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mission: be more intelligent about saying that we are on a mission landing

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- previously the decision of being on a landing pattern was taken by just
looking at the current mission index. However, even if the current mission
index indicates a landing pattern the vehicle could be at an arbitrary location, far
from being established on the pattern.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-10-09 13:49:15 +03:00
committed by Lorenz Meier
parent 29c3ce6d5d
commit a4a03e86da
6 changed files with 49 additions and 6 deletions
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src/modules/navigator/mission.cpp
+21 -2
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@@ -58,6 +58,9 @@
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <drivers/drv_hrt.h>
using namespace time_literals;
Mission::Mission(Navigator *navigator) :
MissionBlock(navigator),
@@ -73,6 +76,12 @@ Mission::on_inactive()
* is used for missions such as RTL. */
_navigator->set_cruising_speed();
// if we were executing an landing but have been inactive for 2 seconds, then make the landing invalid
// this prevents RTL to just continue at the current mission index
if (_navigator->getMissionLandingInProgress() && (hrt_absolute_time() - _time_mission_deactivated) > 2_s) {
_navigator->setMissionLandingInProgress(false);
}
/* Without home a mission can't be valid yet anyway, let's wait. */
if (!_navigator->home_position_valid()) {
return;
@@ -147,6 +156,8 @@ Mission::on_inactivation()
if (_navigator->get_precland()->is_activated()) {
_navigator->get_precland()->on_inactivation();
}
_time_mission_deactivated = hrt_absolute_time();
}
void
@@ -421,12 +432,15 @@ Mission::land_start()
{
// if not currently landing, jump to do_land_start
if (_land_start_available) {
if (landing()) {
if (_navigator->getMissionLandingInProgress()) {
return true;
} else {
set_current_mission_index(get_land_start_index());
return landing();
const bool can_land_now = landing();
_navigator->setMissionLandingInProgress(can_land_now);
return can_land_now;
}
}
@@ -1626,6 +1640,11 @@ Mission::set_mission_item_reached()
_navigator->get_mission_result()->seq_reached = _current_mission_index;
_navigator->set_mission_result_updated();
// let the navigator know that we are currently executing the mission landing.
// Using the method landing() itself is not accurate as it only give information about the mission index
// but the vehicle could still be very far from the actual landing items
_navigator->setMissionLandingInProgress(landing());
reset_mission_item_reached();
}