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Adding new follow target navigation and main states. New follow target

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topic added. New follow fsm added to the navigator
This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent fc061ea94d
commit bbc8eaefd7
14 changed files with 266 additions and 8 deletions
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src/modules/navigator/CMakeLists.txt
+1
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@@ -52,6 +52,7 @@ px4_add_module(
rcloss.cpp
enginefailure.cpp
gpsfailure.cpp
follow_target.cpp
DEPENDS
platforms__common
)
src/modules/navigator/follow_target.cpp
+106
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@@ -0,0 +1,106 @@
/****************************************************************************
*
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file followme.cpp
*
* Helper class to track and follow a given position
*
* @author Jimmy Johnson <catch22@fastmail.net>
*/
#include "follow_target.h"
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/follow_target.h>
#include "navigator.h"
FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_navigator(navigator),
_tracker_motion_position_sub(-1)
{
/* load initial params */
updateParams();
}
FollowTarget::~FollowTarget()
{
}
void
FollowTarget::on_inactive()
{
}
void
FollowTarget::on_activation()
{
if(_tracker_motion_position_sub < 0) {
_tracker_motion_position_sub = orb_subscribe(ORB_ID(follow_target));
}
}
void
FollowTarget::on_active() {
follow_target_s target;
bool updated;
orb_check(_tracker_motion_position_sub, &updated);
if (updated) {
if (orb_copy(ORB_ID(follow_target), _tracker_motion_position_sub, &target) == OK) {
/* predict target location*/
if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) {
_navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated();
set_idle_item(&_mission_item);
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
}
}
}
}
src/modules/navigator/follow_target.h
+65
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@@ -0,0 +1,65 @@
/***************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file followme.cpp
*
* Helper class to track and follow a given position
*
* @author Jimmy Johnson <catch22@fastmail.net>
*/
#pragma once
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include "navigator_mode.h"
#include "mission_block.h"
class FollowTarget : public MissionBlock
{
Navigator *_navigator;
int _tracker_motion_position_sub; /**< tracker motion subscription */
public:
FollowTarget(Navigator *navigator, const char *name);
~FollowTarget();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
};
src/modules/navigator/navigator.h
+4 -1
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@@ -66,6 +66,7 @@
#include "rtl.h"
#include "datalinkloss.h"
#include "enginefailure.h"
#include "follow_target.h"
#include "gpsfailure.h"
#include "rcloss.h"
#include "geofence.h"
@@ -73,7 +74,7 @@
/**
* Number of navigation modes that need on_active/on_inactive calls
*/
#define NAVIGATOR_MODE_ARRAY_SIZE 9
#define NAVIGATOR_MODE_ARRAY_SIZE 10
class Navigator : public control::SuperBlock
{
@@ -250,6 +251,8 @@ private:
(FW only!) */
GpsFailure _gpsFailure; /**< class that handles the OBC gpsfailure loss mode */
FollowTarget _follow_target;
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */
src/modules/navigator/navigator_main.cpp
+6
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@@ -148,6 +148,7 @@ Navigator::Navigator() :
_dataLinkLoss(this, "DLL"),
_engineFailure(this, "EF"),
_gpsFailure(this, "GPSF"),
_follow_target(this, "TAR"),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC"),
@@ -166,6 +167,7 @@ Navigator::Navigator() :
_navigation_mode_array[6] = &_rcLoss;
_navigation_mode_array[7] = &_takeoff;
_navigation_mode_array[8] = &_land;
_navigation_mode_array[9] = &_follow_target;
updateParams();
}
@@ -499,6 +501,10 @@ Navigator::task_main()
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_follow_target;
break;
default:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;