fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 13:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactored do_set_servo handling and generalized formatting of CMD mavlink mission items, fixes #3644

Browse Source
This commit is contained in:
Andreas Antener
2016-02-08 11:09:12 +01:00
parent 46bd1cbacf
commit baa11e357d
4 changed files with 56 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+28 -26
View File
@@ -83,18 +83,8 @@ MissionBlock::is_mission_item_reached()
{
/* handle non-navigation or indefinite waypoints */
switch (_mission_item.nav_cmd) {
// XXX: move handling to issue_command() as well
case NAV_CMD_DO_SET_SERVO: {
memset(&actuators, 0, sizeof(actuators));
actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
actuators.timestamp = hrt_absolute_time();
if (_actuator_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &actuators);
} else {
_actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
}
case NAV_CMD_DO_SET_SERVO:
return true;
}
case NAV_CMD_LAND:
return _navigator->get_vstatus()->condition_landed;
@@ -258,16 +248,34 @@ MissionBlock::issue_command(const struct mission_item_s *item)
return;
}
warnx("forwarding command %d\n", item->nav_cmd);
struct vehicle_command_s cmd = {};
mission_item_to_vehicle_command(item, &cmd);
_action_start = hrt_absolute_time();
if (item->nav_cmd == NAV_CMD_DO_SET_SERVO) {
PX4_WARN("do_set_servo command");
// XXX: we should issue a vehicle command and handle this somewhere else
memset(&actuators, 0, sizeof(actuators));
// params[0] actuator number to be set 0..5 ( corresponds to AUX outputs 1..6
// params[1] new value for selected actuator in ms 900...2000
actuators.control[(int)item->params[0]] = 1.0f / 2000 * -item->params[1];
actuators.timestamp = hrt_absolute_time();
if (_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
if (_actuator_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &actuators);
} else {
_actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
}
} else {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
PX4_WARN("forwarding command %d\n", item->nav_cmd);
struct vehicle_command_s cmd = {};
mission_item_to_vehicle_command(item, &cmd);
_action_start = hrt_absolute_time();
if (_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
} else {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
}
}
}
@@ -276,7 +284,8 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
{
// XXX: maybe extend that check onto item properties
if (item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION ||
item->nav_cmd == NAV_CMD_DO_SET_SERVO) {
return false;
}
@@ -303,13 +312,6 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->acceptance_radius = item->acceptance_radius;
switch (item->nav_cmd) {
case NAV_CMD_DO_SET_SERVO: // XXX: actually also a non position item
/* Set current position for loitering set point*/
sp->lat = _navigator->get_global_position()->lat;
sp->lon = _navigator->get_global_position()->lon;
sp->alt = _navigator->get_global_position()->alt;
sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER;
break;
case NAV_CMD_IDLE:
sp->type = position_setpoint_s::SETPOINT_TYPE_IDLE;
break;