navigator: parameter cleanup

src/modules/navigator/mission_params.c

@@ -48,9 +48,20 @@
  */
 
 /**
- * Loiter radius (fixed wing only)
+ * Take-off altitude
  *
- * Default value of loiter radius (if not specified in mission item).
+ * Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to
+ * MIS_TAKEOFF_ALT on takeoff, then go to waypoint.
+ *
+ * @unit meters
+ * @group Mission
+ */
+PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 10.0f);
+
+/**
+ * Loiter radius after/during mission (FW only)
+ *
+ * Default value of loiter radius (fixedwing only).
  *
  * @unit meters
  * @min 0.0

src/modules/navigator/module.mk

@@ -38,10 +38,10 @@
 MODULE_COMMAND	= navigator
 
 SRCS		= navigator_main.cpp \
-		  navigator_params.c \
 		  mission.cpp \
 		  mission_params.c \
 		  rtl.cpp \
+		  rtl_params.c \
 		  mission_feasibility_checker.cpp \
 		  geofence.cpp \
 		  geofence_params.c

src/modules/navigator/navigator.h

@@ -107,7 +107,6 @@ private:
 	int		_global_pos_sub;		/**< global position subscription */
 	int		_home_pos_sub;			/**< home position subscription */
 	int		_vstatus_sub;			/**< vehicle status subscription */
-	int		_params_sub;			/**< notification of parameter updates */
 	int		_capabilities_sub;		/**< notification of vehicle capabilities updates */
 	int		_control_mode_sub;		/**< vehicle control mode subscription */
 	int		_onboard_mission_sub;		/**< onboard mission subscription */
@@ -143,25 +142,6 @@ private:
 
 	bool		_update_triplet;		/**< flags if position setpoint triplet needs to be published */
 
-	struct {
-		float acceptance_radius;
-		float loiter_radius;
-		int onboard_mission_enabled;
-		float takeoff_alt;
-	}		_parameters;			/**< local copies of parameters */
-
-	struct {
-		param_t acceptance_radius;
-		param_t loiter_radius;
-		param_t onboard_mission_enabled;
-		param_t takeoff_alt;
-	}		_parameter_handles;		/**< handles for parameters */
-
-	/**
-	 * Update our local parameter cache.
-	 */
-	void		parameters_update();
-
 	/**
 	 * Retrieve global position
 	 */

src/modules/navigator/navigator_main.cpp

@@ -64,12 +64,10 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/fence.h>
 #include <uORB/topics/navigation_capabilities.h>
 
-#include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <geo/geo.h>
@@ -102,7 +100,6 @@ Navigator::Navigator() :
 	_global_pos_sub(-1),
 	_home_pos_sub(-1),
 	_vstatus_sub(-1),
-	_params_sub(-1),
 	_capabilities_sub(-1),
 	_control_mode_sub(-1),
 	_pos_sp_triplet_pub(-1),
@@ -127,14 +124,8 @@ Navigator::Navigator() :
 	_waypoint_position_reached(false),
 	_waypoint_yaw_reached(false),
 	_time_first_inside_orbit(0),
-	_update_triplet(false),
+	_update_triplet(false)
-	_parameters({}),
-	_parameter_handles({})
 {
-	_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
-	_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
-	_parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN");
-	_parameter_handles.takeoff_alt = param_find("NAV_TAKEOFF_ALT");
 }
 
 Navigator::~Navigator()
@@ -162,23 +153,6 @@ Navigator::~Navigator()
 	navigator::g_navigator = nullptr;
 }
 
-void
-Navigator::parameters_update()
-{
-	/* read from param to clear updated flag */
-	struct parameter_update_s update;
-	orb_copy(ORB_ID(parameter_update), _params_sub, &update);
-
-	param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius));
-	param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius));
-	param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled));
-	param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
-
-	//_mission.set_onboard_mission_allowed((bool)_parameters.onboard_mission_enabled);
-
-	_geofence.updateParams();
-}
-
 void
 Navigator::global_position_update()
 {
@@ -251,7 +225,6 @@ Navigator::task_main()
 	_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_home_pos_sub = orb_subscribe(ORB_ID(home_position));
 	_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
 	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
@@ -259,7 +232,6 @@ Navigator::task_main()
 	/* copy all topics first time */
 	vehicle_status_update();
 	vehicle_control_mode_update();
-	parameters_update();
 	global_position_update();
 	home_position_update();
 	navigation_capabilities_update();
@@ -271,21 +243,19 @@ Navigator::task_main()
 	const hrt_abstime mavlink_open_interval = 500000;
 
 	/* wakeup source(s) */
-	struct pollfd fds[6];
+	struct pollfd fds[5];
 
 	/* Setup of loop */
-	fds[0].fd = _params_sub;
+	fds[0].fd = _global_pos_sub;
 	fds[0].events = POLLIN;
-	fds[1].fd = _global_pos_sub;
+	fds[1].fd = _home_pos_sub;
 	fds[1].events = POLLIN;
-	fds[2].fd = _home_pos_sub;
+	fds[2].fd = _capabilities_sub;
 	fds[2].events = POLLIN;
-	fds[3].fd = _capabilities_sub;
+	fds[3].fd = _vstatus_sub;
 	fds[3].events = POLLIN;
-	fds[4].fd = _vstatus_sub;
+	fds[4].fd = _control_mode_sub;
 	fds[4].events = POLLIN;
-	fds[5].fd = _control_mode_sub;
-	fds[5].events = POLLIN;
 
 	while (!_task_should_exit) {
 
@@ -311,33 +281,27 @@ Navigator::task_main()
 		}
 
 		/* vehicle control mode updated */
-		if (fds[5].revents & POLLIN) {
+		if (fds[4].revents & POLLIN) {
 			vehicle_control_mode_update();
 		}
 
 		/* vehicle status updated */
-		if (fds[4].revents & POLLIN) {
+		if (fds[3].revents & POLLIN) {
 			vehicle_status_update();
 		}
 
-		/* parameters updated */
-		if (fds[0].revents & POLLIN) {
-			parameters_update();
-			/* note that these new parameters won't be in effect until a mission triplet is published again */
-		}
-
 		/* navigation capabilities updated */
-		if (fds[3].revents & POLLIN) {
+		if (fds[2].revents & POLLIN) {
 			navigation_capabilities_update();
 		}
 
 		/* home position updated */
-		if (fds[2].revents & POLLIN) {
+		if (fds[1].revents & POLLIN) {
 			home_position_update();
 		}
 
 		/* global position updated */
-		if (fds[1].revents & POLLIN) {
+		if (fds[0].revents & POLLIN) {
 			global_position_update();
 
 			/* Check geofence violation */

src/modules/navigator/navigator_params.c

@@ -1,96 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file navigator_params.c
- *
- * Parameters defined by the navigator task.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
- */
-
-#include <nuttx/config.h>
-
-#include <systemlib/param/param.h>
-
-/*
- * Navigator parameters, accessible via MAVLink
- */
-
-/**
- * Waypoint acceptance radius
- *
- * Default value of acceptance radius (if not specified in mission item).
- *
- * @unit meters
- * @min 0.0
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
-
-/**
- * Loiter radius (fixed wing only)
- *
- * Default value of loiter radius (if not specified in mission item).
- *
- * @unit meters
- * @min 0.0
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
-
-/**
- * Enable onboard mission
- *
- * @group Navigation
- */
-PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
-
-/**
- * Take-off altitude
- *
- * Even if first waypoint has altitude less then NAV_TAKEOFF_ALT above home position, system will climb to NAV_TAKEOFF_ALT on takeoff, then go to waypoint.
- *
- * @unit meters
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f);
-
-/**
- * Enable parachute deployment
- *
- * @group Navigation
- */
-PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0);

src/modules/navigator/rtl.cpp

@@ -58,6 +58,7 @@ RTL::RTL(Navigator *navigator, const char *name) :
 	_home_position({}),
 	_loiter_radius(50),
 	_acceptance_radius(50),
+	_param_loiter_rad(this, "LOITER_RAD"),
 	_param_return_alt(this, "RETURN_ALT"),
 	_param_descend_alt(this, "DESCEND_ALT"),
 	_param_land_delay(this, "LAND_DELAY")

src/modules/navigator/rtl.h

@@ -92,6 +92,7 @@ private:
 	float		_loiter_radius;
 	float		_acceptance_radius;
 
+	control::BlockParamFloat _param_loiter_rad;
 	control::BlockParamFloat _param_return_alt;
 	control::BlockParamFloat _param_descend_alt;
 	control::BlockParamFloat _param_land_delay;

src/modules/navigator/rtl_params.c

@@ -47,6 +47,17 @@
  * RTL parameters, accessible via MAVLink
  */
 
+/**
+ * Loiter radius after RTL (FW only)
+ *
+ * Default value of loiter radius after RTL (fixedwing only).
+ *
+ * @unit meters
+ * @min 0.0
+ * @group RTL
+ */
+PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
+
 /**
  * RTL altitude
  *