond is split, update queueing, add to check list */
    dm->flags|=ROAM_SPLIT;
    dm_enqueue(dm,ROAM_MERGEQ,dm->iq); /* freshly-split dm goes on mergeq */

    /* put any triangles back on free list */
    dm_freetri(dm,0); dm_freetri(dm,1);
}
示例#8
0
文件: mission.cpp 项目: DC00/Firmware
void
Mission::on_inactive()
{
	/* We need to reset the mission cruising speed, otherwise the
	 * mission velocity which might have been set using mission items
	 * is used for missions such as RTL. */
	_navigator->set_cruising_speed();

	/* Without home a mission can't be valid yet anyway, let's wait. */
	if (!_navigator->home_position_valid()) {
		return;
	}

	if (_inited) {
		/* check if missions have changed so that feedback to ground station is given */
		bool onboard_updated = false;
		orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);

		if (onboard_updated) {
			update_onboard_mission();
		}

		bool offboard_updated = false;
		orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);

		if (offboard_updated) {
			update_offboard_mission();
		}

		/* reset the current offboard mission if needed */
		if (need_to_reset_mission(false)) {
			reset_offboard_mission(_offboard_mission);
			update_offboard_mission();
		}

	} else {

		/* load missions from storage */
		mission_s mission_state;

		dm_lock(DM_KEY_MISSION_STATE);

		/* read current state */
		int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

		dm_unlock(DM_KEY_MISSION_STATE);

		if (read_res == sizeof(mission_s)) {
			_offboard_mission.dataman_id = mission_state.dataman_id;
			_offboard_mission.count = mission_state.count;
			_current_offboard_mission_index = mission_state.current_seq;
		}

		/* On init let's check the mission, maybe there is already one available. */
		check_mission_valid(false);

		_inited = true;
	}

	/* require takeoff after non-loiter or landing */
	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
		_need_takeoff = true;

		/* Reset work item type to default if auto take-off has been paused or aborted,
		   and we landed in manual mode. */
		if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) {
			_work_item_type = WORK_ITEM_TYPE_DEFAULT;
		}
	}
}