PX4-Autopilot/src/modules/navigator/mission_block.cpp

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/**
 * @file mission_block.cpp
 *
 * Helper class to use mission items
 *
 * @author Julian Oes <julian@oes.ch>
 */

#include <sys/types.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>

#include <systemlib/err.h>
#include <geo/geo.h>

#include <uORB/uORB.h>

#include "navigator.h"
#include "mission_block.h"


MissionBlock::MissionBlock(Navigator *navigator) :
	_waypoint_position_reached(false),
	_waypoint_yaw_reached(false),
	_time_first_inside_orbit(0),
	_mission_item({0}),
	_mission_item_valid(false),
	_navigator_priv(navigator)
{
}

MissionBlock::~MissionBlock()
{
}

bool
MissionBlock::is_mission_item_reached()
{
	/* TODO: count turns */
#if 0
	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;
	}
#endif

	hrt_abstime now = hrt_absolute_time();

	if (!_waypoint_position_reached) {

		float dist = -1.0f;
		float dist_xy = -1.0f;
		float dist_z = -1.0f;

		float altitude_amsl = _mission_item.altitude_is_relative
				      ? _mission_item.altitude + _navigator_priv->get_home_position()->alt
			              : _mission_item.altitude;

		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
				                          _navigator_priv->get_global_position()->lat,
							  _navigator_priv->get_global_position()->lon,
							  _navigator_priv->get_global_position()->alt,
				&dist_xy, &dist_z);

		if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {

			/* require only altitude for takeoff */
			if (_navigator_priv->get_global_position()->alt > altitude_amsl - _mission_item.acceptance_radius) {
				_waypoint_position_reached = true;
			}
		} else {
			if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
				_waypoint_position_reached = true;
			}
		}
	}

	if (_waypoint_position_reached && !_waypoint_yaw_reached) {

		/* TODO: removed takeoff, why? */
		if (_navigator_priv->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) {

			/* check yaw if defined only for rotary wing except takeoff */
			float yaw_err = _wrap_pi(_mission_item.yaw - _navigator_priv->get_global_position()->yaw);

			if (fabsf(yaw_err) < 0.2f) { /* TODO: 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, "#audio: waypoint reached, wait for %.1fs",
			// 		(double)_mission_item.time_inside);
			// }
		}

		/* check if the MAV was long enough inside the waypoint orbit */
		if (now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f) {
			return true;
		}
	}
	return false;
}

void
MissionBlock::reset_mission_item_reached()
{
	_waypoint_position_reached = false;
	_waypoint_yaw_reached = false;
	_time_first_inside_orbit = 0;
}

void
MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp)
{
	sp->valid = true;
	sp->lat = item->lat;
	sp->lon = item->lon;
	sp->alt = item->altitude_is_relative ? item->altitude + _navigator_priv->get_home_position()->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_POSITION;
	}
}

bool
MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet)
{
	if (_navigator_priv->get_is_in_loiter()) {
		/* already loitering, bail out */
		return false;
	}

	if (reuse_current_pos_sp && pos_sp_triplet->current.valid) {
		/* leave position setpoint as is */
	} else {
		/* use current position */
		pos_sp_triplet->current.lat = _navigator_priv->get_global_position()->lat;
		pos_sp_triplet->current.lon = _navigator_priv->get_global_position()->lon;
		pos_sp_triplet->current.alt = _navigator_priv->get_global_position()->alt;
		pos_sp_triplet->current.yaw = NAN;	/* NAN means to use current yaw */
	}
	pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
	pos_sp_triplet->current.loiter_radius = _navigator_priv->get_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;

	_navigator_priv->set_is_in_loiter(true);
	return true;
}