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FW implement MAV_CMD_DO_GO_AROUND

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This commit is contained in:
Daniel Agar
2016-07-29 20:24:21 -04:00
committed by Lorenz Meier
parent aa3ffa28c8
commit 2a15578f8d
9 changed files with 186 additions and 49 deletions
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src/modules/navigator/mission.cpp
+53
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@@ -74,6 +74,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_param_altmode(this, "MIS_ALTMODE", false),
_param_yawmode(this, "MIS_YAWMODE", false),
_param_force_vtol(this, "VT_NAV_FORCE_VT", false),
_param_fw_climbout_diff(this, "FW_CLMBOUT_DIFF", false),
_onboard_mission{},
_offboard_mission{},
_current_onboard_mission_index(-1),
@@ -226,9 +227,17 @@ Mission::on_active()
&& _param_yawmode.get() < MISSION_YAWMODE_MAX
&& _mission_type != MISSION_TYPE_NONE)
|| _navigator->get_vstatus()->is_vtol) {
heading_sp_update();
}
/* check if landing needs to be aborted */
if ((_mission_item.nav_cmd == NAV_CMD_LAND)
&& (_navigator->abort_landing())) {
do_abort_landing();
}
}
void
@@ -382,6 +391,7 @@ Mission::set_mission_items()
/* try setting onboard mission item */
if (_param_onboard_enabled.get()
&& prepare_mission_items(true, &_mission_item, &mission_item_next_position, &has_next_position_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing internal mission");
@@ -819,6 +829,7 @@ Mission::heading_sp_update()
|| _mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) {
return;
}
@@ -852,6 +863,7 @@ Mission::heading_sp_update()
// (which would result in a wrong yaw setpoint spike during back transition)
&& _navigator->get_vstatus()->is_rotary_wing
&& !(_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION || _navigator->get_vstatus()->in_transition_mode)) {
point_to_latlon[0] = _navigator->get_home_position()->lat;
point_to_latlon[1] = _navigator->get_home_position()->lon;
@@ -957,6 +969,47 @@ Mission::altitude_sp_foh_reset()
_min_current_sp_distance_xy = FLT_MAX;
}
void
Mission::do_abort_landing()
{
// Abort FW landing
// turn the land waypoint into a loiter and stay there
if (_mission_item.nav_cmd != NAV_CMD_LAND) {
return;
}
// loiter at the larger of MIS_LTRMIN_ALT above the landing point
// or 2 * FW_CLMBOUT_DIFF above the current altitude
float alt_landing = get_absolute_altitude_for_item(_mission_item);
float alt_sp = math::max(alt_landing + _param_loiter_min_alt.get(),
_navigator->get_global_position()->alt + (2 * _param_fw_climbout_diff.get()));
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = alt_sp;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD;
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %dm above landing)",
(int)(alt_sp - alt_landing));
// move mission index back 1 (landing approach point) so that re-entering
// the mission doesn't try to land from the loiter above land
// TODO: reset index to MAV_CMD_DO_LAND_START
_current_offboard_mission_index -= 1;
}
bool
Mission::prepare_mission_items(bool onboard, struct mission_item_s *mission_item,
struct mission_item_s *next_position_mission_item, bool *has_next_position_item)