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Only check mission when needed

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This commit is contained in:
sander 2016-08-05 22:37:06 +02:00 committed by Lorenz Meier
parent 3e87ec5153
commit 9398a4819f
2 changed files with 152 additions and 105 deletions
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253
src/modules/navigator/mission.cpp
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@ -81,6 +81,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_need_takeoff(true),
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_home_inited(false),
_need_mission_reset(false),
_missionFeasibilityChecker(),
_min_current_sp_distance_xy(FLT_MAX),
@ -108,12 +109,14 @@ Mission::on_inactive()
/* check if missions have changed so that feedback to ground station is given */
bool onboard_updated = false;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated = false;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
}
@ -143,7 +146,7 @@ Mission::on_inactive()
}
/* On init let's check the mission, maybe there is already one available. */
check_mission_valid();
check_mission_valid(false);
_inited = true;
}
@ -151,6 +154,7 @@ Mission::on_inactive()
/* require takeoff after non-loiter or landing */
if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
_need_takeoff = true;
/* Reset work item type to default if auto take-off has been paused or aborted,
and we landed in manual mode. */
if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) {
@ -168,17 +172,19 @@ Mission::on_activation()
void
Mission::on_active()
{
check_mission_valid();
check_mission_valid(false);
/* check if anything has changed */
bool onboard_updated = false;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated = false;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
}
@ -198,6 +204,7 @@ Mission::on_active()
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
set_mission_item_reached();
if (_mission_item.autocontinue) {
/* switch to next waypoint if 'autocontinue' flag set */
advance_mission();
@ -216,9 +223,9 @@ Mission::on_active()
/* see if we need to update the current yaw heading */
if ((_param_yawmode.get() != MISSION_YAWMODE_NONE
&& _param_yawmode.get() < MISSION_YAWMODE_MAX
&& _mission_type != MISSION_TYPE_NONE)
|| _navigator->get_vstatus()->is_vtol) {
&& _param_yawmode.get() < MISSION_YAWMODE_MAX
&& _mission_type != MISSION_TYPE_NONE)
|| _navigator->get_vstatus()->is_vtol) {
heading_sp_update();
}
@ -229,17 +236,20 @@ Mission::update_onboard_mission()
{
if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) {
/* accept the current index set by the onboard mission if it is within bounds */
if (_onboard_mission.current_seq >=0
&& _onboard_mission.current_seq < (int)_onboard_mission.count) {
if (_onboard_mission.current_seq >= 0
&& _onboard_mission.current_seq < (int)_onboard_mission.count) {
_current_onboard_mission_index = _onboard_mission.current_seq;
} else {
/* if less WPs available, reset to first WP */
if (_current_onboard_mission_index >= (int)_onboard_mission.count) {
_current_onboard_mission_index = 0;
/* if not initialized, set it to 0 */
/* if not initialized, set it to 0 */
} else if (_current_onboard_mission_index < 0) {
_current_onboard_mission_index = 0;
}
/* otherwise, just leave it */
}
@ -263,23 +273,28 @@ Mission::update_offboard_mission()
bool failed = true;
if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq);
warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id,
_offboard_mission.count, _offboard_mission.current_seq);
/* determine current index */
if (_offboard_mission.current_seq >= 0 && _offboard_mission.current_seq < (int)_offboard_mission.count) {
_current_offboard_mission_index = _offboard_mission.current_seq;
} else {
/* if less items available, reset to first item */
if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
_current_offboard_mission_index = 0;
/* if not initialized, set it to 0 */
/* if not initialized, set it to 0 */
} else if (_current_offboard_mission_index < 0) {
_current_offboard_mission_index = 0;
}
/* otherwise, just leave it */
}
check_mission_valid();
check_mission_valid(true);
failed = !_navigator->get_mission_result()->valid;
@ -332,6 +347,7 @@ Mission::get_absolute_altitude_for_item(struct mission_item_s &mission_item)
{
if (_mission_item.altitude_is_relative) {
return _mission_item.altitude + _navigator->get_home_position()->alt;
} else {
return _mission_item.altitude;
}
@ -364,28 +380,34 @@ 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 (_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");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_ONBOARD;
/* try setting offboard mission item */
/* try setting offboard mission item */
} else if (prepare_mission_items(false, &_mission_item, &mission_item_next_position, &has_next_position_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing mission");
user_feedback_done = true;
}
_mission_type = MISSION_TYPE_OFFBOARD;
} else {
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
if (_navigator->get_land_detected()->landed) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "mission finished, landed");
} else {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_info(_navigator->get_mavlink_log_pub(), "mission finished, loitering");
@ -422,6 +444,7 @@ Mission::set_mission_items()
/* landed, refusing to take off without a mission */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, refusing takeoff");
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, loitering");
}
@ -443,7 +466,7 @@ Mission::set_mission_items()
/* force vtol land */
if (_mission_item.nav_cmd == NAV_CMD_LAND && _navigator->get_vstatus()->is_vtol
&& _param_force_vtol.get() && !_navigator->get_vstatus()->is_rotary_wing) {
&& _param_force_vtol.get() && !_navigator->get_vstatus()->is_rotary_wing) {
_mission_item.nav_cmd = NAV_CMD_VTOL_LAND;
}
@ -463,7 +486,8 @@ Mission::set_mission_items()
float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
mavlink_log_info(_navigator->get_mavlink_log_pub(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
mavlink_log_info(_navigator->get_mavlink_log_pub(), "takeoff to %.1f meters above home",
(double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat;
@ -480,13 +504,14 @@ Mission::set_mission_items()
if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) {
if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_land_detected()->landed
&& has_next_position_item) {
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_land_detected()->landed
&& has_next_position_item) {
/* check if the vtol_takeoff command is on top of us */
if (do_need_move_to_takeoff()){
if (do_need_move_to_takeoff()) {
new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
} else {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
}
@ -495,6 +520,7 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
_mission_item.params[0] = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_mission_item.yaw = _navigator->get_global_position()->yaw;
} else {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@ -506,7 +532,7 @@ Mission::set_mission_items()
/* takeoff completed and transitioned, move to takeoff wp as fixed wing */
if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
&& _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF) {
&& _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF) {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@ -516,14 +542,15 @@ Mission::set_mission_items()
/* move to land wp as fixed wing */
if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& !_navigator->get_land_detected()->landed) {
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& !_navigator->get_land_detected()->landed) {
new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND;
/* use current mission item as next position item */
memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s));
has_next_position_item = true;
float altitude = _navigator->get_global_position()->alt;
if (pos_sp_triplet->current.valid) {
altitude = pos_sp_triplet->current.alt;
}
@ -537,9 +564,9 @@ Mission::set_mission_items()
/* transition to MC */
if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
&& _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND
&& !_navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_land_detected()->landed) {
&& _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND
&& !_navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_land_detected()->landed) {
_mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
_mission_item.params[0] = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
@ -549,8 +576,8 @@ Mission::set_mission_items()
/* move to landing waypoint before descent if necessary */
if (do_need_move_to_land() &&
(_work_item_type == WORK_ITEM_TYPE_DEFAULT ||
_work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) {
(_work_item_type == WORK_ITEM_TYPE_DEFAULT ||
_work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) {
new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND;
@ -576,7 +603,7 @@ Mission::set_mission_items()
/* we just moved to the landing waypoint, now descend */
if (_work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND
&& _navigator->get_vstatus()->is_rotary_wing) {
&& _navigator->get_vstatus()->is_rotary_wing) {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
}
@ -586,19 +613,20 @@ Mission::set_mission_items()
/* ignore yaw for landing items */
/* XXX: if specified heading for landing is desired we could add another step before the descent
* that aligns the vehicle first */
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND ) {
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) {
_mission_item.yaw = NAN;
}
/* handle non-position mission items such as commands */
/* handle non-position mission items such as commands */
} else {
/* turn towards next waypoint before MC to FW transition */
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
&& _work_item_type != WORK_ITEM_TYPE_ALIGN
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_land_detected()->landed
&& has_next_position_item) {
&& _work_item_type != WORK_ITEM_TYPE_ALIGN
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_land_detected()->landed
&& has_next_position_item) {
new_work_item_type = WORK_ITEM_TYPE_ALIGN;
set_align_mission_item(&_mission_item, &mission_item_next_position);
@ -624,7 +652,7 @@ Mission::set_mission_items()
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
|| pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
|| pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
}
@ -635,6 +663,7 @@ Mission::set_mission_items()
if (_mission_type == MISSION_TYPE_OFFBOARD) {
set_current_offboard_mission_item();
}
// TODO: report onboard mission item somehow
if (_mission_item.autocontinue && _mission_item.time_inside <= 0.001f) {
@ -643,6 +672,7 @@ Mission::set_mission_items()
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next_position, &pos_sp_triplet->next);
} else {
/* next mission item is not available */
pos_sp_triplet->next.valid = false;
@ -657,10 +687,10 @@ Mission::set_mission_items()
if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) {
_distance_current_previous = get_distance_to_next_waypoint(
pos_sp_triplet->current.lat,
pos_sp_triplet->current.lon,
pos_sp_triplet->previous.lat,
pos_sp_triplet->previous.lon);
pos_sp_triplet->current.lat,
pos_sp_triplet->current.lon,
pos_sp_triplet->previous.lat,
pos_sp_triplet->previous.lon);
}
_navigator->set_position_setpoint_triplet_updated();
@ -677,19 +707,20 @@ Mission::do_need_takeoff()
if (_navigator->get_land_detected()->landed) {
_need_takeoff = true;
/* if in-air and already above takeoff height, don't do takeoff */
/* if in-air and already above takeoff height, don't do takeoff */
} else if (_navigator->get_global_position()->alt > takeoff_alt) {
_need_takeoff = false;
}
/* check if current mission item is one that requires takeoff before */
if (_need_takeoff && (
_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT ||
_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)) {
_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT ||
_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)) {
_need_takeoff = false;
return true;
@ -703,10 +734,10 @@ bool
Mission::do_need_move_to_land()
{
if (_navigator->get_vstatus()->is_rotary_wing
&& (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND)) {
&& (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND)) {
float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
return d_current > _navigator->get_acceptance_radius();
}
@ -720,7 +751,7 @@ Mission::do_need_move_to_takeoff()
if (_navigator->get_vstatus()->is_rotary_wing && _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) {
float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
return d_current > _navigator->get_acceptance_radius();
}
@ -754,10 +785,10 @@ Mission::set_align_mission_item(struct mission_item_s *mission_item, struct miss
mission_item->autocontinue = true;
mission_item->time_inside = 0;
mission_item->yaw = get_bearing_to_next_waypoint(
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
mission_item_next->lat,
mission_item_next->lon);
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
mission_item_next->lat,
mission_item_next->lon);
mission_item->force_heading = true;
}
@ -783,11 +814,11 @@ Mission::heading_sp_update()
{
/* we don't want to be yawing during takeoff, landing or aligning for a transition */
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
|| _mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) {
|| _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
|| _mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) {
return;
}
@ -815,32 +846,33 @@ Mission::heading_sp_update()
/* target location is home */
if ((_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_HOME
|| _param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME)
// need to be rotary wing for this but not in a transition
// in VTOL mode this will prevent updating yaw during FW flight
// (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)) {
|| _param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME)
// need to be rotary wing for this but not in a transition
// in VTOL mode this will prevent updating yaw during FW flight
// (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;
/* target location is next (current) waypoint */
/* target location is next (current) waypoint */
} else {
point_to_latlon[0] = pos_sp_triplet->current.lat;
point_to_latlon[1] = pos_sp_triplet->current.lon;
}
float d_current = get_distance_to_next_waypoint(
point_from_latlon[0], point_from_latlon[1],
point_to_latlon[0], point_to_latlon[1]);
point_from_latlon[0], point_from_latlon[1],
point_to_latlon[0], point_to_latlon[1]);
/* stop if positions are close together to prevent excessive yawing */
if (d_current > _navigator->get_acceptance_radius()) {
float yaw = get_bearing_to_next_waypoint(
point_from_latlon[0],
point_from_latlon[1],
point_to_latlon[0],
point_to_latlon[1]);
point_from_latlon[0],
point_from_latlon[1],
point_to_latlon[0],
point_to_latlon[1]);
/* always keep the back of the rotary wing pointing towards home */
if (_param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME) {
@ -866,7 +898,7 @@ Mission::altitude_sp_foh_update()
/* Don't change setpoint if last and current waypoint are not valid */
if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid ||
!PX4_ISFINITE(_mission_item_previous_alt)) {
!PX4_ISFINITE(_mission_item_previous_alt)) {
return;
}
@ -881,21 +913,21 @@ Mission::altitude_sp_foh_update()
* NAV_CMD_LOITER_TO_ALT doesn't change altitude until reaching desired lat/lon
* */
if (_mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT
|| !_navigator->is_planned_mission()) {
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT
|| !_navigator->is_planned_mission()) {
return;
}
/* Calculate distance to current waypoint */
float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
/* Save distance to waypoint if it is the smallest ever achieved, however make sure that
* _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */
_min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy),
_distance_current_previous);
_distance_current_previous);
/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
* navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
@ -909,7 +941,8 @@ Mission::altitude_sp_foh_update()
* radius around the current waypoint
**/
float delta_alt = (get_absolute_altitude_for_item(_mission_item) - _mission_item_previous_alt);
float grad = -delta_alt/(_distance_current_previous - _navigator->get_acceptance_radius(_mission_item.acceptance_radius));
float grad = -delta_alt / (_distance_current_previous - _navigator->get_acceptance_radius(
_mission_item.acceptance_radius));
float a = _mission_item_previous_alt - grad * _distance_current_previous;
pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
}
@ -926,7 +959,7 @@ Mission::altitude_sp_foh_reset()
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)
struct mission_item_s *next_position_mission_item, bool *has_next_position_item)
{
bool first_res = false;
int offset = 1;
@ -936,7 +969,7 @@ Mission::prepare_mission_items(bool onboard, struct mission_item_s *mission_item
first_res = true;
/* trying to find next position mission item */
while(read_mission_item(onboard, offset, next_position_mission_item)) {
while (read_mission_item(onboard, offset, next_position_mission_item)) {
if (item_contains_position(next_position_mission_item)) {
*has_next_position_item = true;
@ -984,8 +1017,10 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds - if they are equal, we just reached the end */
if (*mission_index_ptr != (int)mission->count) {
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr,
(int)mission->count);
}
return false;
}
@ -1011,17 +1046,20 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
* but not for the read ahead mission item */
if (offset == 0) {
(mission_item_tmp.do_jump_current_count)++;
/* save repeat count */
if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET,
&mission_item_tmp, len) != len) {
&mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR DO JUMP waypoint could not be written");
return false;
}
report_do_jump_mission_changed(*mission_index_ptr,
mission_item_tmp.do_jump_repeat_count);
mission_item_tmp.do_jump_repeat_count);
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
@ -1030,6 +1068,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
if (offset == 0) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed");
}
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index_ptr)++;
}
@ -1062,7 +1101,8 @@ Mission::save_offboard_mission_state()
if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) {
/* navigator may modify only sequence, write modified state only if it changed */
if (mission_state.current_seq != _current_offboard_mission_index) {
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
}
@ -1079,7 +1119,8 @@ Mission::save_offboard_mission_state()
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: invalid mission state");
/* write modified state only if changed */
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
}
@ -1127,27 +1168,31 @@ Mission::set_mission_finished()
}
void
Mission::check_mission_valid()
Mission::check_mission_valid(bool force)
{
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
if ((!_home_inited && _navigator->home_position_valid()) || force) {
_navigator->get_mission_result()->valid =
_missionFeasibilityChecker.checkMissionFeasible(
_navigator->get_mavlink_log_pub(),
(_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
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->get_default_acceptance_radius(),
_navigator->get_land_detected()->landed);
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();
_navigator->get_mission_result()->valid =
_missionFeasibilityChecker.checkMissionFeasible(
_navigator->get_mavlink_log_pub(),
(_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
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->get_default_acceptance_radius(),
_navigator->get_land_detected()->landed);
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();
_home_inited = _navigator->home_position_valid();
}
}
void
@ -1177,7 +1222,7 @@ Mission::reset_offboard_mission(struct mission_s &mission)
item.do_jump_current_count = 0;
if (dm_write(dm_current, index, DM_PERSIST_POWER_ON_RESET,
&item, len) != len) {
&item, len) != len) {
PX4_WARN("could not save mission item during reset");
break;
}

4
src/modules/navigator/mission.h
View File

@ -211,7 +211,8 @@ private:
/**
* Check wether a mission is ready to go
*/
void check_mission_valid();
void check_mission_valid(bool force);
/**
* Reset offboard mission
@ -244,6 +245,7 @@ private:
} _mission_type;
bool _inited;
bool _home_inited;
bool _need_mission_reset;
MissionFeasibilityChecker _missionFeasibilityChecker; /**< class that checks if a mission is feasible */