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PX4-Autopilot/src/modules/navigator/navigator_main.cpp
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/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* 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_main.c
* Implementation of the main navigation state machine.
*
* Handles missions, geo fencing and failsafe navigation behavior.
* Published the mission item triplet for the position controller.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <sys/ioctl.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/navigation_capabilities.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/state_table.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>
#include <dataman/dataman.h>
#include <mavlink/mavlink_log.h>
#include <sys/types.h>
#include <sys/stat.h>
#include "navigator_state.h"
#include "navigator_mission.h"
#include "mission_feasibility_checker.h"
#include "geofence.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
/**
* navigator app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
class Navigator : public StateTable
{
public:
/**
* Constructor
*/
Navigator();
/**
* Destructor, also kills the navigators task.
*/
~Navigator();
/**
* Start the navigator task.
*
* @return OK on success.
*/
int start();
/**
* Display the navigator status.
*/
void status();
/**
* Add point to geofence
*/
void add_fence_point(int argc, char *argv[]);
/**
* Load fence from file
*/
void load_fence_from_file(const char *filename);
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _navigator_task; /**< task handle for sensor task */
int _mavlink_fd;
int _global_pos_sub; /**< global position subscription */
int _home_pos_sub; /**< home position subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _offboard_mission_sub; /**< notification of offboard mission updates */
int _onboard_mission_sub; /**< notification of onboard mission updates */
int _capabilities_sub; /**< notification of vehicle capabilities updates */
int _control_mode_sub; /**< vehicle control mode subscription */
orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
orb_advert_t _mission_result_pub; /**< publish mission result topic */
struct vehicle_status_s _vstatus; /**< vehicle status */
struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct home_position_s _home_pos; /**< home position for RTL */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
struct mission_result_s _mission_result; /**< mission result for commander/mavlink */
struct mission_item_s _mission_item; /**< current mission item */
bool _mission_item_valid; /**< current mission item valid */
perf_counter_t _loop_perf; /**< loop performance counter */
Geofence _geofence;
bool _geofence_violation_warning_sent;
bool _fence_valid; /**< flag if fence is valid */
bool _inside_fence; /**< vehicle is inside fence */
struct navigation_capabilities_s _nav_caps;
class Mission _mission;
bool _global_pos_valid; /**< track changes of global_position.global_valid flag */
bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
uint64_t _time_first_inside_orbit;
bool _need_takeoff; /**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */
bool _do_takeoff; /**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */
MissionFeasibilityChecker missionFeasiblityChecker;
uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */
bool _pos_sp_triplet_updated;
char *nav_states_str[NAV_STATE_MAX];
struct {
float min_altitude;
float acceptance_radius;
float loiter_radius;
int onboard_mission_enabled;
float takeoff_alt;
float land_alt;
float rtl_alt;
float rtl_land_delay;
} _parameters; /**< local copies of parameters */
struct {
param_t min_altitude;
param_t acceptance_radius;
param_t loiter_radius;
param_t onboard_mission_enabled;
param_t takeoff_alt;
param_t land_alt;
param_t rtl_alt;
param_t rtl_land_delay;
} _parameter_handles; /**< handles for parameters */
enum Event {
EVENT_NONE_REQUESTED,
EVENT_READY_REQUESTED,
EVENT_LOITER_REQUESTED,
EVENT_MISSION_REQUESTED,
EVENT_RTL_REQUESTED,
EVENT_LAND_REQUESTED,
EVENT_MISSION_CHANGED,
EVENT_HOME_POSITION_CHANGED,
MAX_EVENT
};
/**
* State machine transition table
*/
static StateTable::Tran const myTable[NAV_STATE_MAX][MAX_EVENT];
enum RTLState {
RTL_STATE_NONE = 0,
RTL_STATE_CLIMB,
RTL_STATE_RETURN,
RTL_STATE_DESCEND,
RTL_STATE_LAND
};
enum RTLState _rtl_state;
/**
* Update our local parameter cache.
*/
void parameters_update();
/**
* Retrieve global position
*/
void global_position_update();
/**
* Retrieve home position
*/
void home_position_update();
/**
* Retreive navigation capabilities
*/
void navigation_capabilities_update();
/**
* Retrieve offboard mission.
*/
void offboard_mission_update(bool isrotaryWing);
/**
* Retrieve onboard mission.
*/
void onboard_mission_update();
/**
* Retrieve vehicle status
*/
void vehicle_status_update();
/**
* Retrieve vehicle control mode
*/
void vehicle_control_mode_update();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
void publish_safepoints(unsigned points);
/**
* Functions that are triggered when a new state is entered.
*/
void start_none();
void start_ready();
void start_loiter();
void start_mission();
void start_rtl();
void start_land();
/**
* Guards offboard mission
*/
bool offboard_mission_available(unsigned relative_index);
/**
* Guards onboard mission
*/
bool onboard_mission_available(unsigned relative_index);
/**
* Check if current mission item has been reached.
*/
bool check_mission_item_reached();
/**
* Perform actions when current mission item reached.
*/
void on_mission_item_reached();
/**
* Move to next waypoint
*/
void set_mission_item();
/**
* Switch to next RTL state
*/
void set_rtl_item();
/**
* Set position setpoint for mission item
*/
void position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item);
/**
* Helper function to get a takeoff item
*/
void get_takeoff_setpoint(position_setpoint_s *pos_sp);
/**
* Publish a new mission item triplet for position controller
*/
void publish_position_setpoint_triplet();
};
namespace navigator
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
Navigator *g_navigator;
}
Navigator::Navigator() :
/* state machine transition table */
StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT),
_task_should_exit(false),
_navigator_task(-1),
_mavlink_fd(-1),
/* subscriptions */
_global_pos_sub(-1),
_home_pos_sub(-1),
_vstatus_sub(-1),
_control_mode_sub(-1),
_params_sub(-1),
_offboard_mission_sub(-1),
_onboard_mission_sub(-1),
_capabilities_sub(-1),
/* publications */
_pos_sp_triplet_pub(-1),
_mission_result_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
/* states */
_rtl_state(RTL_STATE_NONE),
_fence_valid(false),
_inside_fence(true),
_mission(),
_global_pos_valid(false),
_reset_loiter_pos(true),
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_set_nav_state_timestamp(0),
_mission_item_valid(false),
_need_takeoff(true),
_do_takeoff(false),
_pos_sp_triplet_updated(false),
_geofence_violation_warning_sent(false)
{
_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
_parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN");
_parameter_handles.takeoff_alt = param_find("NAV_TAKEOFF_ALT");
_parameter_handles.land_alt = param_find("NAV_LAND_ALT");
_parameter_handles.rtl_alt = param_find("NAV_RTL_ALT");
_parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T");
memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s));
memset(&_mission_result, 0, sizeof(struct mission_result_s));
memset(&_mission_item, 0, sizeof(struct mission_item_s));
memset(&nav_states_str, 0, sizeof(nav_states_str));
nav_states_str[0] = "NONE";
nav_states_str[1] = "READY";
nav_states_str[2] = "LOITER";
nav_states_str[3] = "MISSION";
nav_states_str[4] = "RTL";
nav_states_str[5] = "LAND";
/* Initialize state machine */
myState = NAV_STATE_NONE;
start_none();
}
Navigator::~Navigator()
{
if (_navigator_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_navigator_task);
break;
}
} while (_navigator_task != -1);
}
navigator::g_navigator = nullptr;
}
void
Navigator::parameters_update()
{
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
param_get(_parameter_handles.min_altitude, &(_parameters.min_altitude));
param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius));
param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius));
param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled));
param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
param_get(_parameter_handles.land_alt, &(_parameters.land_alt));
param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt));
param_get(_parameter_handles.rtl_land_delay, &(_parameters.rtl_land_delay));
_mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled);
_geofence.updateParams();
}
void
Navigator::global_position_update()
{
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
}
void
Navigator::home_position_update()
{
orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
}
void
Navigator::navigation_capabilities_update()
{
orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
}
void
Navigator::offboard_mission_update(bool isrotaryWing)
{
struct mission_s offboard_mission;
if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
/* 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;
if (offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
_mission.set_current_offboard_mission_index(offboard_mission.current_index);
_mission.set_offboard_mission_count(offboard_mission.count);
} else {
_mission.set_current_offboard_mission_index(0);
_mission.set_offboard_mission_count(0);
}
}
void
Navigator::onboard_mission_update()
{
struct mission_s onboard_mission;
if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
_mission.set_current_onboard_mission_index(onboard_mission.current_index);
_mission.set_onboard_mission_count(onboard_mission.count);
} else {
_mission.set_current_onboard_mission_index(0);
_mission.set_onboard_mission_count(0);
}
}
void
Navigator::vehicle_status_update()
{
if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) {
/* in case the commander is not be running */
_vstatus.arming_state = ARMING_STATE_STANDBY;
}
}
void
Navigator::vehicle_control_mode_update()
{
if (orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode) != OK) {
/* in case the commander is not be running */
_control_mode.flag_control_auto_enabled = false;
_control_mode.flag_armed = false;
}
}
void
Navigator::task_main_trampoline(int argc, char *argv[])
{
navigator::g_navigator->task_main();
}
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[navigator] started");
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file
* else clear geofence data in datamanager
*/
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
warnx("Try to load geofence.txt");
_geofence.loadFromFile(GEOFENCE_FILENAME);
} else {
if (_geofence.clearDm() > 0)
warnx("Geofence cleared");
else
warnx("Could not clear geofence");
}
/*
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
/* copy all topics first time */
vehicle_status_update();
vehicle_control_mode_update();
parameters_update();
global_position_update();
home_position_update();
navigation_capabilities_update();
offboard_mission_update(_vstatus.is_rotary_wing);
onboard_mission_update();
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
unsigned prevState = NAV_STATE_NONE;
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[8];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
fds[2].fd = _home_pos_sub;
fds[2].events = POLLIN;
fds[3].fd = _capabilities_sub;
fds[3].events = POLLIN;
fds[4].fd = _offboard_mission_sub;
fds[4].events = POLLIN;
fds[5].fd = _onboard_mission_sub;
fds[5].events = POLLIN;
fds[6].fd = _vstatus_sub;
fds[6].events = POLLIN;
fds[7].fd = _control_mode_sub;
fds[7].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
/* vehicle control mode updated */
if (fds[7].revents & POLLIN) {
vehicle_control_mode_update();
}
/* vehicle status updated */
if (fds[6].revents & POLLIN) {
vehicle_status_update();
/* evaluate state machine from commander and set the navigator mode accordingly */
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
bool stick_mode = false;
if (!_vstatus.rc_signal_lost) {
/* RC signal available, use control switches to set mode */
/* RETURN switch, overrides MISSION switch */
if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
/* switch to RTL if not already landed after RTL and home position set */
if ((myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) && _vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
stick_mode = true;
} else {
/* MISSION switch */
if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
dispatch(EVENT_LOITER_REQUESTED);
stick_mode = true;
} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
/* switch to mission only if available */
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
stick_mode = true;
}
if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
dispatch(EVENT_LOITER_REQUESTED);
stick_mode = true;
}
}
}
if (!stick_mode) {
if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) {
/* commander requested new navigation mode, try to set it */
_set_nav_state_timestamp = _vstatus.set_nav_state_timestamp;
switch (_vstatus.set_nav_state) {
case NAV_STATE_NONE:
/* nothing to do */
break;
case NAV_STATE_LOITER:
dispatch(EVENT_LOITER_REQUESTED);
break;
case NAV_STATE_MISSION:
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
break;
case NAV_STATE_RTL:
if ((myState != NAV_STATE_READY || _rtl_state != RTL_STATE_LAND) && _vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
break;
case NAV_STATE_LAND:
if (myState != NAV_STATE_READY) {
dispatch(EVENT_LAND_REQUESTED);
}
break;
default:
warnx("ERROR: Requested navigation state not supported");
break;
}
} else {
/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
if (myState == NAV_STATE_NONE) {
if (_mission.current_mission_available()) {
dispatch(EVENT_MISSION_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
}
}
}
} else {
/* navigator shouldn't act */
dispatch(EVENT_NONE_REQUESTED);
}
}
/* parameters updated */
if (fds[0].revents & POLLIN) {
parameters_update();
/* note that these new parameters won't be in effect until a mission triplet is published again */
}
/* navigation capabilities updated */
if (fds[3].revents & POLLIN) {
navigation_capabilities_update();
}
/* offboard mission updated */
if (fds[4].revents & POLLIN) {
offboard_mission_update(_vstatus.is_rotary_wing);
// XXX check if mission really changed
dispatch(EVENT_MISSION_CHANGED);
}
/* onboard mission updated */
if (fds[5].revents & POLLIN) {
onboard_mission_update();
// XXX check if mission really changed
dispatch(EVENT_MISSION_CHANGED);
}
/* home position updated */
if (fds[2].revents & POLLIN) {
home_position_update();
// XXX check if home position really changed
dispatch(EVENT_HOME_POSITION_CHANGED);
}
/* global position updated */
if (fds[1].revents & POLLIN) {
global_position_update();
/* publish position setpoint triplet on each position update if navigator active */
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
_pos_sp_triplet_updated = true;
if (myState == NAV_STATE_LAND && _global_pos.global_valid && !_global_pos_valid) {
/* got global position when landing, update setpoint */
start_land();
}
_global_pos_valid = _global_pos.global_valid;
/* check if waypoint has been reached in MISSION, RTL and LAND modes */
if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) {
if (check_mission_item_reached()) {
on_mission_item_reached();
}
}
}
/* Check geofence violation */
if (!_geofence.inside(&_global_pos)) {
//xxx: publish geofence violation here (or change local flag depending on which app handles the flight termination)
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation");
_geofence_violation_warning_sent = true;
}
} else {
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
}
/* publish position setpoint triplet if updated */
if (_pos_sp_triplet_updated) {
_pos_sp_triplet_updated = false;
publish_position_setpoint_triplet();
}
/* notify user about state changes */
if (myState != prevState) {
mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]);
prevState = myState;
}
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;
_exit(0);
}
int
Navigator::start()
{
ASSERT(_navigator_task == -1);
/* start the task */
_navigator_task = task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&Navigator::task_main_trampoline,
nullptr);
if (_navigator_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
void
Navigator::status()
{
warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in");
if (_global_pos.global_valid) {
warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
(double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
(double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
}
if (_fence_valid) {
warnx("Geofence is valid");
// warnx("Vertex longitude latitude");
// for (unsigned i = 0; i < _fence.count; i++)
// warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
} else {
warnx("Geofence not set");
}
switch (myState) {
case NAV_STATE_NONE:
warnx("State: None");
break;
case NAV_STATE_LOITER:
warnx("State: Loiter");
break;
case NAV_STATE_MISSION:
warnx("State: Mission");
break;
case NAV_STATE_RTL:
warnx("State: RTL");
break;
default:
warnx("State: Unknown");
break;
}
}
StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
{
/* STATE_NONE */
/* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE},
/* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY},
/* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
/* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE},
},
{
/* STATE_READY */
/* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE},
/* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
/* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
},
{
/* STATE_LOITER */
/* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE},
/* EVENT_READY_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER},
/* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
/* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER},
},
{
/* STATE_MISSION */
/* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE},
/* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY},
/* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
/* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
/* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION},
},
{
/* STATE_RTL */
/* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE},
/* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY},
/* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_RTL},
/* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL},
/* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, // TODO need to reset rtl_state
},
{
/* STATE_LAND */
/* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE},
/* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY},
/* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
/* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL},
/* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
},
};
void
Navigator::start_none()
{
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_mission_item_valid = false;
_reset_loiter_pos = true;
_do_takeoff = false;
_rtl_state = RTL_STATE_NONE;
_pos_sp_triplet_updated = true;
}
void
Navigator::start_ready()
{
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = true;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE;
_mission_item_valid = false;
_reset_loiter_pos = true;
_do_takeoff = false;
if (_rtl_state != RTL_STATE_LAND) {
/* allow RTL if landed not at home */
_rtl_state = RTL_STATE_NONE;
}
_pos_sp_triplet_updated = true;
}
void
Navigator::start_loiter()
{
_do_takeoff = false;
/* set loiter position if needed */
if (_reset_loiter_pos || !_pos_sp_triplet.current.valid) {
_reset_loiter_pos = false;
_pos_sp_triplet.current.lat = _global_pos.lat;
_pos_sp_triplet.current.lon = _global_pos.lon;
_pos_sp_triplet.current.yaw = NAN; // NAN means to use current yaw
float min_alt_amsl = _parameters.min_altitude + _home_pos.alt;
/* use current altitude if above min altitude set by parameter */
if (_global_pos.alt < min_alt_amsl) {
_pos_sp_triplet.current.alt = min_alt_amsl;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
} else {
_pos_sp_triplet.current.alt = _global_pos.alt;
mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
}
_pos_sp_triplet.current.type = SETPOINT_TYPE_NORMAL;
if (_rtl_state == RTL_STATE_LAND) {
/* if RTL landing was interrupted, avoid landing from MIN_ALT on next RTL */
_rtl_state = RTL_STATE_DESCEND;
}
}
_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
_pos_sp_triplet.current.loiter_direction = 1;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = true;
_pos_sp_triplet.next.valid = false;
_mission_item_valid = false;
_pos_sp_triplet_updated = true;
}
void
Navigator::start_mission()
{
_need_takeoff = true;
set_mission_item();
}
void
Navigator::set_mission_item()
{
/* copy current mission to previous item */
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
_reset_loiter_pos = true;
_do_takeoff = false;
int ret;
bool onboard;
unsigned index;
ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index);
if (ret == OK) {
_mission_item_valid = true;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
if (_mission_item.nav_cmd != NAV_CMD_RETURN_TO_LAUNCH &&
_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) {
/* don't reset RTL state on RTL or LOITER items */
_rtl_state = RTL_STATE_NONE;
}
if (_vstatus.is_rotary_wing) {
if (_need_takeoff && (
_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH ||
_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
)) {
/* do special TAKEOFF handling for VTOL */
_need_takeoff = false;
/* calculate desired takeoff altitude AMSL */
float takeoff_alt_amsl = _pos_sp_triplet.current.alt;
if (_vstatus.condition_landed) {
/* takeoff to at least NAV_TAKEOFF_ALT from ground if landed */
takeoff_alt_amsl = fmaxf(takeoff_alt_amsl, _global_pos.alt + _parameters.takeoff_alt);
}
/* check if we really need takeoff */
if (_vstatus.condition_landed || _global_pos.alt < takeoff_alt_amsl - _mission_item.acceptance_radius) {
/* force TAKEOFF if landed or waypoint altitude is more than current */
_do_takeoff = true;
/* move current position setpoint to next */
memcpy(&_pos_sp_triplet.next, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
/* set current setpoint to takeoff */
_pos_sp_triplet.current.lat = _global_pos.lat;
_pos_sp_triplet.current.lon = _global_pos.lon;
_pos_sp_triplet.current.alt = takeoff_alt_amsl;
_pos_sp_triplet.current.yaw = NAN;
_pos_sp_triplet.current.type = SETPOINT_TYPE_TAKEOFF;
}
} else if (_mission_item.nav_cmd == NAV_CMD_LAND) {
/* will need takeoff after landing */
_need_takeoff = true;
}
}
if (_do_takeoff) {
mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt);
} else {
if (onboard) {
mavlink_log_info(_mavlink_fd, "[navigator] heading to onboard WP %d", index);
} else {
mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index);
}
}
} else {
/* since a mission is not advanced without WPs available, this is not supposed to happen */
_mission_item_valid = false;
_pos_sp_triplet.current.valid = false;
warnx("ERROR: current WP can't be set");
}
if (!_do_takeoff) {
mission_item_s item_next;
ret = _mission.get_next_mission_item(&item_next);
if (ret == OK) {
position_setpoint_from_mission_item(&_pos_sp_triplet.next, &item_next);
} else {
/* this will fail for the last WP */
_pos_sp_triplet.next.valid = false;
}
}
_pos_sp_triplet_updated = true;
}
void
Navigator::start_rtl()
{
_do_takeoff = false;
/* decide if we need climb */
if (_rtl_state == RTL_STATE_NONE) {
if (_global_pos.alt < _home_pos.alt + _parameters.rtl_alt) {
_rtl_state = RTL_STATE_CLIMB;
} else {
_rtl_state = RTL_STATE_RETURN;
}
}
/* if switching directly to return state, reset altitude setpoint */
if (_rtl_state == RTL_STATE_RETURN) {
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _global_pos.alt;
}
_reset_loiter_pos = true;
set_rtl_item();
}
void
Navigator::start_land()
{
/* this state can be requested by commander even if no global position available,
* in his case controller must perform landing without position control */
_do_takeoff = false;
_reset_loiter_pos = true;
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
_mission_item_valid = true;
_mission_item.lat = _global_pos.lat;
_mission_item.lon = _global_pos.lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _global_pos.alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LAND;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
_pos_sp_triplet.next.valid = false;
}
void
Navigator::set_rtl_item()
{
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
float climb_alt = _home_pos.alt + _parameters.rtl_alt;
if (_vstatus.condition_landed) {
climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
}
_mission_item_valid = true;
_mission_item.lat = _global_pos.lat;
_mission_item.lon = _global_pos.lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = climb_alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
break;
}
case RTL_STATE_RETURN: {
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
_mission_item_valid = true;
_mission_item.lat = _home_pos.lat;
_mission_item.lon = _home_pos.lon;
// don't change altitude
_mission_item.yaw = NAN; // TODO set heading to home
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt);
break;
}
case RTL_STATE_DESCEND: {
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
_mission_item_valid = true;
_mission_item.lat = _home_pos.lat;
_mission_item.lon = _home_pos.lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _home_pos.alt + _parameters.land_alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = _parameters.rtl_land_delay < 0.0 ? 0.0f : _parameters.rtl_land_delay;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = _parameters.rtl_land_delay > -0.001f;
_mission_item.origin = ORIGIN_ONBOARD;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt);
break;
}
case RTL_STATE_LAND: {
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
_mission_item_valid = true;
_mission_item.lat = _home_pos.lat;
_mission_item.lon = _home_pos.lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _home_pos.alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LAND;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
_pos_sp_triplet.next.valid = false;
mavlink_log_info(_mavlink_fd, "[navigator] RTL: land");
break;
}
default: {
mavlink_log_critical(_mavlink_fd, "[navigator] error: unknown RTL state: %d", _rtl_state);
start_loiter();
break;
}
}
_pos_sp_triplet_updated = true;
}
void
Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item)
{
sp->valid = true;
if (item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
/* set home position for RTL item */
sp->lat = _home_pos.lat;
sp->lon = _home_pos.lon;
sp->alt = _home_pos.alt + _parameters.rtl_alt;
} else {
sp->lat = item->lat;
sp->lon = item->lon;
sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.alt : item->altitude;
}
sp->yaw = item->yaw;
sp->loiter_radius = item->loiter_radius;
sp->loiter_direction = item->loiter_direction;
sp->pitch_min = item->pitch_min;
if (item->nav_cmd == NAV_CMD_TAKEOFF) {
sp->type = SETPOINT_TYPE_TAKEOFF;
} else if (item->nav_cmd == NAV_CMD_LAND) {
sp->type = SETPOINT_TYPE_LAND;
} else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
sp->type = SETPOINT_TYPE_LOITER;
} else {
sp->type = SETPOINT_TYPE_NORMAL;
}
}
bool
Navigator::check_mission_item_reached()
{
/* only check if there is actually a mission item to check */
if (!_mission_item_valid) {
return false;
}
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
if (_vstatus.is_rotary_wing) {
return _vstatus.condition_landed;
} else {
/* For fw there is currently no landing detector:
* make sure control is not stopped when overshooting the landing waypoint */
return false;
}
}
/* XXX TODO count turns */
if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
_mission_item.loiter_radius > 0.01f) {
return false;
}
uint64_t now = hrt_absolute_time();
if (!_waypoint_position_reached) {
float acceptance_radius;
if (_mission_item.nav_cmd == NAV_CMD_WAYPOINT && _mission_item.acceptance_radius > 0.01f) {
acceptance_radius = _mission_item.acceptance_radius;
} else {
acceptance_radius = _parameters.acceptance_radius;
}
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (_do_takeoff) {
if (_global_pos.alt > wp_alt_amsl - acceptance_radius) {
/* require only altitude for takeoff */
_waypoint_position_reached = true;
}
} else {
if (dist >= 0.0f && dist <= acceptance_radius) {
_waypoint_position_reached = true;
}
}
}
if (!_waypoint_yaw_reached) {
if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) {
/* check yaw if defined only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */
_waypoint_yaw_reached = true;
}
} else {
_waypoint_yaw_reached = true;
}
}
/* check if the current waypoint was reached */
if (_waypoint_position_reached && _waypoint_yaw_reached) {
if (_time_first_inside_orbit == 0) {
_time_first_inside_orbit = now;
if (_mission_item.time_inside > 0.01f) {
mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside);
}
}
/* check if the MAV was long enough inside the waypoint orbit */
if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item.time_inside * 1e6)
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
_time_first_inside_orbit = 0;
_waypoint_yaw_reached = false;
_waypoint_position_reached = false;
return true;
}
}
return false;
}
void
Navigator::on_mission_item_reached()
{
if (myState == NAV_STATE_MISSION) {
if (_do_takeoff) {
/* takeoff completed */
_do_takeoff = false;
mavlink_log_info(_mavlink_fd, "[navigator] takeoff completed");
} else {
/* advance by one mission item */
_mission.move_to_next();
}
if (_mission.current_mission_available()) {
set_mission_item();
} else {
/* if no more mission items available then finish mission */
/* loiter at last waypoint */
_reset_loiter_pos = false;
mavlink_log_info(_mavlink_fd, "[navigator] mission completed");
if (_vstatus.condition_landed) {
dispatch(EVENT_READY_REQUESTED);
} else {
dispatch(EVENT_LOITER_REQUESTED);
}
}
} else if (myState == NAV_STATE_RTL) {
/* RTL completed */
if (_rtl_state == RTL_STATE_LAND) {
/* landed at home position */
mavlink_log_info(_mavlink_fd, "[navigator] RTL completed, landed");
dispatch(EVENT_READY_REQUESTED);
} else {
/* next RTL step */
_rtl_state = (RTLState)(_rtl_state + 1);
set_rtl_item();
}
} else if (myState == NAV_STATE_LAND) {
/* landing completed */
mavlink_log_info(_mavlink_fd, "[navigator] landing completed");
dispatch(EVENT_READY_REQUESTED);
}
}
void
Navigator::publish_position_setpoint_triplet()
{
/* update navigation state */
_pos_sp_triplet.nav_state = static_cast<nav_state_t>(myState);
/* lazily publish the position setpoint triplet only once available */
if (_pos_sp_triplet_pub > 0) {
/* publish the position setpoint triplet */
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
} else {
/* advertise and publish */
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
}
}
void Navigator::add_fence_point(int argc, char *argv[])
{
_geofence.addPoint(argc, argv);
}
void Navigator::load_fence_from_file(const char *filename)
{
_geofence.loadFromFile(filename);
}
static void usage()
{
errx(1, "usage: navigator {start|stop|status|fence|fencefile}");
}
int navigator_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
}
if (!strcmp(argv[1], "start")) {
if (navigator::g_navigator != nullptr) {
errx(1, "already running");
}
navigator::g_navigator = new Navigator;
if (navigator::g_navigator == nullptr) {
errx(1, "alloc failed");
}
if (OK != navigator::g_navigator->start()) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
err(1, "start failed");
}
return 0;
}
if (navigator::g_navigator == nullptr)
errx(1, "not running");
if (!strcmp(argv[1], "stop")) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
} else if (!strcmp(argv[1], "status")) {
navigator::g_navigator->status();
} else if (!strcmp(argv[1], "fence")) {
navigator::g_navigator->add_fence_point(argc - 2, argv + 2);
} else if (!strcmp(argv[1], "fencefile")) {
navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME);
} else {
usage();
}
return 0;
}
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