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started with feasibility checks

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2023-02-16 11:28:41 +01:00
committed by Roman Bapst
parent d6bb19e11b
commit ceb8f6e1d5
6 changed files with 869 additions and 871 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+21 -776
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@@ -41,6 +41,7 @@
*/
#include "mission_feasibility_checker.h"
#include "MissionFeasibility/FeasibilityChecker.hpp"
#include "mission_block.h"
#include "navigator.h"
@@ -59,52 +60,42 @@ MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission,
// Reset warning flag
_navigator->get_mission_result()->warning = false;
// first check if we have a valid position
const bool home_valid = _navigator->home_global_position_valid();
const bool home_alt_valid = _navigator->home_alt_valid();
// trivial case: A mission with length zero cannot be valid
if ((int)mission.count <= 0) {
return false;
}
bool failed = false;
// first check if we have a valid position
const bool home_valid = _navigator->home_global_position_valid();
const bool home_alt_valid = _navigator->home_alt_valid();
if (!home_alt_valid) {
failed = true;
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Not yet ready for mission, no position lock.\t");
events::send(events::ID("navigator_mis_no_pos_lock"), events::Log::Info, "Not yet ready for mission, no position lock");
} else {
failed |= !checkDistanceToFirstWaypoint(mission, max_distance_to_1st_waypoint);
return false;
}
const float home_alt = _navigator->get_home_position()->alt;
bool failed = false;
// reset for next check
_has_takeoff = false;
_has_landing = false;
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
// run generic (for all vehicle types) checks
failed |= !checkMissionItemValidity(mission);
failed |= !checkDistancesBetweenWaypoints(mission, max_distance_between_waypoints);
failed |= !checkGeofence(mission, home_alt, home_valid);
failed |= !checkHomePositionAltitude(mission, home_alt, home_alt_valid);
failed |= !checkTakeoff(mission, home_alt);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
_navigator->get_mission_result()->warning = true;
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
// run type-specifc landing checks, which also include seting _has_landing that is used in checkTakeoffLandAvailable()
if (_navigator->get_vstatus()->is_vtol) {
failed |= !checkVTOLLanding(mission);
_feasibility_checker.processNextItem(missionitem, i, mission.count);
} else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
failed |= !checkFixedWingLanding(mission);
} else {
// if neither VTOL nor FW, only check if mission has landing but don't check that one for validity
_has_landing = hasMissionLanding(mission);
}
failed |= !checkTakeoffLandAvailable();
failed |= _feasibility_checker.someCheckFailed();
failed |= !checkGeofence(mission, _navigator->get_home_position()->alt, home_valid);
_navigator->get_mission_result()->warning = failed;
return !failed;
}
@@ -153,749 +144,3 @@ MissionFeasibilityChecker::checkGeofence(const mission_s &mission, float home_al
return true;
}
bool
MissionFeasibilityChecker::checkHomePositionAltitude(const mission_s &mission, float home_alt, bool home_alt_valid)
{
/* Check if all waypoints are above the home altitude */
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
_navigator->get_mission_result()->warning = true;
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
/* reject relative alt without home set */
if (missionitem.altitude_is_relative && !home_alt_valid && MissionBlock::item_contains_position(missionitem)) {
_navigator->get_mission_result()->warning = true;
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: No home pos, WP %zu uses rel alt\t", i + 1);
events::send<int16_t>(events::ID("navigator_mis_no_home_rel_alt"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: No home position, waypoint {1} uses relative altitude",
i + 1);
return false;
}
/* calculate the global waypoint altitude */
float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
if (home_alt_valid && home_alt > wp_alt && MissionBlock::item_contains_position(missionitem)) {
_navigator->get_mission_result()->warning = true;
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Warning: Waypoint %zu below home\t", i + 1);
events::send<int16_t>(events::ID("navigator_mis_wp_below_home"), {events::Log::Warning, events::LogInternal::Info},
"Waypoint {1} below home", i + 1);
}
}
return true;
}
bool
MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
{
// do not allow mission if we find unsupported item
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s missionitem;
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
// not supposed to happen unless the datamanager can't access the SD card, etc.
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: Cannot access SD card\t");
events::send(events::ID("navigator_mis_sd_failure"), events::Log::Error,
"Mission rejected: Cannot access mission storage");
return false;
}
// check if we find unsupported items and reject mission if so
if (missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd != NAV_CMD_WAYPOINT &&
missionitem.nav_cmd != NAV_CMD_LOITER_UNLIMITED &&
missionitem.nav_cmd != NAV_CMD_LOITER_TIME_LIMIT &&
missionitem.nav_cmd != NAV_CMD_RETURN_TO_LAUNCH &&
missionitem.nav_cmd != NAV_CMD_LAND &&
missionitem.nav_cmd != NAV_CMD_TAKEOFF &&
missionitem.nav_cmd != NAV_CMD_LOITER_TO_ALT &&
missionitem.nav_cmd != NAV_CMD_VTOL_TAKEOFF &&
missionitem.nav_cmd != NAV_CMD_VTOL_LAND &&
missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd != NAV_CMD_CONDITION_GATE &&
missionitem.nav_cmd != NAV_CMD_DO_WINCH &&
missionitem.nav_cmd != NAV_CMD_DO_GRIPPER &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ACTUATOR &&
missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_OBLIQUE_SURVEY &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: item %i: unsupported cmd: %d\t",
(int)(i + 1),
(int)missionitem.nav_cmd);
events::send<uint16_t, uint16_t>(events::ID("navigator_mis_unsup_cmd"), {events::Log::Error, events::LogInternal::Warning},
"Mission rejected: item {1}: unsupported command: {2}", i + 1, missionitem.nav_cmd);
return false;
}
/* Check non navigation item */
if (missionitem.nav_cmd == NAV_CMD_DO_SET_SERVO) {
/* check actuator number */
if (missionitem.params[0] < 0 || missionitem.params[0] > 5) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Actuator number %d is out of bounds 0..5\t",
(int)missionitem.params[0]);
events::send<uint32_t>(events::ID("navigator_mis_act_index"), {events::Log::Error, events::LogInternal::Warning},
"Actuator number {1} is out of bounds 0..5", (int)missionitem.params[0]);
return false;
}
/* check actuator value */
if (missionitem.params[1] < -PWM_DEFAULT_MAX || missionitem.params[1] > PWM_DEFAULT_MAX) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Actuator value %d is out of bounds -PWM_DEFAULT_MAX..PWM_DEFAULT_MAX\t", (int)missionitem.params[1]);
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_act_range"), {events::Log::Error, events::LogInternal::Warning},
"Actuator value {1} is out of bounds -{2}..{2}", (int)missionitem.params[1], PWM_DEFAULT_MAX);
return false;
}
}
// check if the mission starts with a land command while the vehicle is landed
if ((i == 0) && missionitem.nav_cmd == NAV_CMD_LAND && _navigator->get_land_detected()->landed) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: starts with landing\t");
events::send(events::ID("navigator_mis_starts_w_landing"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: starts with landing");
return false;
}
}
return true;
}
bool
MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt)
{
bool takeoff_first = false;
int takeoff_index = -1;
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
// look for a takeoff waypoint
if (missionitem.nav_cmd == NAV_CMD_TAKEOFF || missionitem.nav_cmd == NAV_CMD_VTOL_TAKEOFF) {
// make sure that the altitude of the waypoint is at least one meter larger than the acceptance radius
// this makes sure that the takeoff waypoint is not reached before we are at least one meter in the air
float takeoff_alt = missionitem.altitude_is_relative
? missionitem.altitude
: missionitem.altitude - home_alt;
// check if we should use default acceptance radius
float acceptance_radius = _navigator->get_default_acceptance_radius();
if (missionitem.acceptance_radius > NAV_EPSILON_POSITION) {
acceptance_radius = missionitem.acceptance_radius;
}
if (takeoff_alt - 1.0f < acceptance_radius) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: Takeoff altitude too low!\t");
/* EVENT
* @description The minimum takeoff altitude is the acceptance radius plus 1m.
*/
events::send<float>(events::ID("navigator_mis_takeoff_too_low"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: takeoff altitude too low! Minimum: {1:.1m_v}", acceptance_radius + 1.f);
return false;
}
// tell that mission has a takeoff waypoint
_has_takeoff = true;
// tell that a takeoff waypoint is the first "waypoint"
// mission item
if (i == 0) {
takeoff_first = true;
} else if (takeoff_index == -1) {
// stores the index of the first takeoff waypoint
takeoff_index = i;
}
}
}
if (takeoff_index != -1) {
// checks if all the mission items before the first takeoff waypoint
// are not waypoints or position-related items;
// this means that, before a takeoff waypoint, one can set
// one of the bellow mission items
for (size_t i = 0; i < (size_t)takeoff_index; i++) {
struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
takeoff_first = !(missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_OBLIQUE_SURVEY &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION);
}
}
if (_has_takeoff && !takeoff_first) {
// check if the takeoff waypoint is the first waypoint item on the mission
// i.e, an item with position/attitude change modification
// if it is not, the mission should be rejected
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: takeoff not first waypoint item\t");
events::send(events::ID("navigator_mis_takeoff_not_first"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: takeoff is not the first waypoint item");
return false;
}
// all checks have passed
return true;
}
bool
MissionFeasibilityChecker::hasMissionLanding(const mission_s &mission)
{
// Go through all mission items and search for a landing waypoint.
// For MC we currently do not run any checks on the validity of the planned landing.
bool mission_landing_found = false;
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s missionitem;
const ssize_t len = sizeof(missionitem);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
if (missionitem.nav_cmd == NAV_CMD_LAND) {
mission_landing_found = true;
}
}
return mission_landing_found;
}
bool
MissionFeasibilityChecker::checkFixedWingLanding(const mission_s &mission)
{
/* Go through all mission items and search for a landing waypoint
* if landing waypoint is found: the previous waypoint is checked to be at a feasible distance and altitude given the landing slope */
bool landing_valid = false;
size_t do_land_start_index = 0;
size_t landing_approach_index = 0;
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s missionitem;
const ssize_t len = sizeof(missionitem);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
// if DO_LAND_START found then require valid landing AFTER
if (missionitem.nav_cmd == NAV_CMD_DO_LAND_START) {
if (_has_landing) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: more than one land start.\t");
events::send(events::ID("navigator_mis_multiple_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: more than one land start commands");
return false;
} else {
_has_landing = true;
do_land_start_index = i;
}
}
if (missionitem.nav_cmd == NAV_CMD_LAND) {
mission_item_s missionitem_previous {};
_has_landing = true;
float param_fw_lnd_ang = 0.0f;
const param_t param_handle_fw_lnd_ang = param_find("FW_LND_ANG");
if (param_handle_fw_lnd_ang == PARAM_INVALID) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: FW_LND_ANG parameter is missing.\t");
events::send(events::ID("navigator_mis_land_angle_param_missing"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: FW_LND_ANG parameter is missing");
return false;
} else {
param_get(param_handle_fw_lnd_ang, &param_fw_lnd_ang);
}
if (i > 0) {
landing_approach_index = i - 1;
if (dm_read((dm_item_t)mission.dataman_id, landing_approach_index, &missionitem_previous, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
if (MissionBlock::item_contains_position(missionitem_previous)) {
const float land_alt_amsl = missionitem.altitude_is_relative ? missionitem.altitude +
_navigator->get_home_position()->alt : missionitem.altitude;
const float entrance_alt_amsl = missionitem_previous.altitude_is_relative ? missionitem_previous.altitude +
_navigator->get_home_position()->alt : missionitem_previous.altitude;
const float relative_approach_altitude = entrance_alt_amsl - land_alt_amsl;
if (relative_approach_altitude < FLT_EPSILON) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Mission rejected: the approach waypoint must be above the landing point.\t");
events::send(events::ID("navigator_mis_approach_wp_below_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: the approach waypoint must be above the landing point");
return false;
}
float landing_approach_distance;
if (missionitem_previous.nav_cmd == NAV_CMD_LOITER_TO_ALT) {
// assume this is a fixed-wing landing pattern with orbit to alt followed
// by tangent exit to landing approach and touchdown at landing waypoint
const float distance_orbit_center_to_land = get_distance_to_next_waypoint(missionitem_previous.lat,
missionitem_previous.lon, missionitem.lat, missionitem.lon);
const float orbit_radius = fabsf(missionitem_previous.loiter_radius);
if (distance_orbit_center_to_land <= orbit_radius) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Mission rejected: the landing point must be outside the orbit radius.\t");
events::send(events::ID("navigator_mis_land_wp_inside_orbit_radius"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: the landing point must be outside the orbit radius");
return false;
}
landing_approach_distance = sqrtf(distance_orbit_center_to_land * distance_orbit_center_to_land - orbit_radius *
orbit_radius);
} else if (missionitem_previous.nav_cmd == NAV_CMD_WAYPOINT) {
// approaching directly from waypoint position
const float waypoint_distance = get_distance_to_next_waypoint(missionitem_previous.lat, missionitem_previous.lon,
missionitem.lat, missionitem.lon);
landing_approach_distance = waypoint_distance;
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Mission rejected: unsupported landing approach entrance waypoint type. Only ORBIT_TO_ALT or WAYPOINT allowed.\t");
events::send(events::ID("navigator_mis_unsupported_landing_approach_wp"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: unsupported landing approach entrance waypoint type. Only ORBIT_TO_ALT or WAYPOINT allowed");
return false;
}
const float glide_slope = relative_approach_altitude / landing_approach_distance;
// respect user setting as max glide slope, but account for floating point
// rounding on next check with small (arbitrary) 0.1 deg buffer, as the
// landing angle parameter is what is typically used for steepest glide
// in landing config
const float max_glide_slope = tanf(math::radians(param_fw_lnd_ang + 0.1f));
if (glide_slope > max_glide_slope) {
const uint8_t land_angle_left_of_decimal = (uint8_t)param_fw_lnd_ang;
const uint8_t land_angle_first_after_decimal = (uint8_t)((param_fw_lnd_ang - floorf(
param_fw_lnd_ang)) * 10.0f);
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Mission rejected: the landing glide slope is steeper than the vehicle setting of %d.%d degrees.\t",
(int)land_angle_left_of_decimal, (int)land_angle_first_after_decimal);
events::send<uint8_t, uint8_t>(events::ID("navigator_mis_glide_slope_too_steep"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: the landing glide slope is steeper than the vehicle setting of {1}.{2} degrees",
land_angle_left_of_decimal, land_angle_first_after_decimal);
const uint32_t acceptable_entrance_alt = (uint32_t)(max_glide_slope * landing_approach_distance);
const uint32_t acceptable_landing_dist = (uint32_t)ceilf(relative_approach_altitude / max_glide_slope);
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Reduce the glide slope, lower the entrance altitude %d meters, or increase the landing approach distance %d meters.\t",
(int)acceptable_entrance_alt, (int)acceptable_landing_dist);
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_correct_glide_slope"), {events::Log::Error, events::LogInternal::Info},
"Reduce the glide slope, lower the entrance altitude {1} meters, or increase the landing approach distance {2} meters",
acceptable_entrance_alt, acceptable_landing_dist);
return false;
}
landing_valid = true;
} else {
// mission item before land doesn't have a position
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: need landing approach.\t");
events::send(events::ID("navigator_mis_req_landing_approach"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: landing approach is required");
return false;
}
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: starts with land waypoint.\t");
events::send(events::ID("navigator_mis_starts_w_landing2"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: starts with landing");
return false;
}
} else if (missionitem.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
if (_has_landing && do_land_start_index < i) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Mission rejected: land start item before RTL item not possible.\t");
events::send(events::ID("navigator_mis_land_before_rtl"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: land start item before RTL item is not possible");
return false;
}
}
}
if (_has_landing && (!landing_valid || (do_land_start_index > landing_approach_index))) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: invalid land start.\t");
events::send(events::ID("navigator_mis_invalid_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: invalid land start");
return false;
}
/* No landing waypoints or no waypoints */
return true;
}
bool
MissionFeasibilityChecker::checkVTOLLanding(const mission_s &mission)
{
// Go through all mission items and search for a landing waypoint, then run some checks on it
size_t do_land_start_index = 0;
size_t landing_approach_index = 0;
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s missionitem;
const ssize_t len = sizeof(missionitem);
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
// if DO_LAND_START found then require valid landing AFTER
if (missionitem.nav_cmd == NAV_CMD_DO_LAND_START) {
if (_has_landing) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: more than one land start.\t");
events::send(events::ID("navigator_mis_multi_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: more than one land start commands");
return false;
} else {
_has_landing = true;
do_land_start_index = i;
}
}
if (missionitem.nav_cmd == NAV_CMD_LAND || missionitem.nav_cmd == NAV_CMD_VTOL_LAND) {
mission_item_s missionitem_previous {};
_has_landing = true;
if (i > 0) {
landing_approach_index = i - 1;
if (dm_read((dm_item_t)mission.dataman_id, landing_approach_index, &missionitem_previous, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
} else {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: starts with land waypoint.\t");
events::send(events::ID("navigator_mis_starts_w_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: starts with land waypoint");
return false;
}
} else if (missionitem.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
if (_has_landing && do_land_start_index < i) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Mission rejected: land start item before RTL item not possible.\t");
events::send(events::ID("navigator_mis_land_before_rtl2"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: land start item before RTL item is not possible");
return false;
}
}
}
if (_has_landing && (do_land_start_index > landing_approach_index)) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: invalid land start.\t");
events::send(events::ID("navigator_mis_invalid_land2"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: invalid land start");
return false;
}
/* No landing waypoints or no waypoints */
return true;
}
bool
MissionFeasibilityChecker::checkTakeoffLandAvailable()
{
bool result = true;
switch (_navigator->get_takeoff_land_required()) {
case 0:
result = true;
break;
case 1:
result = _has_takeoff;
if (!result) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: Takeoff waypoint required.\t");
events::send(events::ID("navigator_mis_takeoff_missing"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: Takeoff waypoint required");
return false;
}
break;
case 2:
result = _has_landing;
if (!result) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: Landing waypoint/pattern required.\t");
events::send(events::ID("navigator_mis_land_missing"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: Landing waypoint/pattern required");
}
break;
case 3:
result = _has_takeoff && _has_landing;
if (!result) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: Takeoff or Landing item missing.\t");
events::send(events::ID("navigator_mis_takeoff_or_land_missing"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: Takeoff or Landing item missing");
}
break;
case 4:
result = _has_takeoff == _has_landing;
if (!result && (_has_takeoff)) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: Add Landing item or remove Takeoff.\t");
events::send(events::ID("navigator_mis_add_land_or_rm_to"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: Add Landing item or remove Takeoff");
} else if (!result && (_has_landing)) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: Add Takeoff item or remove Landing.\t");
events::send(events::ID("navigator_mis_add_to_or_rm_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: Add Takeoff item or remove Landing");
}
break;
default:
result = true;
break;
}
return result;
}
bool
MissionFeasibilityChecker::checkDistanceToFirstWaypoint(const mission_s &mission, float max_distance)
{
if (max_distance <= 0.0f) {
/* param not set, check is ok */
return true;
}
/* find first waypoint (with lat/lon) item in datamanager */
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s mission_item {};
if (!(dm_read((dm_item_t)mission.dataman_id, i, &mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s))) {
/* error reading, mission is invalid */
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Error reading offboard mission.\t");
events::send(events::ID("navigator_mis_storage_failure"), events::Log::Error,
"Error reading mission storage");
return false;
}
/* check only items with valid lat/lon */
if (!MissionBlock::item_contains_position(mission_item)) {
continue;
}
/* check distance from current position to item */
float dist_to_1wp = get_distance_to_next_waypoint(
mission_item.lat, mission_item.lon,
_navigator->get_home_position()->lat, _navigator->get_home_position()->lon);
if (dist_to_1wp < max_distance) {
return true;
} else {
/* item is too far from home */
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"First waypoint too far away: %dm, %d max\t",
(int)dist_to_1wp, (int)max_distance);
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_first_wp_too_far"), {events::Log::Error, events::LogInternal::Info},
"First waypoint too far away: {1m} (maximum: {2m})", (uint32_t)dist_to_1wp, (uint32_t)max_distance);
_navigator->get_mission_result()->warning = true;
return false;
}
}
/* no waypoints found in mission, then we will not fly far away */
return true;
}
bool
MissionFeasibilityChecker::checkDistancesBetweenWaypoints(const mission_s &mission, float max_distance)
{
if (max_distance <= 0.0f) {
/* param not set, check is ok */
return true;
}
double last_lat = (double)NAN;
double last_lon = (double)NAN;
int last_cmd = 0;
/* Go through all waypoints */
for (size_t i = 0; i < mission.count; i++) {
struct mission_item_s mission_item {};
if (!(dm_read((dm_item_t)mission.dataman_id, i, &mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s))) {
/* error reading, mission is invalid */
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Error reading offboard mission.\t");
events::send(events::ID("navigator_mis_storage_failure2"), events::Log::Error,
"Error reading mission storage");
return false;
}
/* check only items with valid lat/lon */
if (!MissionBlock::item_contains_position(mission_item)) {
continue;
}
/* Compare it to last waypoint if already available. */
if (PX4_ISFINITE(last_lat) && PX4_ISFINITE(last_lon)) {
/* check distance from current position to item */
const float dist_between_waypoints = get_distance_to_next_waypoint(
mission_item.lat, mission_item.lon,
last_lat, last_lon);
if (dist_between_waypoints > max_distance) {
/* distance between waypoints is too high */
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Distance between waypoints too far: %d meters, %d max.\t",
(int)dist_between_waypoints, (int)max_distance);
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_wp_dist_too_far"), {events::Log::Error, events::LogInternal::Info},
"Distance between waypoints too far: {1m}, (maximum: {2m})", (uint32_t)dist_between_waypoints, (uint32_t)max_distance);
_navigator->get_mission_result()->warning = true;
return false;
/* do not allow waypoints that are literally on top of each other */
/* and do not allow condition gates that are at the same position as a navigation waypoint */
} else if (dist_between_waypoints < 0.05f &&
(mission_item.nav_cmd == NAV_CMD_CONDITION_GATE || last_cmd == NAV_CMD_CONDITION_GATE)) {
/* Waypoints and gate are at the exact same position, which indicates an
* invalid mission and makes calculating the direction from one waypoint
* to another impossible. */
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Distance between waypoint and gate too close: %d meters\t",
(int)dist_between_waypoints);
events::send<float, float>(events::ID("navigator_mis_wp_gate_too_close"), {events::Log::Error, events::LogInternal::Info},
"Distance between waypoint and gate too close: {1:.3m} (minimum: {2:.3m})", dist_between_waypoints, 0.05f);
_navigator->get_mission_result()->warning = true;
return false;
}
}
last_lat = mission_item.lat;
last_lon = mission_item.lon;
last_cmd = mission_item.nav_cmd;
}
/* We ran through all waypoints and have not found any distances between waypoints that are too far. */
return true;
}