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Merged release_v1.0.0 branch into master

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Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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src/modules/navigator/mission.cpp
+58 -81
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@@ -78,7 +78,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_takeoff(false),
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_dist_1wp_ok(false),
_home_inited(false),
_missionFeasiblityChecker(),
_min_current_sp_distance_xy(FLT_MAX),
_mission_item_previous_alt(NAN),
@@ -110,6 +110,24 @@ Mission::on_inactive()
update_offboard_mission();
}
/* check if the home position became valid in the meantime */
if ((_mission_type == MISSION_TYPE_NONE || _mission_type == MISSION_TYPE_OFFBOARD) &&
!_home_inited && _navigator->home_position_valid()) {
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_navigator->get_mission_result()->valid = _missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning);
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();
_home_inited = true;
}
} else {
/* read mission topics on initialization */
_inited = true;
@@ -176,6 +194,7 @@ Mission::on_active()
&& _mission_type != MISSION_TYPE_NONE) {
heading_sp_update();
}
}
void
@@ -197,6 +216,11 @@ Mission::update_onboard_mission()
/* otherwise, just leave it */
}
// XXX check validity here as well
_navigator->get_mission_result()->valid = true;
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();
} else {
_onboard_mission.count = 0;
_onboard_mission.current_seq = 0;
@@ -232,7 +256,13 @@ Mission::update_offboard_mission()
failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid());
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning);
_navigator->get_mission_result()->valid = !failed;
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();
} else {
warnx("offboard mission update failed");
@@ -281,73 +311,6 @@ Mission::get_absolute_altitude_for_item(struct mission_item_s &mission_item)
}
}
bool
Mission::check_dist_1wp()
{
if (_dist_1wp_ok) {
/* always return true after at least one successful check */
return true;
}
/* check if first waypoint is not too far from home */
if (_param_dist_1wp.get() > 0.0f) {
if (_navigator->get_vstatus()->condition_home_position_valid) {
struct mission_item_s mission_item;
/* find first waypoint (with lat/lon) item in datamanager */
for (unsigned i = 0; i < _offboard_mission.count; i++) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id), i,
&mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) {
/* check only items with valid lat/lon */
if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
mission_item.nav_cmd == NAV_CMD_PATHPLANNING) {
/* check distance from current position to item */
float dist_to_1wp = get_distance_to_next_waypoint(
mission_item.lat, mission_item.lon,
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
if (dist_to_1wp < _param_dist_1wp.get()) {
_dist_1wp_ok = true;
if (dist_to_1wp > ((_param_dist_1wp.get() * 3) / 2)) {
/* allow at 2/3 distance, but warn */
mavlink_log_critical(_navigator->get_mavlink_fd(), "Warning: First waypoint very far: %d m", (int)dist_to_1wp);
}
return true;
} else {
/* item is too far from home */
mavlink_log_critical(_navigator->get_mavlink_fd(), "Waypoint too far: %d m,[MIS_DIST_1WP=%d]", (int)dist_to_1wp, (int)_param_dist_1wp.get());
return false;
}
}
} else {
/* error reading, mission is invalid */
mavlink_log_info(_navigator->get_mavlink_fd(), "error reading offboard mission");
return false;
}
}
/* no waypoints found in mission, then we will not fly far away */
_dist_1wp_ok = true;
return true;
} else {
mavlink_log_info(_navigator->get_mavlink_fd(), "no home position");
return false;
}
} else {
return true;
}
}
void
Mission::set_mission_items()
{
@@ -367,24 +330,24 @@ Mission::set_mission_items()
_mission_item_previous_alt = get_absolute_altitude_for_item(_mission_item);
}
/* get home distance state */
bool home_dist_ok = check_dist_1wp();
/* the home dist check provides user feedback, so we initialize it to this */
bool user_feedback_done = !home_dist_ok;
bool user_feedback_done = false;
/* try setting onboard mission item */
if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_ONBOARD;
/* try setting offboard mission item */
} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
} else if (read_mission_item(false, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_OFFBOARD;
} else {
@@ -392,21 +355,17 @@ Mission::set_mission_items()
if (_mission_type != MISSION_TYPE_NONE) {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
user_feedback_done = true;
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
} else if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
*/
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
}
_mission_type = MISSION_TYPE_NONE;
/* set loiter mission item */
set_loiter_item(&_mission_item);
/* set loiter mission item and ensure that there is a minimum clearance from home */
set_loiter_item(&_mission_item, _param_takeoff_alt.get());
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
@@ -418,6 +377,24 @@ Mission::set_mission_items()
set_mission_finished();
if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
*/
if (_navigator->get_vstatus()->condition_landed) {
/* landed, refusing to take off without a mission */
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, refusing takeoff");
} else {
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering");
}
user_feedback_done = true;
}
_navigator->set_position_setpoint_triplet_updated();
return;
}