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navigator: new class structure, loiter and mission working
This commit is contained in:
Julian Oes
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/****************************************************************************
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*
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* Copyright (c) 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 mission_block.cpp
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*
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* Helper class to use mission items
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <sys/types.h>
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#include <string.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <systemlib/err.h>
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#include <geo/geo.h>
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#include <uORB/uORB.h>
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#include "navigator.h"
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#include "mission_block.h"
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MissionBlock::MissionBlock(Navigator *navigator) :
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_waypoint_position_reached(false),
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_waypoint_yaw_reached(false),
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_time_first_inside_orbit(0),
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_mission_item({0}),
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_mission_item_valid(false),
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_navigator_priv(navigator)
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{
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}
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MissionBlock::~MissionBlock()
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{
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}
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bool
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MissionBlock::is_mission_item_reached()
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{
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/* TODO: count turns */
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#if 0
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if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
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_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
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_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
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_mission_item.loiter_radius > 0.01f) {
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return false;
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}
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#endif
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hrt_abstime now = hrt_absolute_time();
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if (!_waypoint_position_reached) {
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float dist = -1.0f;
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float dist_xy = -1.0f;
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float dist_z = -1.0f;
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float altitude_amsl = _mission_item.altitude_is_relative
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? _mission_item.altitude + _navigator_priv->get_home_position()->alt
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: _mission_item.altitude;
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dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
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_navigator_priv->get_global_position()->lat,
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_navigator_priv->get_global_position()->lon,
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_navigator_priv->get_global_position()->alt,
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&dist_xy, &dist_z);
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if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
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/* require only altitude for takeoff */
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if (_navigator_priv->get_global_position()->alt > altitude_amsl - _mission_item.acceptance_radius) {
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_waypoint_position_reached = true;
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}
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} else {
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if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
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_waypoint_position_reached = true;
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}
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}
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}
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if (_waypoint_position_reached && !_waypoint_yaw_reached) {
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/* TODO: removed takeoff, why? */
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if (_navigator_priv->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) {
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/* check yaw if defined only for rotary wing except takeoff */
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float yaw_err = _wrap_pi(_mission_item.yaw - _navigator_priv->get_global_position()->yaw);
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if (fabsf(yaw_err) < 0.2f) { /* TODO: get rid of magic number */
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_waypoint_yaw_reached = true;
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}
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} else {
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_waypoint_yaw_reached = true;
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}
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}
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/* check if the current waypoint was reached */
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if (_waypoint_position_reached && _waypoint_yaw_reached) {
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if (_time_first_inside_orbit == 0) {
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_time_first_inside_orbit = now;
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// if (_mission_item.time_inside > 0.01f) {
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// mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs",
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// (double)_mission_item.time_inside);
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// }
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}
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/* check if the MAV was long enough inside the waypoint orbit */
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if (now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f) {
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return true;
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}
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}
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return false;
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}
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void
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MissionBlock::reset_mission_item_reached()
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{
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_waypoint_position_reached = false;
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_waypoint_yaw_reached = false;
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_time_first_inside_orbit = 0;
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}
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void
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MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp)
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{
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sp->valid = true;
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sp->lat = item->lat;
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sp->lon = item->lon;
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sp->alt = item->altitude_is_relative ? item->altitude + _navigator_priv->get_home_position()->alt : item->altitude;
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sp->yaw = item->yaw;
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sp->loiter_radius = item->loiter_radius;
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sp->loiter_direction = item->loiter_direction;
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sp->pitch_min = item->pitch_min;
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if (item->nav_cmd == NAV_CMD_TAKEOFF) {
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sp->type = SETPOINT_TYPE_TAKEOFF;
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} else if (item->nav_cmd == NAV_CMD_LAND) {
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sp->type = SETPOINT_TYPE_LAND;
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} else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
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item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
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item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
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sp->type = SETPOINT_TYPE_LOITER;
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} else {
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sp->type = SETPOINT_TYPE_POSITION;
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}
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}
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bool
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MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet)
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{
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if (_navigator_priv->get_is_in_loiter()) {
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/* already loitering, bail out */
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return false;
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}
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if (reuse_current_pos_sp && pos_sp_triplet->current.valid) {
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/* leave position setpoint as is */
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} else {
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/* use current position */
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pos_sp_triplet->current.lat = _navigator_priv->get_global_position()->lat;
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pos_sp_triplet->current.lon = _navigator_priv->get_global_position()->lon;
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pos_sp_triplet->current.alt = _navigator_priv->get_global_position()->alt;
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pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */
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}
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pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
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pos_sp_triplet->current.loiter_radius = _navigator_priv->get_loiter_radius();
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pos_sp_triplet->current.loiter_direction = 1;
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pos_sp_triplet->previous.valid = false;
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pos_sp_triplet->current.valid = true;
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pos_sp_triplet->next.valid = false;
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_navigator_priv->set_is_in_loiter(true);
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return true;
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}
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