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navigator: lot's of cleanup (WIP)
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Julian Oes
@@ -0,0 +1,253 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file navigator_rtl.cpp
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* Helper class to access RTL
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* @author Julian Oes <julian@oes.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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#include <fcntl.h>
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#include <mavlink/mavlink_log.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/home_position.h>
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#include "rtl.h"
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RTL::RTL() :
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SuperBlock(NULL, "RTL"),
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_mavlink_fd(-1),
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_rtl_state(RTL_STATE_NONE),
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_home_position({}),
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_param_return_alt(this, "RETURN_ALT"),
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_param_descend_alt(this, "DESCEND_ALT"),
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_param_land_delay(this, "LAND_DELAY"),
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_loiter_radius(50),
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_acceptance_radius(50)
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{
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/* load initial params */
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updateParams();
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}
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RTL::~RTL()
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{
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}
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void
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RTL::set_home_position(const home_position_s *new_home_position)
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{
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memcpy(&_home_position, new_home_position, sizeof(home_position_s));
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}
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bool
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RTL::get_current_rtl_item(const vehicle_global_position_s *global_position, mission_item_s *new_mission_item)
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{
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/* Open mavlink fd */
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if (_mavlink_fd < 0) {
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/* try to open the mavlink log device every once in a while */
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_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
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}
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/* decide if we need climb */
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if (_rtl_state == RTL_STATE_NONE) {
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if (global_position->alt < _home_position.alt + _param_return_alt.get()) {
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_rtl_state = RTL_STATE_CLIMB;
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} else {
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_rtl_state = RTL_STATE_RETURN;
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}
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}
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/* if switching directly to return state, set altitude setpoint to current altitude */
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if (_rtl_state == RTL_STATE_RETURN) {
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new_mission_item->altitude_is_relative = false;
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new_mission_item->altitude = global_position->alt;
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}
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switch (_rtl_state) {
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case RTL_STATE_CLIMB: {
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float climb_alt = _home_position.alt + _param_return_alt.get();
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/* TODO understand and fix this */
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// if (_vstatus.condition_landed) {
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// climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
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// }
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new_mission_item->lat = global_position->lat;
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new_mission_item->lon = global_position->lon;
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new_mission_item->altitude_is_relative = false;
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new_mission_item->altitude = climb_alt;
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new_mission_item->yaw = NAN;
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new_mission_item->loiter_radius = _loiter_radius;
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new_mission_item->loiter_direction = 1;
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new_mission_item->nav_cmd = NAV_CMD_TAKEOFF;
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new_mission_item->acceptance_radius = _acceptance_radius;
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new_mission_item->time_inside = 0.0f;
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new_mission_item->pitch_min = 0.0f;
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new_mission_item->autocontinue = true;
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new_mission_item->origin = ORIGIN_ONBOARD;
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mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %d meters above home",
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(int)(climb_alt - _home_position.alt));
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break;
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}
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case RTL_STATE_RETURN: {
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new_mission_item->lat = _home_position.lat;
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new_mission_item->lon = _home_position.lon;
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/* TODO: add this again */
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// don't change altitude
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// if (_pos_sp_triplet.previous.valid) {
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// /* if previous setpoint is valid then use it to calculate heading to home */
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// new_mission_item->yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, new_mission_item->lat, new_mission_item->lon);
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// } else {
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// /* else use current position */
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// new_mission_item->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, new_mission_item->lat, new_mission_item->lon);
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// }
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new_mission_item->loiter_radius = _loiter_radius;
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new_mission_item->loiter_direction = 1;
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new_mission_item->nav_cmd = NAV_CMD_WAYPOINT;
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new_mission_item->acceptance_radius = _acceptance_radius;
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new_mission_item->time_inside = 0.0f;
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new_mission_item->pitch_min = 0.0f;
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new_mission_item->autocontinue = true;
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new_mission_item->origin = ORIGIN_ONBOARD;
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mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %d meters above home",
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(int)(new_mission_item->altitude - _home_position.alt));
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break;
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}
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case RTL_STATE_DESCEND: {
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new_mission_item->lat = _home_position.lat;
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new_mission_item->lon = _home_position.lon;
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new_mission_item->altitude_is_relative = false;
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new_mission_item->altitude = _home_position.alt + _param_descend_alt.get();
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new_mission_item->yaw = NAN;
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new_mission_item->loiter_radius = _loiter_radius;
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new_mission_item->loiter_direction = 1;
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new_mission_item->nav_cmd = NAV_CMD_WAYPOINT;
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new_mission_item->acceptance_radius = _acceptance_radius;
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new_mission_item->time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
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new_mission_item->pitch_min = 0.0f;
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new_mission_item->autocontinue = _param_land_delay.get() > -0.001f;
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new_mission_item->origin = ORIGIN_ONBOARD;
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mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %d meters above home",
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(int)(new_mission_item->altitude - _home_position.alt));
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break;
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}
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case RTL_STATE_LAND: {
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new_mission_item->lat = _home_position.lat;
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new_mission_item->lon = _home_position.lon;
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new_mission_item->altitude_is_relative = false;
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new_mission_item->altitude = _home_position.alt;
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new_mission_item->yaw = NAN;
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new_mission_item->loiter_radius = _loiter_radius;
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new_mission_item->loiter_direction = 1;
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new_mission_item->nav_cmd = NAV_CMD_LAND;
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new_mission_item->acceptance_radius = _acceptance_radius;
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new_mission_item->time_inside = 0.0f;
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new_mission_item->pitch_min = 0.0f;
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new_mission_item->autocontinue = true;
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new_mission_item->origin = ORIGIN_ONBOARD;
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mavlink_log_info(_mavlink_fd, "#audio: RTL: land at home");
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break;
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}
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case RTL_STATE_FINISHED: {
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/* nothing to do, report fail */
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return false;
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}
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default:
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return false;
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}
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return true;
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}
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bool
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RTL::get_next_rtl_item(mission_item_s *new_mission_item)
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{
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/* TODO implement */
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return false;
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}
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void
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RTL::move_to_next()
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{
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switch (_rtl_state) {
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case RTL_STATE_CLIMB:
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_rtl_state = RTL_STATE_RETURN;
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break;
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case RTL_STATE_RETURN:
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_rtl_state = RTL_STATE_DESCEND;
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break;
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case RTL_STATE_DESCEND:
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/* only go to land if autoland is enabled */
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if (_param_land_delay.get() < 0) {
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_rtl_state = RTL_STATE_FINISHED;
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} else {
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_rtl_state = RTL_STATE_LAND;
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}
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break;
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case RTL_STATE_LAND:
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_rtl_state = RTL_STATE_FINISHED;
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break;
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case RTL_STATE_FINISHED:
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break;
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default:
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break;
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}
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}
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