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Merge branch 'navigator_new' into navigator_new_vector

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This commit is contained in:
Anton Babushkin 2013-12-31 15:45:04 +04:00
commit 5c84479ce9
1 changed files with 24 additions and 20 deletions
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44
src/modules/navigator/navigator_main.cpp
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@ -497,11 +497,14 @@ Navigator::task_main_trampoline(int argc, char *argv[])
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[navigator] started");
_fence_valid = load_fence(GEOFENCE_MAX_VERTICES);
/*
@ -530,7 +533,7 @@ Navigator::task_main()
unsigned prevState = NAV_STATE_NONE;
bool pub_control_mode = true;
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_period = 500000000;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[7];
@ -569,9 +572,9 @@ Navigator::task_main()
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time + mavlink_open_period) {
/* try to open the mavlink log device every once in a while */
mavlink_open_time = hrt_abstime();
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
@ -591,19 +594,17 @@ Navigator::task_main()
stick_mode = true;
} else {
/* MISSION switch */
if (!stick_mode) {
if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
dispatch(EVENT_LOITER_REQUESTED);
stick_mode = true;
} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
/* switch to mission only if available */
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
stick_mode = true;
} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
/* switch to mission only if available */
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
stick_mode = true;
}
stick_mode = true;
}
if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
@ -628,7 +629,11 @@ Navigator::task_main()
break;
case NAV_STATE_MISSION:
dispatch(EVENT_MISSION_REQUESTED);
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
break;
case NAV_STATE_RTL:
@ -994,8 +999,7 @@ Navigator::start_loiter()
void
Navigator::start_mission()
{
/* leave previous mission item as is as is */
/* leave previous mission item as is */
int ret;
bool onboard;
unsigned index;
@ -1107,7 +1111,7 @@ Navigator::start_rtl()
_mission_item_triplet.current.yaw = 0.0f; // TODO use heading to waypoint?
_mission_item_triplet.current.nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
_mission_item_triplet.current.loiter_direction = 1;
_mission_item_triplet.current.loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number
_mission_item_triplet.current.loiter_radius = _parameters.loiter_radius;
_mission_item_triplet.current.radius = 50.0f; // TODO: get rid of magic number
_mission_item_triplet.current.autocontinue = false;
_mission_item_triplet.current_valid = true;