/**************************************************************************** * * Copyright (c) 2013-2014 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 navigator_mission.cpp * * Helper class to access missions * * @author Julian Oes * @author Thomas Gubler * @author Anton Babushkin * @author Ban Siesta * @author Simon Wilks * @author Andreas Antener */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "mission.h" #include "navigator.h" Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), _param_onboard_enabled(this, "MIS_ONBOARD_EN", false), _param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false), _param_dist_1wp(this, "MIS_DIST_1WP", false), _param_altmode(this, "MIS_ALTMODE", false), _param_yawmode(this, "MIS_YAWMODE", false), _onboard_mission{}, _offboard_mission{}, _current_onboard_mission_index(-1), _current_offboard_mission_index(-1), _need_takeoff(true), _mission_type(MISSION_TYPE_NONE), _inited(false), _home_inited(false), _missionFeasibilityChecker(), _min_current_sp_distance_xy(FLT_MAX), _mission_item_previous_alt(NAN), _on_arrival_yaw(NAN), _distance_current_previous(0.0f), _work_item_type(WORK_ITEM_TYPE_DEFAULT) { /* load initial params */ updateParams(); } Mission::~Mission() { } void Mission::on_inactive() { if (_inited) { /* check if missions have changed so that feedback to ground station is given */ bool onboard_updated = false; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); if (onboard_updated) { update_onboard_mission(); } bool offboard_updated = false; orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated); if (offboard_updated) { update_offboard_mission(); } } else { /* load missions from storage */ mission_s mission_state; dm_lock(DM_KEY_MISSION_STATE); /* read current state */ int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)); dm_unlock(DM_KEY_MISSION_STATE); if (read_res == sizeof(mission_s)) { _offboard_mission.dataman_id = mission_state.dataman_id; _offboard_mission.count = mission_state.count; _current_offboard_mission_index = mission_state.current_seq; } _inited = true; } check_mission_valid(); /* require takeoff after non-loiter or landing */ if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) { _need_takeoff = true; } } void Mission::on_activation() { set_mission_items(); } void Mission::on_active() { check_mission_valid(); /* check if anything has changed */ bool onboard_updated = false; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); if (onboard_updated) { update_onboard_mission(); } bool offboard_updated = false; orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated); if (offboard_updated) { update_offboard_mission(); } /* reset mission items if needed */ if (onboard_updated || offboard_updated) { set_mission_items(); } /* lets check if we reached the current mission item */ if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { set_mission_item_reached(); if (_mission_item.autocontinue) { /* switch to next waypoint if 'autocontinue' flag set */ advance_mission(); set_mission_items(); } } else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) { altitude_sp_foh_update(); } else { /* if waypoint position reached allow loiter on the setpoint */ if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) { _navigator->set_can_loiter_at_sp(true); } } /* see if we need to update the current yaw heading */ if ((_param_yawmode.get() != MISSION_YAWMODE_NONE && _param_yawmode.get() < MISSION_YAWMODE_MAX && _mission_type != MISSION_TYPE_NONE) || _navigator->get_vstatus()->is_vtol) { heading_sp_update(); } } void Mission::update_onboard_mission() { if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) { /* accept the current index set by the onboard mission if it is within bounds */ if (_onboard_mission.current_seq >=0 && _onboard_mission.current_seq < (int)_onboard_mission.count) { _current_onboard_mission_index = _onboard_mission.current_seq; } else { /* if less WPs available, reset to first WP */ if (_current_onboard_mission_index >= (int)_onboard_mission.count) { _current_onboard_mission_index = 0; /* if not initialized, set it to 0 */ } else if (_current_onboard_mission_index < 0) { _current_onboard_mission_index = 0; } /* otherwise, just leave it */ } // XXX check validity here as well _navigator->get_mission_result()->valid = true; _navigator->increment_mission_instance_count(); _navigator->set_mission_result_updated(); } else { _onboard_mission.count = 0; _onboard_mission.current_seq = 0; _current_onboard_mission_index = 0; } } void Mission::update_offboard_mission() { bool failed = true; if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) { warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq); /* determine current index */ if (_offboard_mission.current_seq >= 0 && _offboard_mission.current_seq < (int)_offboard_mission.count) { _current_offboard_mission_index = _offboard_mission.current_seq; } else { /* if less items available, reset to first item */ if (_current_offboard_mission_index >= (int)_offboard_mission.count) { _current_offboard_mission_index = 0; /* if not initialized, set it to 0 */ } else if (_current_offboard_mission_index < 0) { _current_offboard_mission_index = 0; } /* otherwise, just leave it */ } /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing, dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), _navigator->get_home_position()->alt, _navigator->home_position_valid(), _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, _param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(), _navigator->get_vstatus()->condition_landed); _navigator->get_mission_result()->valid = !failed; _navigator->increment_mission_instance_count(); _navigator->set_mission_result_updated(); } else { PX4_WARN("offboard mission update failed, handle: %d", _navigator->get_offboard_mission_sub()); } if (failed) { _offboard_mission.count = 0; _offboard_mission.current_seq = 0; _current_offboard_mission_index = 0; warnx("mission check failed"); } set_current_offboard_mission_item(); } void Mission::advance_mission() { /* do not advance mission item if we're processing sub mission work items */ if (_work_item_type != WORK_ITEM_TYPE_DEFAULT) { return; } switch (_mission_type) { case MISSION_TYPE_ONBOARD: _current_onboard_mission_index++; break; case MISSION_TYPE_OFFBOARD: _current_offboard_mission_index++; break; case MISSION_TYPE_NONE: default: break; } } float Mission::get_absolute_altitude_for_item(struct mission_item_s &mission_item) { if (_mission_item.altitude_is_relative) { return _mission_item.altitude + _navigator->get_home_position()->alt; } else { return _mission_item.altitude; } } void Mission::set_mission_items() { /* make sure param is up to date */ updateParams(); /* reset the altitude foh logic, if altitude foh is enabled (param) a new foh element starts now */ altitude_sp_foh_reset(); struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); /* set previous position setpoint to current */ set_previous_pos_setpoint(); /* Copy previous mission item altitude (can be extended to a copy of the full mission item if needed) */ if (pos_sp_triplet->previous.valid) { _mission_item_previous_alt = get_absolute_altitude_for_item(_mission_item); } /* the home dist check provides user feedback, so we initialize it to this */ bool user_feedback_done = false; /* mission item that comes after current if available */ struct mission_item_s mission_item_next_position; bool has_next_position_item = false; work_item_type new_work_item_type = WORK_ITEM_TYPE_DEFAULT; /* try setting onboard mission item */ if (_param_onboard_enabled.get() && prepare_mission_items(true, &_mission_item, &mission_item_next_position, &has_next_position_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_ONBOARD) { mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running"); user_feedback_done = true; } _mission_type = MISSION_TYPE_ONBOARD; /* try setting offboard mission item */ } else if (prepare_mission_items(false, &_mission_item, &mission_item_next_position, &has_next_position_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running"); user_feedback_done = true; } _mission_type = MISSION_TYPE_OFFBOARD; } else { /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { /* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */ mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering"); user_feedback_done = true; /* use last setpoint for loiter */ _navigator->set_can_loiter_at_sp(true); } _mission_type = MISSION_TYPE_NONE; /* set loiter mission item and ensure that there is a minimum clearance from home */ set_loiter_item(&_mission_item, _param_takeoff_alt.get()); /* update position setpoint triplet */ pos_sp_triplet->previous.valid = false; mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; /* reuse setpoint for LOITER only if it's not IDLE */ _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); set_mission_finished(); if (!user_feedback_done) { /* only tell users that we got no mission if there has not been any * better, more specific feedback yet * https://en.wikipedia.org/wiki/Loiter_(aeronautics) */ if (_navigator->get_vstatus()->condition_landed) { /* landed, refusing to take off without a mission */ mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, refusing takeoff"); } else { mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available, loitering"); } user_feedback_done = true; } _navigator->set_position_setpoint_triplet_updated(); return; } /*********************************** handle mission item *********************************************/ bool do_issue_command = true; /* handle position mission items */ if (item_contains_position(&_mission_item)) { if (pos_sp_triplet->current.valid) { _on_arrival_yaw = _mission_item.yaw; } /* do takeoff before going to setpoint if needed and not already in takeoff */ if (do_need_takeoff() && _work_item_type != WORK_ITEM_TYPE_TAKEOFF) { new_work_item_type = WORK_ITEM_TYPE_TAKEOFF; /* use current mission item as next position item */ memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s)); mission_item_next_position.nav_cmd = NAV_CMD_WAYPOINT; has_next_position_item = true; float takeoff_alt = calculate_takeoff_altitude(&_mission_item); mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); _mission_item.nav_cmd = NAV_CMD_TAKEOFF; _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; _mission_item.yaw = NAN; _mission_item.altitude = takeoff_alt; _mission_item.altitude_is_relative = false; _mission_item.autocontinue = true; _mission_item.time_inside = 0; } /* if we just did a takeoff navigate to the actual waypoint now */ if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) { new_work_item_type = WORK_ITEM_TYPE_DEFAULT; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; } /* move to landing wayponit before descent if necessary */ if (do_need_move_to_land() && _work_item_type != WORK_ITEM_TYPE_MOVE_TO_LAND) { new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND; /* use current mission item as next position item */ memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s)); has_next_position_item = true; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.autocontinue = true; _mission_item.time_inside = 0; } /* we just moved to the landing waypoint, now descend */ if (_work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND) { new_work_item_type = WORK_ITEM_TYPE_DEFAULT; } /* handle non-position mission items such as commands */ } else { /* turn towards next waypoint before MC to FW transition */ if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION && _work_item_type != WORK_ITEM_TYPE_ALIGN && _navigator->get_vstatus()->is_rotary_wing && !_navigator->get_vstatus()->condition_landed && has_next_position_item) { new_work_item_type = WORK_ITEM_TYPE_ALIGN; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; _mission_item.altitude = _navigator->get_global_position()->alt; _mission_item.altitude_is_relative = false; _mission_item.autocontinue = true; _mission_item.time_inside = 0; _mission_item.yaw = get_bearing_to_next_waypoint( _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, mission_item_next_position.lat, mission_item_next_position.lon); do_issue_command = false; } /* yaw is aligned now */ if (_work_item_type == WORK_ITEM_TYPE_ALIGN) { new_work_item_type = WORK_ITEM_TYPE_DEFAULT; } /* don't advance mission after FW to MC command */ if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION && _work_item_type != WORK_ITEM_TYPE_CMD_BEFORE_MOVE && !_navigator->get_vstatus()->is_rotary_wing && !_navigator->get_vstatus()->condition_landed && pos_sp_triplet->previous.valid) { new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE; } /* after FW to MC transition finish moving to the waypoint */ if (_work_item_type == WORK_ITEM_TYPE_CMD_BEFORE_MOVE && pos_sp_triplet->previous.valid) { new_work_item_type = WORK_ITEM_TYPE_DEFAULT; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.lat = pos_sp_triplet->previous.lat; _mission_item.lon = pos_sp_triplet->previous.lon; _mission_item.altitude = pos_sp_triplet->previous.alt; _mission_item.altitude_is_relative = false; _mission_item.autocontinue = true; _mission_item.time_inside = 0; } } /*********************************** set setpoints and check next *********************************************/ /* set current position setpoint from mission item (is protected agains non-position items) */ mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); /* issue command if ready (will do nothing for position mission items) */ if (do_issue_command) { issue_command(&_mission_item); } /* set current work item type */ _work_item_type = new_work_item_type; /* require takeoff after landing or idle */ if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) { _need_takeoff = true; } _navigator->set_can_loiter_at_sp(false); reset_mission_item_reached(); if (_mission_type == MISSION_TYPE_OFFBOARD) { set_current_offboard_mission_item(); } // TODO: report onboard mission item somehow if (_mission_item.autocontinue && _mission_item.time_inside <= 0.001f) { /* try to process next mission item */ if (has_next_position_item) { /* got next mission item, update setpoint triplet */ mission_item_to_position_setpoint(&mission_item_next_position, &pos_sp_triplet->next); } else { /* next mission item is not available */ pos_sp_triplet->next.valid = false; } } else { /* vehicle will be paused on current waypoint, don't set next item */ pos_sp_triplet->next.valid = false; } /* Save the distance between the current sp and the previous one */ if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) { _distance_current_previous = get_distance_to_next_waypoint( pos_sp_triplet->current.lat, pos_sp_triplet->current.lon, pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon); } _navigator->set_position_setpoint_triplet_updated(); } bool Mission::do_need_takeoff() { if (_navigator->get_vstatus()->is_rotary_wing) { float takeoff_alt = calculate_takeoff_altitude(&_mission_item); /* force takeoff if landed (additional protection) */ if (_navigator->get_vstatus()->condition_landed) { _need_takeoff = true; /* if in-air and already above takeoff height, don't do takeoff */ } else if (_navigator->get_global_position()->alt > takeoff_alt) { _need_takeoff = false; } /* check if current mission item is one that requires takeoff before */ if (_need_takeoff && ( _mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_WAYPOINT || _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED || _mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) { _need_takeoff = false; return true; } } return false; } bool Mission::do_need_move_to_land() { if (_navigator->get_vstatus()->is_rotary_wing && _mission_item.nav_cmd == NAV_CMD_LAND) { float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); return d_current > _navigator->get_acceptance_radius(); } return false; } float Mission::calculate_takeoff_altitude(struct mission_item_s *mission_item) { /* calculate takeoff altitude */ float takeoff_alt = get_absolute_altitude_for_item(*mission_item); /* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ if (_navigator->get_vstatus()->condition_landed) { takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get()); } else { takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); } return takeoff_alt; } void Mission::heading_sp_update() { /* we don't want to be yawing during takeoff or align */ if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _work_item_type == WORK_ITEM_TYPE_ALIGN) { return; } struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); /* Don't change setpoint if last and current waypoint are not valid */ if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid || !PX4_ISFINITE(_on_arrival_yaw)) { return; } /* set yaw angle for the waypoint iff a loiter time has been specified */ if (_waypoint_position_reached && _mission_item.time_inside > 0.0f) { _mission_item.yaw = _on_arrival_yaw; } else { /* calculate direction the vehicle should point to: * normal waypoint: current position to {waypoint or home or home + 180deg} * landing waypoint: last waypoint to {waypoint or home or home + 180deg} * For landing the last waypoint (= constant) is used to avoid excessive yawing near the ground */ double point_from_latlon[2]; if (_mission_item.nav_cmd == NAV_CMD_LAND) { point_from_latlon[0] = pos_sp_triplet->previous.lat; point_from_latlon[1] = pos_sp_triplet->previous.lon; } else { point_from_latlon[0] = _navigator->get_global_position()->lat; point_from_latlon[1] = _navigator->get_global_position()->lon; } /* always keep the front of the rotary wing pointing to the next waypoint */ if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_WAYPOINT || _navigator->get_vstatus()->is_vtol) { _mission_item.yaw = get_bearing_to_next_waypoint( point_from_latlon[0], point_from_latlon[1], _mission_item.lat, _mission_item.lon); /* always keep the back of the rotary wing pointing towards home */ } else if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_HOME) { _mission_item.yaw = get_bearing_to_next_waypoint( point_from_latlon[0], point_from_latlon[1], _navigator->get_home_position()->lat, _navigator->get_home_position()->lon); /* always keep the back of the rotary wing pointing towards home */ } else if (_param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME) { _mission_item.yaw = _wrap_pi(get_bearing_to_next_waypoint( point_from_latlon[0], point_from_latlon[1], _navigator->get_home_position()->lat, _navigator->get_home_position()->lon) + M_PI_F); } } mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); _navigator->set_position_setpoint_triplet_updated(); } void Mission::altitude_sp_foh_update() { struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); /* Don't change setpoint if last and current waypoint are not valid */ if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid || !PX4_ISFINITE(_mission_item_previous_alt)) { return; } /* Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one */ if (_distance_current_previous - _navigator->get_acceptance_radius(_mission_item.acceptance_radius) < 0.0f) { return; } /* Don't do FOH for landing and takeoff waypoints, the ground may be near * and the FW controller has a custom landing logic */ if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) { return; } /* Calculate distance to current waypoint */ float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); /* Save distance to waypoint if it is the smallest ever achieved, however make sure that * _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */ _min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy), _distance_current_previous); /* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */ if (_min_current_sp_distance_xy < _navigator->get_acceptance_radius(_mission_item.acceptance_radius)) { pos_sp_triplet->current.alt = get_absolute_altitude_for_item(_mission_item); } else { /* update the altitude sp of the 'current' item in the sp triplet, but do not update the altitude sp * of the mission item as it is used to check if the mission item is reached * The setpoint is set linearly and such that the system reaches the current altitude at the acceptance * radius around the current waypoint **/ float delta_alt = (get_absolute_altitude_for_item(_mission_item) - _mission_item_previous_alt); float grad = -delta_alt/(_distance_current_previous - _navigator->get_acceptance_radius(_mission_item.acceptance_radius)); float a = _mission_item_previous_alt - grad * _distance_current_previous; pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy; } _navigator->set_position_setpoint_triplet_updated(); } void Mission::altitude_sp_foh_reset() { _min_current_sp_distance_xy = FLT_MAX; } bool Mission::prepare_mission_items(bool onboard, struct mission_item_s *mission_item, struct mission_item_s *next_position_mission_item, bool *has_next_position_item) { bool first_res = false; int offset = 1; if (read_mission_item(onboard, 0, mission_item)) { first_res = true; /* trying to find next position mission item */ while(read_mission_item(onboard, offset, next_position_mission_item)) { if (item_contains_position(next_position_mission_item)) { *has_next_position_item = true; break; } offset++; } } return first_res; } bool Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *mission_item) { /* select onboard/offboard mission */ int *mission_index_ptr; dm_item_t dm_item; struct mission_s *mission = (onboard) ? &_onboard_mission : &_offboard_mission; int current_index = (onboard) ? _current_onboard_mission_index : _current_offboard_mission_index; int index_to_read = current_index + offset; /* do not work on empty missions */ if (mission->count == 0) { return false; } if (onboard) { /* onboard mission */ mission_index_ptr = (offset == 0) ? &_current_onboard_mission_index : &index_to_read; dm_item = DM_KEY_WAYPOINTS_ONBOARD; } else { /* offboard mission */ mission_index_ptr = (offset == 0) ? &_current_offboard_mission_index : &index_to_read; dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); } /* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after * 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */ for (int i = 0; i < 10; i++) { if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { /* mission item index out of bounds - if they are equal, we just reached the end */ if (*mission_index_ptr != (int)mission->count) { mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count); } return false; } const ssize_t len = sizeof(struct mission_item_s); /* read mission item to temp storage first to not overwrite current mission item if data damaged */ struct mission_item_s mission_item_tmp; /* read mission item from datamanager */ if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "ERROR waypoint could not be read"); return false; } /* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */ if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) { /* do DO_JUMP as many times as requested */ if (mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) { /* only raise the repeat count if this is for the current mission item * but not for the read ahead mission item */ if (offset == 0) { (mission_item_tmp.do_jump_current_count)++; /* save repeat count */ if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET, &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR DO JUMP waypoint could not be written"); return false; } report_do_jump_mission_changed(*mission_index_ptr, mission_item_tmp.do_jump_repeat_count); } /* set new mission item index and repeat * we don't have to validate here, if it's invalid, we should realize this later .*/ *mission_index_ptr = mission_item_tmp.do_jump_mission_index; } else { if (offset == 0) { mavlink_log_critical(_navigator->get_mavlink_fd(), "DO JUMP repetitions completed"); } /* no more DO_JUMPS, therefore just try to continue with next mission item */ (*mission_index_ptr)++; } } else { /* if it's not a DO_JUMP, then we were successful */ memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s)); return true; } } /* we have given up, we don't want to cycle forever */ mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR DO JUMP is cycling, giving up"); return false; } void Mission::save_offboard_mission_state() { mission_s mission_state; /* lock MISSION_STATE item */ dm_lock(DM_KEY_MISSION_STATE); /* read current state */ int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)); if (read_res == sizeof(mission_s)) { /* data read successfully, check dataman ID and items count */ if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) { /* navigator may modify only sequence, write modified state only if it changed */ if (mission_state.current_seq != _current_offboard_mission_index) { if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) { warnx("ERROR: can't save mission state"); mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state"); } } } } else { /* invalid data, this must not happen and indicates error in offboard_mission publisher */ mission_state.dataman_id = _offboard_mission.dataman_id; mission_state.count = _offboard_mission.count; mission_state.current_seq = _current_offboard_mission_index; warnx("ERROR: invalid mission state"); mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: invalid mission state"); /* write modified state only if changed */ if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) { warnx("ERROR: can't save mission state"); mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state"); } } /* unlock MISSION_STATE item */ dm_unlock(DM_KEY_MISSION_STATE); } void Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining) { /* inform about the change */ _navigator->get_mission_result()->item_do_jump_changed = true; _navigator->get_mission_result()->item_changed_index = index; _navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining; _navigator->set_mission_result_updated(); } void Mission::set_mission_item_reached() { _navigator->get_mission_result()->reached = true; _navigator->get_mission_result()->seq_reached = _current_offboard_mission_index; _navigator->set_mission_result_updated(); reset_mission_item_reached(); } void Mission::set_current_offboard_mission_item() { _navigator->get_mission_result()->reached = false; _navigator->get_mission_result()->finished = false; _navigator->get_mission_result()->seq_current = _current_offboard_mission_index; _navigator->set_mission_result_updated(); save_offboard_mission_state(); } void Mission::set_mission_finished() { _navigator->get_mission_result()->finished = true; _navigator->set_mission_result_updated(); } bool Mission::check_mission_valid() { /* check if the home position became valid in the meantime */ if (!_home_inited && _navigator->home_position_valid()) { dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); _navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing, dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), _navigator->get_home_position()->alt, _navigator->home_position_valid(), _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, _param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(), _navigator->get_vstatus()->condition_landed); _navigator->increment_mission_instance_count(); _navigator->set_mission_result_updated(); _home_inited = true; } return _navigator->get_mission_result()->valid; }