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navigator: audio messages about what is happening, RTL during mission not triggered but after mission

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This commit is contained in:
Julian Oes 2014-06-06 23:08:11 +02:00
parent 1bec9dfe2b
commit 94c4fc56aa
4 changed files with 70 additions and 18 deletions
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17
src/modules/commander/commander.cpp
View File

@ -1296,7 +1296,6 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = true;
status_changed = true;
if (!(status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && !mission_result.mission_finished)) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
@ -1306,10 +1305,26 @@ int commander_thread_main(int argc, char *argv[])
status.failsafe_state = FAILSAFE_STATE_LAND;
}
failsafe_state_changed = true;
} else {
mavlink_log_info(mavlink_fd, "#audio: no RTL during Mission");
}
}
}
/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RTL_RC) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RTL_RC;
mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished");
} else {
/* this probably doesn't make sense since we are in mission and have global position */
status.failsafe_state = FAILSAFE_STATE_LAND;
}
failsafe_state_changed = true;
}
/* handle commands last, as the system needs to be updated to handle them */
orb_check(cmd_sub, &updated);

60
src/modules/navigator/mission.cpp
View File

@ -46,6 +46,7 @@
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
@ -210,20 +211,39 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
{
set_previous_pos_setpoint(&pos_sp_triplet->current, &pos_sp_triplet->previous);
/* try setting onboard mission item */
if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) {
/* try setting onboard mission item */
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: onboard mission running");
}
_mission_type = MISSION_TYPE_ONBOARD;
_navigator->set_is_in_loiter(false);
/* try setting offboard mission item */
} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
/* try setting offboard mission item */
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: offboard mission running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
_navigator->set_is_in_loiter(false);
} else {
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: mission finished");
} else {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: no mission available");
}
_mission_type = MISSION_TYPE_NONE;
bool use_current_pos_sp = pos_sp_triplet->current.valid && _waypoint_position_reached;
set_loiter_item(use_current_pos_sp, pos_sp_triplet);
reset_mission_item_reached();
report_mission_finished();
}
}
@ -242,8 +262,9 @@ Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current
{
/* make sure param is up to date */
updateParams();
if (_param_onboard_enabled.get() > 0
&& _current_onboard_mission_index < (int)_onboard_mission.count) {
if (_param_onboard_enabled.get() > 0 &&
_current_onboard_mission_index >= 0&&
_current_onboard_mission_index < (int)_onboard_mission.count) {
struct mission_item_s new_mission_item;
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, true, &_current_onboard_mission_index,
&new_mission_item)) {
@ -264,7 +285,8 @@ Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current
bool
Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
{
if (_current_offboard_mission_index < (int)_offboard_mission.count) {
if (_current_offboard_mission_index >= 0 &&
_current_offboard_mission_index < (int)_offboard_mission.count) {
dm_item_t dm_current;
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
@ -282,8 +304,6 @@ Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *curren
report_current_offboard_mission_item();
memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s));
return true;
} else {
warnx("ERROR: WP read fail");
}
}
return false;
@ -295,7 +315,8 @@ Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp)
int next_temp_mission_index = _onboard_mission.current_index + 1;
/* try if there is a next onboard mission */
if (next_temp_mission_index < (int)_onboard_mission.count) {
if (_onboard_mission.current_index >= 0 &&
next_temp_mission_index < (int)_onboard_mission.count) {
struct mission_item_s new_mission_item;
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) {
/* convert next mission item to position setpoint */
@ -315,7 +336,9 @@ Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp)
{
/* try if there is a next offboard mission */
int next_temp_mission_index = _offboard_mission.current_index + 1;
if (next_temp_mission_index < (int)_offboard_mission.count) {
warnx("next index: %d, count; %d", next_temp_mission_index, _offboard_mission.count);
if (_offboard_mission.current_index >= 0 &&
next_temp_mission_index < (int)_offboard_mission.count) {
dm_item_t dm_current;
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
@ -346,14 +369,17 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR waypoint could not be read");
return false;
}
/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) {
/* TODO: do this check more gracefully since it is not a serious error */
if (new_mission_item->do_jump_current_count >= new_mission_item->do_jump_repeat_count) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: DO JUMP repetitions completed");
return false;
}
@ -366,9 +392,10 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
if (dm_write(dm_item, *mission_index, DM_PERSIST_IN_FLIGHT_RESET,
new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR DO JUMP waypoint could not be written");
return false;
}
/* TODO: report about DO JUMP count */
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
@ -381,7 +408,8 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
}
/* we have given up, we don't want to cycle forever */
warnx("ERROR: cycling through mission items without success");
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR DO JUMP is cycling, giving up");
return false;
}
@ -402,6 +430,13 @@ Mission::report_current_offboard_mission_item()
publish_mission_result();
}
void
Mission::report_mission_finished()
{
_mission_result.mission_finished = true;
publish_mission_result();
}
void
Mission::publish_mission_result()
{
@ -416,4 +451,5 @@ Mission::publish_mission_result()
}
/* reset reached bool */
_mission_result.mission_reached = false;
_mission_result.mission_finished = false;
}

5
src/modules/navigator/mission.h
View File

@ -151,6 +151,11 @@ private:
*/
void report_current_offboard_mission_item();
/**
* Report that the mission is finished if one exists or that none exists
*/
void report_mission_finished();
/**
* Publish the mission result so commander and mavlink know what is going on
*/

6
src/modules/navigator/rtl.cpp
View File

@ -112,6 +112,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_FINISHED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
@ -133,11 +134,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
/* TODO understand and fix this */
// if (_vstatus.condition_landed) {
// climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
// }
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;