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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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navigator: offboard_mission -> mission
This commit is contained in:
Alessandro Simovic
committed by
Daniel Agar
Daniel Agar
parent
6ed5ee6865
commit
168f1a5d51
+100
-100
@@ -81,21 +81,21 @@ Mission::on_inactive()
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}
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if (_inited) {
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bool offboard_updated = false;
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orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
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bool mission_sub_updated = false;
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orb_check(_navigator->get_mission_sub(), &mission_sub_updated);
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if (offboard_updated) {
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update_offboard_mission();
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if (mission_sub_updated) {
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update_mission();
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if (_mission_type == MISSION_TYPE_NONE && _offboard_mission.count > 0) {
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_mission_type = MISSION_TYPE_OFFBOARD;
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if (_mission_type == MISSION_TYPE_NONE && _mission.count > 0) {
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_mission_type = MISSION_TYPE_MISSION;
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}
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}
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/* reset the current offboard mission if needed */
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/* reset the current mission if needed */
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if (need_to_reset_mission(false)) {
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reset_offboard_mission(_offboard_mission);
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update_offboard_mission();
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reset_mission(_mission);
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update_mission();
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_navigator->reset_cruising_speed();
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}
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@@ -112,12 +112,12 @@ Mission::on_inactive()
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dm_unlock(DM_KEY_MISSION_STATE);
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if (read_res == sizeof(mission_s)) {
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_offboard_mission.dataman_id = mission_state.dataman_id;
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_offboard_mission.count = mission_state.count;
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_current_offboard_mission_index = mission_state.current_seq;
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_mission.dataman_id = mission_state.dataman_id;
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_mission.count = mission_state.count;
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_current_mission_index = mission_state.current_seq;
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// find and store landing start marker (if available)
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find_offboard_land_start();
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find_mission_land_start();
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}
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/* On init let's check the mission, maybe there is already one available. */
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@@ -156,7 +156,7 @@ Mission::on_activation()
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if (_mission_waypoints_changed) {
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// do not set the closest mission item in the normal mission mode
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if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) {
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_current_offboard_mission_index = index_closest_mission_item();
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_current_mission_index = index_closest_mission_item();
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}
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_mission_waypoints_changed = false;
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@@ -182,29 +182,29 @@ Mission::on_active()
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check_mission_valid(false);
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/* check if anything has changed */
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bool offboard_updated = false;
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orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
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bool mission_sub_updated = false;
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orb_check(_navigator->get_mission_sub(), &mission_sub_updated);
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if (offboard_updated) {
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update_offboard_mission();
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if (mission_sub_updated) {
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update_mission();
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}
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/* reset the current offboard mission if needed */
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/* reset the current mission if needed */
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if (need_to_reset_mission(true)) {
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reset_offboard_mission(_offboard_mission);
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update_offboard_mission();
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reset_mission(_mission);
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update_mission();
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_navigator->reset_cruising_speed();
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offboard_updated = true;
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mission_sub_updated = true;
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}
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_mission_changed = false;
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/* reset mission items if needed */
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if (offboard_updated || _mission_waypoints_changed || _execution_mode_changed) {
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if (mission_sub_updated || _mission_waypoints_changed || _execution_mode_changed) {
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if (_mission_waypoints_changed) {
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// do not set the closest mission item in the normal mission mode
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if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) {
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_current_offboard_mission_index = index_closest_mission_item();
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_current_mission_index = index_closest_mission_item();
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}
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_mission_waypoints_changed = false;
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@@ -282,14 +282,14 @@ Mission::on_active()
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}
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bool
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Mission::set_current_offboard_mission_index(uint16_t index)
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Mission::set_current_mission_index(uint16_t index)
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{
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if (_navigator->get_mission_result()->valid &&
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(index != _current_offboard_mission_index) && (index < _offboard_mission.count)) {
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(index != _current_mission_index) && (index < _mission.count)) {
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_current_offboard_mission_index = index;
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_current_mission_index = index;
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// a mission offboard index is set manually which has the higher priority than the closest mission item
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// a mission index is set manually which has the higher priority than the closest mission item
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// as it is set by the user
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_mission_waypoints_changed = false;
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@@ -311,7 +311,7 @@ Mission::set_current_offboard_mission_index(uint16_t index)
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void
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Mission::set_closest_item_as_current()
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{
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_current_offboard_mission_index = index_closest_mission_item();
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_current_mission_index = index_closest_mission_item();
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}
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void
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@@ -340,15 +340,15 @@ Mission::set_execution_mode(const uint8_t mode)
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issue_command(_mission_item);
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}
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if (_mission_type == MISSION_TYPE_NONE && _offboard_mission.count > 0) {
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_mission_type = MISSION_TYPE_OFFBOARD;
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if (_mission_type == MISSION_TYPE_NONE && _mission.count > 0) {
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_mission_type = MISSION_TYPE_MISSION;
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}
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if (_current_offboard_mission_index > _offboard_mission.count - 1) {
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_current_offboard_mission_index = _offboard_mission.count - 1;
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if (_current_mission_index > _mission.count - 1) {
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_current_mission_index = _mission.count - 1;
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} else if (_current_offboard_mission_index > 0) {
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--_current_offboard_mission_index;
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} else if (_current_mission_index > 0) {
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--_current_mission_index;
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}
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_work_item_type = WORK_ITEM_TYPE_DEFAULT;
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@@ -360,11 +360,11 @@ Mission::set_execution_mode(const uint8_t mode)
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if ((mode == mission_result_s::MISSION_EXECUTION_MODE_NORMAL) ||
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(mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD)) {
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// handle switch from reverse to forward mission
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if (_current_offboard_mission_index < 0) {
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_current_offboard_mission_index = 0;
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if (_current_mission_index < 0) {
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_current_mission_index = 0;
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} else if (_current_offboard_mission_index < _offboard_mission.count - 1) {
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++_current_offboard_mission_index;
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} else if (_current_mission_index < _mission.count - 1) {
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++_current_mission_index;
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}
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_work_item_type = WORK_ITEM_TYPE_DEFAULT;
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@@ -379,7 +379,7 @@ Mission::set_execution_mode(const uint8_t mode)
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}
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bool
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Mission::find_offboard_land_start()
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Mission::find_mission_land_start()
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{
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/* return true if a MAV_CMD_DO_LAND_START is found and internally save the index
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* return false if not found
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@@ -387,9 +387,9 @@ Mission::find_offboard_land_start()
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* TODO: implement full spec and find closest landing point geographically
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*/
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const dm_item_t dm_current = (dm_item_t)_offboard_mission.dataman_id;
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const dm_item_t dm_current = (dm_item_t)_mission.dataman_id;
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for (size_t i = 0; i < _offboard_mission.count; i++) {
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for (size_t i = 0; i < _mission.count; i++) {
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struct mission_item_s missionitem = {};
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const ssize_t len = sizeof(missionitem);
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@@ -421,7 +421,7 @@ Mission::land_start()
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return true;
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} else {
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set_current_offboard_mission_index(get_land_start_index());
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set_current_mission_index(get_land_start_index());
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return landing();
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}
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}
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@@ -436,13 +436,13 @@ Mission::landing()
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// mission valid, still flying, and in the landing portion of mission
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const bool mission_valid = _navigator->get_mission_result()->valid;
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const bool on_landing_stage = _land_start_available && (_current_offboard_mission_index >= get_land_start_index());
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const bool on_landing_stage = _land_start_available && (_current_mission_index >= get_land_start_index());
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return mission_valid && on_landing_stage;
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}
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void
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Mission::update_offboard_mission()
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Mission::update_mission()
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{
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bool failed = true;
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@@ -450,21 +450,21 @@ Mission::update_offboard_mission()
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/* reset triplets */
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_navigator->reset_triplets();
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struct mission_s old_offboard_mission = _offboard_mission;
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struct mission_s old_mission = _mission;
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if (orb_copy(ORB_ID(mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
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if (orb_copy(ORB_ID(mission), _navigator->get_mission_sub(), &_mission) == OK) {
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/* determine current index */
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if (_offboard_mission.current_seq >= 0 && _offboard_mission.current_seq < (int)_offboard_mission.count) {
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_current_offboard_mission_index = _offboard_mission.current_seq;
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if (_mission.current_seq >= 0 && _mission.current_seq < (int)_mission.count) {
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_current_mission_index = _mission.current_seq;
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} else {
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/* if less items available, reset to first item */
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if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
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_current_offboard_mission_index = 0;
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if (_current_mission_index >= (int)_mission.count) {
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_current_mission_index = 0;
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} else if (_current_offboard_mission_index < 0) {
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} else if (_current_mission_index < 0) {
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/* if not initialized, set it to 0 */
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_current_offboard_mission_index = 0;
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_current_mission_index = 0;
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}
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/* otherwise, just leave it */
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@@ -480,7 +480,7 @@ Mission::update_offboard_mission()
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/* reset sequence info as well */
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_navigator->get_mission_result()->seq_reached = -1;
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_navigator->get_mission_result()->seq_total = _offboard_mission.count;
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_navigator->get_mission_result()->seq_total = _mission.count;
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/* reset work item if new mission has been accepted */
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_work_item_type = WORK_ITEM_TYPE_DEFAULT;
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@@ -489,28 +489,28 @@ Mission::update_offboard_mission()
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/* check if the mission waypoints changed while the vehicle is in air
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* TODO add a flag to mission_s which actually tracks if the position of the waypoint changed */
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if (((_offboard_mission.count != old_offboard_mission.count) ||
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(_offboard_mission.dataman_id != old_offboard_mission.dataman_id)) &&
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if (((_mission.count != old_mission.count) ||
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(_mission.dataman_id != old_mission.dataman_id)) &&
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!_navigator->get_land_detected()->landed) {
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_mission_waypoints_changed = true;
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}
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} else {
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PX4_ERR("offboard mission update failed, handle: %d", _navigator->get_offboard_mission_sub());
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PX4_ERR("mission update failed, handle: %d", _navigator->get_mission_sub());
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}
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if (failed) {
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_offboard_mission.count = 0;
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_offboard_mission.current_seq = 0;
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_current_offboard_mission_index = 0;
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_mission.count = 0;
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_mission.current_seq = 0;
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_current_mission_index = 0;
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PX4_ERR("mission check failed");
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}
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// find and store landing start marker (if available)
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find_offboard_land_start();
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find_mission_land_start();
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set_current_offboard_mission_item();
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set_current_mission_item();
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}
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@@ -523,19 +523,19 @@ Mission::advance_mission()
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}
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switch (_mission_type) {
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case MISSION_TYPE_OFFBOARD:
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case MISSION_TYPE_MISSION:
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switch (_mission_execution_mode) {
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case mission_result_s::MISSION_EXECUTION_MODE_NORMAL:
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case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: {
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_current_offboard_mission_index++;
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_current_mission_index++;
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break;
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}
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case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: {
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// find next position item in reverse order
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dm_item_t dm_current = (dm_item_t)(_offboard_mission.dataman_id);
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dm_item_t dm_current = (dm_item_t)(_mission.dataman_id);
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for (int32_t i = _current_offboard_mission_index - 1; i >= 0; i--) {
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for (int32_t i = _current_mission_index - 1; i >= 0; i--) {
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struct mission_item_s missionitem = {};
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const ssize_t len = sizeof(missionitem);
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@@ -546,18 +546,18 @@ Mission::advance_mission()
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}
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if (item_contains_position(missionitem)) {
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_current_offboard_mission_index = i;
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_current_mission_index = i;
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return;
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}
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}
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// finished flying back the mission
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_current_offboard_mission_index = -1;
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_current_mission_index = -1;
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break;
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}
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default:
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_current_offboard_mission_index++;
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_current_mission_index++;
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}
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break;
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@@ -585,14 +585,14 @@ Mission::set_mission_items()
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if (prepare_mission_items(&_mission_item, &mission_item_next_position, &has_next_position_item)) {
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/* if mission type changed, notify */
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if (_mission_type != MISSION_TYPE_OFFBOARD) {
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if (_mission_type != MISSION_TYPE_MISSION) {
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mavlink_log_info(_navigator->get_mavlink_log_pub(),
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_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE ? "Executing Reverse Mission" :
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"Executing Mission");
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user_feedback_done = true;
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}
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_mission_type = MISSION_TYPE_OFFBOARD;
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_mission_type = MISSION_TYPE_MISSION;
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} else {
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/* no mission available or mission finished, switch to loiter */
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@@ -1027,8 +1027,8 @@ Mission::set_mission_items()
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_navigator->set_can_loiter_at_sp(false);
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reset_mission_item_reached();
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if (_mission_type == MISSION_TYPE_OFFBOARD) {
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set_current_offboard_mission_item();
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if (_mission_type == MISSION_TYPE_MISSION) {
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set_current_mission_item();
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}
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if (_mission_item.autocontinue && get_time_inside(_mission_item) < FLT_EPSILON) {
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@@ -1367,11 +1367,11 @@ Mission::do_abort_landing()
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// reset mission index to start of landing
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if (_land_start_available) {
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_current_offboard_mission_index = get_land_start_index();
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_current_mission_index = get_land_start_index();
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} else {
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// move mission index back (landing approach point)
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_current_offboard_mission_index -= 1;
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_current_mission_index -= 1;
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}
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// send reposition cmd to get out of mission
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@@ -1427,26 +1427,26 @@ Mission::prepare_mission_items(mission_item_s *mission_item,
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bool
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Mission::read_mission_item(int offset, struct mission_item_s *mission_item)
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{
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/* select offboard mission */
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const int current_index = _current_offboard_mission_index;
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/* select mission */
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const int current_index = _current_mission_index;
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int index_to_read = current_index + offset;
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int *mission_index_ptr = (offset == 0) ? &_current_offboard_mission_index : &index_to_read;
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const dm_item_t dm_item = (dm_item_t)_offboard_mission.dataman_id;
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int *mission_index_ptr = (offset == 0) ? &_current_mission_index : &index_to_read;
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const dm_item_t dm_item = (dm_item_t)_mission.dataman_id;
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/* do not work on empty missions */
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if (_offboard_mission.count == 0) {
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if (_mission.count == 0) {
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return false;
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}
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/* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after
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* 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */
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for (int i = 0; i < 10; i++) {
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if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)_offboard_mission.count) {
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if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)_mission.count) {
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/* mission item index out of bounds - if they are equal, we just reached the end */
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if ((*mission_index_ptr != (int)_offboard_mission.count) && (*mission_index_ptr != -1)) {
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if ((*mission_index_ptr != (int)_mission.count) && (*mission_index_ptr != -1)) {
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mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission item index out of bound, index: %d, max: %d.",
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*mission_index_ptr, _offboard_mission.count);
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*mission_index_ptr, _mission.count);
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}
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return false;
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@@ -1517,7 +1517,7 @@ Mission::read_mission_item(int offset, struct mission_item_s *mission_item)
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}
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void
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Mission::save_offboard_mission_state()
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Mission::save_mission_state()
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{
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mission_s mission_state = {};
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@@ -1533,9 +1533,9 @@ Mission::save_offboard_mission_state()
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if (read_res == sizeof(mission_s)) {
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/* data read successfully, check dataman ID and items count */
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if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) {
|
||||
if (mission_state.dataman_id == _mission.dataman_id && mission_state.count == _mission.count) {
|
||||
/* navigator may modify only sequence, write modified state only if it changed */
|
||||
if (mission_state.current_seq != _current_offboard_mission_index) {
|
||||
if (mission_state.current_seq != _current_mission_index) {
|
||||
mission_state.timestamp = hrt_absolute_time();
|
||||
|
||||
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
|
||||
@@ -1547,11 +1547,11 @@ Mission::save_offboard_mission_state()
|
||||
}
|
||||
|
||||
} else {
|
||||
/* invalid data, this must not happen and indicates error in offboard_mission publisher */
|
||||
/* invalid data, this must not happen and indicates error in mission publisher */
|
||||
mission_state.timestamp = hrt_absolute_time();
|
||||
mission_state.dataman_id = _offboard_mission.dataman_id;
|
||||
mission_state.count = _offboard_mission.count;
|
||||
mission_state.current_seq = _current_offboard_mission_index;
|
||||
mission_state.dataman_id = _mission.dataman_id;
|
||||
mission_state.count = _mission.count;
|
||||
mission_state.current_seq = _current_mission_index;
|
||||
|
||||
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Invalid mission state.");
|
||||
|
||||
@@ -1583,21 +1583,21 @@ Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining)
|
||||
void
|
||||
Mission::set_mission_item_reached()
|
||||
{
|
||||
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
|
||||
_navigator->get_mission_result()->seq_reached = _current_mission_index;
|
||||
_navigator->set_mission_result_updated();
|
||||
|
||||
reset_mission_item_reached();
|
||||
}
|
||||
|
||||
void
|
||||
Mission::set_current_offboard_mission_item()
|
||||
Mission::set_current_mission_item()
|
||||
{
|
||||
_navigator->get_mission_result()->finished = false;
|
||||
_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
|
||||
_navigator->get_mission_result()->seq_current = _current_mission_index;
|
||||
|
||||
_navigator->set_mission_result_updated();
|
||||
|
||||
save_offboard_mission_state();
|
||||
save_mission_state();
|
||||
}
|
||||
|
||||
void
|
||||
@@ -1608,23 +1608,23 @@ Mission::check_mission_valid(bool force)
|
||||
MissionFeasibilityChecker _missionFeasibilityChecker(_navigator);
|
||||
|
||||
_navigator->get_mission_result()->valid =
|
||||
_missionFeasibilityChecker.checkMissionFeasible(_offboard_mission,
|
||||
_missionFeasibilityChecker.checkMissionFeasible(_mission,
|
||||
_param_dist_1wp.get(),
|
||||
_param_dist_between_wps.get(),
|
||||
_navigator->mission_landing_required());
|
||||
|
||||
_navigator->get_mission_result()->seq_total = _offboard_mission.count;
|
||||
_navigator->get_mission_result()->seq_total = _mission.count;
|
||||
_navigator->increment_mission_instance_count();
|
||||
_navigator->set_mission_result_updated();
|
||||
_home_inited = _navigator->home_position_valid();
|
||||
|
||||
// find and store landing start marker (if available)
|
||||
find_offboard_land_start();
|
||||
find_mission_land_start();
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Mission::reset_offboard_mission(struct mission_s &mission)
|
||||
Mission::reset_mission(struct mission_s &mission)
|
||||
{
|
||||
dm_lock(DM_KEY_MISSION_STATE);
|
||||
|
||||
@@ -1706,9 +1706,9 @@ Mission::index_closest_mission_item() const
|
||||
int32_t min_dist_index(0);
|
||||
float min_dist(FLT_MAX), dist_xy(FLT_MAX), dist_z(FLT_MAX);
|
||||
|
||||
dm_item_t dm_current = (dm_item_t)(_offboard_mission.dataman_id);
|
||||
dm_item_t dm_current = (dm_item_t)(_mission.dataman_id);
|
||||
|
||||
for (size_t i = 0; i < _offboard_mission.count; i++) {
|
||||
for (size_t i = 0; i < _mission.count; i++) {
|
||||
struct mission_item_s missionitem = {};
|
||||
const ssize_t len = sizeof(missionitem);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user