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PX4-Autopilot/src/modules/navigator/navigator_main.cpp
Thomas Stastny e512d77b89 RTL: expose RTL state
2022-07-22 14:59:20 +02:00

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/****************************************************************************
*
* Copyright (c) 2013-2017 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_main.cpp
*
* Handles mission items, geo fencing and failsafe navigation behavior.
* Published the position setpoint triplet for the position controller.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "navigator.h"
#include <float.h>
#include <sys/stat.h>
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/events.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <systemlib/mavlink_log.h>
using namespace time_literals;
namespace navigator
{
Navigator *g_navigator;
}
Navigator::Navigator() :
ModuleParams(nullptr),
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
_geofence(this),
_gf_breach_avoidance(this),
_mission(this),
_loiter(this),
_takeoff(this),
_vtol_takeoff(this),
_land(this),
_precland(this),
_rtl(this)
{
/* Create a list of our possible navigation types */
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
_navigation_mode_array[3] = &_takeoff;
_navigation_mode_array[4] = &_land;
_navigation_mode_array[5] = &_precland;
_navigation_mode_array[6] = &_vtol_takeoff;
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_handle_reverse_delay = param_find("VT_B_REV_DEL");
_handle_mpc_jerk_auto = param_find("MPC_JERK_AUTO");
_handle_mpc_acc_hor = param_find("MPC_ACC_HOR");
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_mission_sub = orb_subscribe(ORB_ID(mission));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
reset_triplets();
}
Navigator::~Navigator()
{
perf_free(_loop_perf);
orb_unsubscribe(_local_pos_sub);
orb_unsubscribe(_mission_sub);
orb_unsubscribe(_vehicle_status_sub);
}
void Navigator::params_update()
{
updateParams();
if (_handle_back_trans_dec_mss != PARAM_INVALID) {
param_get(_handle_back_trans_dec_mss, &_param_back_trans_dec_mss);
}
if (_handle_reverse_delay != PARAM_INVALID) {
param_get(_handle_reverse_delay, &_param_reverse_delay);
}
if (_handle_mpc_jerk_auto != PARAM_INVALID) {
param_get(_handle_mpc_jerk_auto, &_param_mpc_jerk_auto);
}
if (_handle_mpc_acc_hor != PARAM_INVALID) {
param_get(_handle_mpc_acc_hor, &_param_mpc_acc_hor);
}
}
void Navigator::run()
{
bool have_geofence_position_data = false;
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file */
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
PX4_INFO("Loading geofence from %s", GEOFENCE_FILENAME);
_geofence.loadFromFile(GEOFENCE_FILENAME);
}
params_update();
/* wakeup source(s) */
px4_pollfd_struct_t fds[3] {};
/* Setup of loop */
fds[0].fd = _local_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _vehicle_status_sub;
fds[1].events = POLLIN;
fds[2].fd = _mission_sub;
fds[2].events = POLLIN;
/* rate-limit position subscription to 20 Hz / 50 ms */
orb_set_interval(_local_pos_sub, 50);
while (!should_exit()) {
/* wait for up to 1000ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
if (pret == 0) {
/* Let the loop run anyway, don't do `continue` here. */
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
PX4_ERR("poll error %d, %d", pret, errno);
px4_usleep(10000);
continue;
}
perf_begin(_loop_perf);
orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vstatus);
if (fds[2].revents & POLLIN) {
// copy mission to clear any update
mission_s mission;
orb_copy(ORB_ID(mission), _mission_sub, &mission);
}
/* gps updated */
if (_gps_pos_sub.updated()) {
_gps_pos_sub.copy(&_gps_pos);
if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) {
have_geofence_position_data = true;
}
}
/* global position updated */
if (_global_pos_sub.updated()) {
_global_pos_sub.copy(&_global_pos);
if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
have_geofence_position_data = true;
}
}
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
params_update();
}
_land_detected_sub.update(&_land_detected);
_position_controller_status_sub.update();
_home_pos_sub.update(&_home_pos);
while (_vehicle_command_sub.updated()) {
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s cmd{};
_vehicle_command_sub.copy(&cmd);
if (_vehicle_command_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _vehicle_command_sub.get_last_generation());
}
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND) {
// DO_GO_AROUND is currently handled by the position controller (unacknowledged)
// TODO: move DO_GO_AROUND handling to navigator
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION
&& _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// only update the reposition setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter,
// which can lead to dangerous and unexpected behaviors (see loiter.cpp, there is an if(armed) in there too)
bool reposition_valid = true;
vehicle_global_position_s position_setpoint{};
position_setpoint.lat = cmd.param5;
position_setpoint.lon = cmd.param6;
position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt;
if (have_geofence_position_data) {
reposition_valid = geofence_allows_position(position_setpoint);
}
if (reposition_valid) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
position_setpoint_triplet_s *curr = get_position_setpoint_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_local_position()->heading;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
bool only_alt_change_requested = false;
// If no argument for ground speed, use default value.
if (cmd.param1 <= 0 || !PX4_ISFINITE(cmd.param1)) {
rep->current.cruising_speed = get_cruising_speed();
} else {
rep->current.cruising_speed = cmd.param1;
}
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
// Go on and check which changes had been requested
if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4;
rep->current.yaw_valid = true;
} else {
rep->current.yaw = NAN;
rep->current.yaw_valid = false;
}
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
// Position change with optional altitude change
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7;
} else {
rep->current.alt = get_global_position()->alt;
}
} else if (PX4_ISFINITE(cmd.param7)) {
// Received only a request to change altitude, thus we keep the setpoint
rep->current.lat = PX4_ISFINITE(curr->current.lat) ? curr->current.lat : get_global_position()->lat;
rep->current.lon = PX4_ISFINITE(curr->current.lon) ? curr->current.lon : get_global_position()->lon;
rep->current.alt = cmd.param7;
only_alt_change_requested = true;
} else {
// All three set to NaN - pause vehicle
rep->current.alt = get_global_position()->alt;
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& (get_position_setpoint_triplet()->current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
calculate_breaking_stop(rep->current.lat, rep->current.lon, rep->current.yaw);
rep->current.yaw_valid = true;
} else {
// For fixedwings we can use the current vehicle's position to define the loiter point
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
}
}
if (only_alt_change_requested) {
if (PX4_ISFINITE(curr->current.loiter_radius) && curr->current.loiter_radius > 0) {
rep->current.loiter_radius = curr->current.loiter_radius;
} else {
rep->current.loiter_radius = get_loiter_radius();
}
if (curr->current.loiter_direction == 1 || curr->current.loiter_direction == -1) {
rep->current.loiter_direction = curr->current.loiter_direction;
} else {
rep->current.loiter_direction = 1;
}
}
rep->previous.timestamp = hrt_absolute_time();
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
rep->next.valid = false;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Reposition is outside geofence\t");
events::send(events::ID("navigator_reposition_outside_geofence"), {events::Log::Error, events::LogInternal::Info},
"Reposition is outside geofence");
}
// CMD_DO_REPOSITION is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_ORBIT &&
get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
// for multicopters the orbit command is directly executed by the orbit flighttask
bool orbit_location_valid = true;
vehicle_global_position_s position_setpoint{};
position_setpoint.lat = PX4_ISFINITE(cmd.param5) ? cmd.param5 : get_global_position()->lat;
position_setpoint.lon = PX4_ISFINITE(cmd.param6) ? cmd.param6 : get_global_position()->lon;
position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt;
if (have_geofence_position_data) {
orbit_location_valid = geofence_allows_position(position_setpoint);
}
if (orbit_location_valid) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.cruising_throttle = get_cruising_throttle();
if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction = math::signNoZero(cmd.param1);
}
rep->current.lat = position_setpoint.lat;
rep->current.lon = position_setpoint.lon;
rep->current.alt = position_setpoint.alt;
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
} else {
mavlink_log_critical(&_mavlink_log_pub, "Orbit is outside geofence");
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) {
position_setpoint_triplet_s *rep = get_takeoff_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_local_position()->heading;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
if (home_global_position_valid()) {
// Only set yaw if we know the true heading
// We assume that the heading is valid when the global position is valid because true heading
// is required to fuse NE (e.g.: GNSS) data. // TODO: we should be more explicit here
rep->current.yaw = cmd.param4;
rep->previous.valid = true;
rep->previous.timestamp = hrt_absolute_time();
} else {
rep->current.yaw = get_local_position()->heading;
rep->previous.valid = false;
}
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
} else {
// If one of them is non-finite set the current global position as target
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
}
rep->current.alt = cmd.param7;
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
rep->next.valid = false;
// CMD_NAV_TAKEOFF is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_VTOL_TAKEOFF) {
_vtol_takeoff.setTransitionAltitudeAbsolute(cmd.param7);
// after the transition the vehicle will establish on a loiter at this position
_vtol_takeoff.setLoiterLocation(matrix::Vector2d(cmd.param5, cmd.param6));
// loiter height is the height above takeoff altitude at which the vehicle will establish on a loiter circle
_vtol_takeoff.setLoiterHeight(cmd.param1);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_LAND_START) {
/* find NAV_CMD_DO_LAND_START in the mission and
* use MAV_CMD_MISSION_START to start the mission there
*/
if (_mission.land_start()) {
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.param1 = _mission.get_land_start_index();
publish_vehicle_cmd(&vcmd);
} else {
PX4_WARN("planned mission landing not available");
}
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) {
if (_mission_result.valid && PX4_ISFINITE(cmd.param1) && (cmd.param1 >= 0)) {
if (!_mission.set_current_mission_index(cmd.param1)) {
PX4_WARN("CMD_MISSION_START failed");
}
}
// CMD_MISSION_START is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) {
if (cmd.param2 > FLT_EPSILON) {
// XXX not differentiating ground and airspeed yet
set_cruising_speed(cmd.param2);
} else {
set_cruising_speed();
/* if no speed target was given try to set throttle */
if (cmd.param3 > FLT_EPSILON) {
set_cruising_throttle(cmd.param3 / 100);
} else {
set_cruising_throttle();
}
}
// TODO: handle responses for supported DO_CHANGE_SPEED options?
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI
|| cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_ROI
|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION
|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET
|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE) {
_vroi = {};
switch (cmd.command) {
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI:
case vehicle_command_s::VEHICLE_CMD_NAV_ROI:
_vroi.mode = cmd.param1;
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_LOCATION;
_vroi.lat = cmd.param5;
_vroi.lon = cmd.param6;
_vroi.alt = cmd.param7;
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_WPNEXT;
_vroi.pitch_offset = (float)cmd.param5 * M_DEG_TO_RAD_F;
_vroi.roll_offset = (float)cmd.param6 * M_DEG_TO_RAD_F;
_vroi.yaw_offset = (float)cmd.param7 * M_DEG_TO_RAD_F;
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_NONE;
break;
default:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_NONE;
break;
}
_vroi.timestamp = hrt_absolute_time();
_vehicle_roi_pub.publish(_vroi);
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION
&& get_vstatus()->nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) {
// reset cruise speed and throttle to default when transitioning (VTOL Takeoff handles it separately)
reset_cruising_speed();
set_cruising_throttle();
// need to update current setpooint with reset cruise speed and throttle
position_setpoint_triplet_s *rep = get_reposition_triplet();
*rep = *(get_position_setpoint_triplet());
rep->current.cruising_speed = get_cruising_speed();
rep->current.cruising_throttle = get_cruising_throttle();
}
}
/* Check for traffic */
check_traffic();
/* Check geofence violation */
geofence_breach_check(have_geofence_position_data);
/* Do stuff according to navigation state set by commander */
NavigatorMode *navigation_mode_new{nullptr};
switch (_vstatus.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_NORMAL);
navigation_mode_new = &_mission;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_loiter;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: {
_pos_sp_triplet_published_invalid_once = false;
const bool rtl_activated = _previous_nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
switch (_rtl.get_rtl_type()) {
case RTL::RTL_TYPE_MISSION_LANDING:
case RTL::RTL_TYPE_CLOSEST:
if (!rtl_activated && _rtl.getRTLState() > RTL::RTLState::RTL_STATE_LOITER
&& _rtl.getShouldEngageMissionForLanding()) {
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
if (!getMissionLandingInProgress() && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& !get_land_detected()->landed) {
start_mission_landing();
}
navigation_mode_new = &_mission;
} else {
navigation_mode_new = &_rtl;
}
break;
case RTL::RTL_TYPE_MISSION_LANDING_REVERSED:
if (_mission.get_land_start_available() && !get_land_detected()->landed) {
// the mission contains a landing spot
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
if (_navigation_mode != &_mission) {
if (_navigation_mode == nullptr) {
// switching from an manual mode, go to landing if not already landing
if (!on_mission_landing()) {
start_mission_landing();
}
} else {
// switching from an auto mode, continue the mission from the closest item
_mission.set_closest_item_as_current();
}
}
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, continue mission\t");
events::send(events::ID("navigator_rtl_mission_activated"), events::Log::Info,
"RTL Mission activated, continue mission");
}
navigation_mode_new = &_mission;
} else {
// fly the mission in reverse if switching from a non-manual mode
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_REVERSE);
if ((_navigation_mode != nullptr && (_navigation_mode != &_rtl || _mission.get_mission_changed())) &&
(! _mission.get_mission_finished()) &&
(!get_land_detected()->landed)) {
// determine the closest mission item if switching from a non-mission mode, and we are either not already
// mission mode or the mission waypoints changed.
// The seconds condition is required so that when no mission was uploaded and one is available the closest
// mission item is determined and also that if the user changes the active mission index while rtl is active
// always that waypoint is tracked first.
if ((_navigation_mode != &_mission) && (rtl_activated || _mission.get_mission_waypoints_changed())) {
_mission.set_closest_item_as_current();
}
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly mission in reverse\t");
events::send(events::ID("navigator_rtl_mission_activated_rev"), events::Log::Info,
"RTL Mission activated, fly mission in reverse");
}
navigation_mode_new = &_mission;
} else {
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly to home\t");
events::send(events::ID("navigator_rtl_mission_activated_home"), events::Log::Info,
"RTL Mission activated, fly to home");
}
navigation_mode_new = &_rtl;
}
}
break;
default:
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL HOME activated\t");
events::send(events::ID("navigator_rtl_home_activated"), events::Log::Info, "RTL activated");
}
navigation_mode_new = &_rtl;
break;
}
break;
}
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_takeoff;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_vtol_takeoff;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_precland;
_precland.set_mode(PrecLandMode::Required);
break;
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_STAB:
default:
navigation_mode_new = nullptr;
_can_loiter_at_sp = false;
break;
}
// Do not execute any state machine while we are disarmed
if (_vstatus.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
navigation_mode_new = nullptr;
}
// update the vehicle status
_previous_nav_state = _vstatus.nav_state;
/* we have a new navigation mode: reset triplet */
if (_navigation_mode != navigation_mode_new) {
// We don't reset the triplet in the following two cases:
// 1) if we just did an auto-takeoff and are now
// going to loiter. Otherwise, we lose the takeoff altitude and end up lower
// than where we wanted to go.
// 2) We switch to loiter and the current position setpoint already has a valid loiter point.
// In that case we can assume that the vehicle has already established a loiter and we don't need to set a new
// loiter position.
//
// FIXME: a better solution would be to add reset where they are needed and remove
// this general reset here.
const bool current_mode_is_takeoff = _navigation_mode == &_takeoff;
const bool new_mode_is_loiter = navigation_mode_new == &_loiter;
const bool valid_loiter_setpoint = (_pos_sp_triplet.current.valid
&& _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
const bool did_not_switch_takeoff_to_loiter = !(current_mode_is_takeoff && new_mode_is_loiter);
const bool did_not_switch_to_loiter_with_valid_loiter_setpoint = !(new_mode_is_loiter && valid_loiter_setpoint);
if (did_not_switch_takeoff_to_loiter && did_not_switch_to_loiter_with_valid_loiter_setpoint) {
reset_triplets();
}
// transition to hover in Descend mode
if (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND &&
_vstatus.is_vtol && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING &&
force_vtol()) {
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_cmd(&vcmd);
mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
"Transition to hover mode and descend");
}
}
_navigation_mode = navigation_mode_new;
/* iterate through navigation modes and set active/inactive for each */
for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
if (_navigation_mode_array[i]) {
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
}
/* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
_pos_sp_triplet_published_invalid_once = true;
reset_triplets();
}
if (_pos_sp_triplet_updated) {
publish_position_setpoint_triplet();
}
if (_mission_result_updated) {
publish_mission_result();
}
perf_end(_loop_perf);
}
}
void Navigator::geofence_breach_check(bool &have_geofence_position_data)
{
if (have_geofence_position_data &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&_last_geofence_check) > GEOFENCE_CHECK_INTERVAL_US)) {
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
matrix::Vector2<double> fence_violation_test_point;
geofence_violation_type_u gf_violation_type{};
float test_point_bearing;
float test_point_distance;
float vertical_test_point_distance;
char geofence_violation_warning[50];
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
test_point_bearing = atan2f(_local_pos.vy, _local_pos.vx);
const float velocity_hor_abs = sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * _local_pos.vy);
_gf_breach_avoidance.setHorizontalVelocity(velocity_hor_abs);
_gf_breach_avoidance.setClimbRate(-_local_pos.vz);
test_point_distance = _gf_breach_avoidance.computeBrakingDistanceMultirotor();
vertical_test_point_distance = _gf_breach_avoidance.computeVerticalBrakingDistanceMultirotor();
} else {
test_point_distance = 2.0f * get_loiter_radius();
vertical_test_point_distance = 5.0f;
if (hrt_absolute_time() - pos_ctrl_status.timestamp < 100000 && PX4_ISFINITE(pos_ctrl_status.nav_bearing)) {
test_point_bearing = pos_ctrl_status.nav_bearing;
} else {
test_point_bearing = atan2f(_local_pos.vy, _local_pos.vx);
}
}
_gf_breach_avoidance.setHorizontalTestPointDistance(test_point_distance);
_gf_breach_avoidance.setVerticalTestPointDistance(vertical_test_point_distance);
_gf_breach_avoidance.setTestPointBearing(test_point_bearing);
_gf_breach_avoidance.setCurrentPosition(_global_pos.lat, _global_pos.lon, _global_pos.alt);
_gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome());
_gf_breach_avoidance.setMaxVerDistHome(_geofence.getMaxVerDistanceHome());
if (home_global_position_valid()) {
_gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt);
}
if (_geofence.getPredict()) {
fence_violation_test_point = _gf_breach_avoidance.getFenceViolationTestPoint();
snprintf(geofence_violation_warning, sizeof(geofence_violation_warning), "Approaching on geofence");
} else {
fence_violation_test_point = matrix::Vector2d(_global_pos.lat, _global_pos.lon);
vertical_test_point_distance = 0;
snprintf(geofence_violation_warning, sizeof(geofence_violation_warning), "Geofence exceeded");
}
gf_violation_type.flags.dist_to_home_exceeded = !_geofence.isCloserThanMaxDistToHome(fence_violation_test_point(0),
fence_violation_test_point(1),
_global_pos.alt);
gf_violation_type.flags.max_altitude_exceeded = !_geofence.isBelowMaxAltitude(_global_pos.alt +
vertical_test_point_distance);
gf_violation_type.flags.fence_violation = !_geofence.isInsidePolygonOrCircle(fence_violation_test_point(0),
fence_violation_test_point(1),
_global_pos.alt);
_last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
_geofence_result.timestamp = hrt_absolute_time();
_geofence_result.geofence_action = _geofence.getGeofenceAction();
_geofence_result.home_required = _geofence.isHomeRequired();
if (gf_violation_type.value) {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = true;
/* Issue a warning about the geofence violation once and only if we are armed */
if (!_geofence_violation_warning_sent && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
mavlink_log_critical(&_mavlink_log_pub, "%s", geofence_violation_warning);
events::send(events::ID("navigator_geofence_violation"), {events::Log::Warning, events::LogInternal::Info},
geofence_violation_warning);
// we have predicted a geofence violation and if the action is to loiter then
// demand a reposition to a location which is inside the geofence
if (_geofence.getGeofenceAction() == geofence_result_s::GF_ACTION_LOITER) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
matrix::Vector2<double> loiter_center_lat_lon;
matrix::Vector2<double> current_pos_lat_lon(_global_pos.lat, _global_pos.lon);
float loiter_altitude_amsl = _global_pos.alt;
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// the computation of the braking distance does not match the actual braking distance. Until we have a better model
// we set the loiter point to the current position, that will make sure that the vehicle will loiter inside the fence
loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type,
&_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForMulticopter(gf_violation_type);
} else {
loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForFixedWing(gf_violation_type);
}
rep->current.timestamp = hrt_absolute_time();
rep->current.yaw = get_local_position()->heading;
rep->current.yaw_valid = true;
rep->current.lat = loiter_center_lat_lon(0);
rep->current.lon = loiter_center_lat_lon(1);
rep->current.alt = loiter_altitude_amsl;
rep->current.valid = true;
rep->current.loiter_radius = get_loiter_radius();
rep->current.alt_valid = true;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_direction = 1;
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.cruising_speed = get_cruising_speed();
}
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = false;
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
_geofence_result_pub.publish(_geofence_result);
}
}
int Navigator::task_spawn(int argc, char *argv[])
{
_task_id = px4_task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_NAVIGATION,
PX4_STACK_ADJUSTED(1952),
(px4_main_t)&run_trampoline,
(char *const *)argv);
if (_task_id < 0) {
_task_id = -1;
return -errno;
}
return 0;
}
Navigator *Navigator::instantiate(int argc, char *argv[])
{
Navigator *instance = new Navigator();
if (instance == nullptr) {
PX4_ERR("alloc failed");
}
return instance;
}
int Navigator::print_status()
{
PX4_INFO("Running");
_geofence.printStatus();
return 0;
}
void Navigator::publish_position_setpoint_triplet()
{
_pos_sp_triplet.timestamp = hrt_absolute_time();
_pos_sp_triplet_pub.publish(_pos_sp_triplet);
_pos_sp_triplet_updated = false;
}
float Navigator::get_default_acceptance_radius()
{
return _param_nav_acc_rad.get();
}
float Navigator::get_default_altitude_acceptance_radius()
{
if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return _param_nav_fw_alt_rad.get();
} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
return INFINITY;
} else {
float alt_acceptance_radius = _param_nav_mc_alt_rad.get();
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
&& pos_ctrl_status.altitude_acceptance > alt_acceptance_radius) {
alt_acceptance_radius = pos_ctrl_status.altitude_acceptance;
}
return alt_acceptance_radius;
}
}
float Navigator::get_altitude_acceptance_radius()
{
if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
const position_setpoint_s &next_sp = get_position_setpoint_triplet()->next;
if (next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
// Use separate (tighter) altitude acceptance for clean altitude starting point before landing
return _param_nav_fw_altl_rad.get();
}
}
return get_default_altitude_acceptance_radius();
}
float Navigator::get_cruising_speed()
{
/* there are three options: The mission-requested cruise speed, or the current hover / plane speed */
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_mission_cruising_speed_mc > 0.0f) {
return _mission_cruising_speed_mc;
} else {
return -1.0f;
}
} else {
if (_mission_cruising_speed_fw > 0.0f) {
return _mission_cruising_speed_fw;
} else {
return -1.0f;
}
}
}
void Navigator::set_cruising_speed(float speed)
{
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_mission_cruising_speed_mc = speed;
} else {
_mission_cruising_speed_fw = speed;
}
}
void Navigator::reset_cruising_speed()
{
_mission_cruising_speed_mc = -1.0f;
_mission_cruising_speed_fw = -1.0f;
}
void Navigator::reset_triplets()
{
reset_position_setpoint(_pos_sp_triplet.previous);
reset_position_setpoint(_pos_sp_triplet.current);
reset_position_setpoint(_pos_sp_triplet.next);
_pos_sp_triplet_updated = true;
}
void Navigator::reset_position_setpoint(position_setpoint_s &sp)
{
sp = position_setpoint_s{};
sp.timestamp = hrt_absolute_time();
sp.lat = static_cast<double>(NAN);
sp.lon = static_cast<double>(NAN);
sp.loiter_radius = get_loiter_radius();
sp.acceptance_radius = get_default_acceptance_radius();
sp.cruising_speed = get_cruising_speed();
sp.cruising_throttle = get_cruising_throttle();
sp.valid = false;
sp.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
sp.disable_weather_vane = false;
}
float Navigator::get_cruising_throttle()
{
/* Return the mission-requested cruise speed, or default FW_THR_TRIM value */
if (_mission_throttle > FLT_EPSILON) {
return _mission_throttle;
} else {
return NAN;
}
}
float Navigator::get_acceptance_radius()
{
float acceptance_radius = get_default_acceptance_radius(); // the value specified in the parameter NAV_ACC_RAD
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
// for fixed-wing and rover, return the max of NAV_ACC_RAD and the controller acceptance radius (e.g. L1 distance)
if (_vstatus.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& PX4_ISFINITE(pos_ctrl_status.acceptance_radius) && pos_ctrl_status.timestamp != 0) {
acceptance_radius = math::max(acceptance_radius, pos_ctrl_status.acceptance_radius);
}
return acceptance_radius;
}
float Navigator::get_yaw_acceptance(float mission_item_yaw)
{
float yaw = mission_item_yaw;
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
// if yaw_acceptance from position controller is NaN overwrite the mission item yaw such that
// the waypoint can be reached from any direction
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) && !PX4_ISFINITE(pos_ctrl_status.yaw_acceptance)) {
yaw = pos_ctrl_status.yaw_acceptance;
}
return yaw;
}
void Navigator::load_fence_from_file(const char *filename)
{
_geofence.loadFromFile(filename);
}
void Navigator::fake_traffic(const char *callsign, float distance, float direction, float traffic_heading,
float altitude_diff, float hor_velocity, float ver_velocity, int emitter_type)
{
double lat{0.0};
double lon{0.0};
waypoint_from_heading_and_distance(get_global_position()->lat, get_global_position()->lon, direction, distance, &lat,
&lon);
float alt = get_global_position()->alt + altitude_diff;
// float vel_n = get_global_position()->vel_n;
// float vel_e = get_global_position()->vel_e;
// float vel_d = get_global_position()->vel_d;
transponder_report_s tr{};
tr.timestamp = hrt_absolute_time();
tr.icao_address = 1234;
tr.lat = lat; // Latitude, expressed as degrees
tr.lon = lon; // Longitude, expressed as degrees
tr.altitude_type = 0;
tr.altitude = alt;
tr.heading = traffic_heading; //-atan2(vel_e, vel_n); // Course over ground in radians
tr.hor_velocity = hor_velocity; //sqrtf(vel_e * vel_e + vel_n * vel_n); // The horizontal velocity in m/s
tr.ver_velocity = ver_velocity; //-vel_d; // The vertical velocity in m/s, positive is up
strncpy(&tr.callsign[0], callsign, sizeof(tr.callsign) - 1);
tr.callsign[sizeof(tr.callsign) - 1] = 0;
tr.emitter_type = emitter_type; // Type from ADSB_EMITTER_TYPE enum
tr.tslc = 2; // Time since last communication in seconds
tr.flags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS | transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE |
(transponder_report_s::ADSB_EMITTER_TYPE_UAV & emitter_type ? 0 :
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN); // Flags to indicate various statuses including valid data fields
tr.squawk = 6667;
#ifndef BOARD_HAS_NO_UUID
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
memcpy(tr.uas_id, px4_guid, sizeof(px4_guid_t)); //simulate own GUID
#else
for (int i = 0; i < PX4_GUID_BYTE_LENGTH ; i++) {
tr.uas_id[i] = 0xe0 + i; //simulate GUID
}
#endif /* BOARD_HAS_NO_UUID */
uORB::Publication<transponder_report_s> tr_pub{ORB_ID(transponder_report)};
tr_pub.publish(tr);
}
void Navigator::check_traffic()
{
double lat = get_global_position()->lat;
double lon = get_global_position()->lon;
float alt = get_global_position()->alt;
// TODO for non-multirotors predicting the future
// position as accurately as possible will become relevant
// float vel_n = get_global_position()->vel_n;
// float vel_e = get_global_position()->vel_e;
// float vel_d = get_global_position()->vel_d;
bool changed = _traffic_sub.updated();
char uas_id[11]; //GUID of incoming UTM messages
float NAVTrafficAvoidUnmanned = _param_nav_traff_a_radu.get();
float NAVTrafficAvoidManned = _param_nav_traff_a_radm.get();
float horizontal_separation = NAVTrafficAvoidManned;
float vertical_separation = NAVTrafficAvoidManned;
while (changed) {
//vehicle_status_s vs{};
transponder_report_s tr{};
_traffic_sub.copy(&tr);
uint16_t required_flags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS |
transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY | transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
if ((tr.flags & required_flags) != required_flags) {
changed = _traffic_sub.updated();
continue;
}
//convert UAS_id byte array to char array for User Warning
for (int i = 0; i < 5; i++) {
snprintf(&uas_id[i * 2], sizeof(uas_id) - i * 2, "%02x", tr.uas_id[PX4_GUID_BYTE_LENGTH - 5 + i]);
}
uint64_t uas_id_int = 0;
for (int i = 0; i < 8; i++) {
uas_id_int |= (uint64_t)(tr.uas_id[PX4_GUID_BYTE_LENGTH - i - 1]) << (i * 8);
}
//Manned/Unmanned Vehicle Seperation Distance
if (tr.emitter_type == transponder_report_s::ADSB_EMITTER_TYPE_UAV) {
horizontal_separation = NAVTrafficAvoidUnmanned;
vertical_separation = NAVTrafficAvoidUnmanned;
}
float d_hor, d_vert;
get_distance_to_point_global_wgs84(lat, lon, alt,
tr.lat, tr.lon, tr.altitude, &d_hor, &d_vert);
// predict final altitude (positive is up) in prediction time frame
float end_alt = tr.altitude + (d_vert / tr.hor_velocity) * tr.ver_velocity;
// Predict until the vehicle would have passed this system at its current speed
float prediction_distance = d_hor + 1000.0f;
// If the altitude is not getting close to us, do not calculate
// the horizontal separation.
// Since commercial flights do most of the time keep flight levels
// check for the current and for the predicted flight level.
// we also make the implicit assumption that this system is on the lowest
// flight level close to ground in the
// (end_alt - horizontal_separation < alt) condition. If this system should
// ever be used in normal airspace this implementation would anyway be
// inappropriate as it should be replaced with a TCAS compliant solution.
if ((fabsf(alt - tr.altitude) < vertical_separation) || ((end_alt - horizontal_separation) < alt)) {
double end_lat, end_lon;
waypoint_from_heading_and_distance(tr.lat, tr.lon, tr.heading, prediction_distance, &end_lat, &end_lon);
struct crosstrack_error_s cr;
if (!get_distance_to_line(&cr, lat, lon, tr.lat, tr.lon, end_lat, end_lon)) {
if (!cr.past_end && (fabsf(cr.distance) < horizontal_separation)) {
bool action_needed = buffer_air_traffic(tr.icao_address);
if (action_needed) {
// direction of traffic in human-readable 0..360 degree in earth frame
int traffic_direction = math::degrees(tr.heading) + 180;
int traffic_seperation = (int)fabsf(cr.distance);
switch (_param_nav_traff_avoid.get()) {
case 0: {
/* Ignore */
PX4_WARN("TRAFFIC %s! dst %d, hdg %d",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
break;
}
case 1: {
/* Warn only */
mavlink_log_critical(&_mavlink_log_pub, "Warning TRAFFIC %s! dst %d, hdg %d\t",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
/* EVENT
* @description
* - ID: {1}
* - Distance: {2m}
* - Direction: {3} degrees
*/
events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic"), events::Log::Critical, "Traffic alert",
uas_id_int, traffic_seperation, traffic_direction);
break;
}
case 2: {
/* RTL Mode */
mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Returning home! dst %d, hdg %d\t",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
/* EVENT
* @description
* - ID: {1}
* - Distance: {2m}
* - Direction: {3} degrees
*/
events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic_rtl"), events::Log::Critical,
"Traffic alert, returning home",
uas_id_int, traffic_seperation, traffic_direction);
// set the return altitude to minimum
_rtl.set_return_alt_min(true);
// ask the commander to execute an RTL
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
publish_vehicle_cmd(&vcmd);
break;
}
case 3: {
/* Land Mode */
mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Landing! dst %d, hdg % d\t",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
/* EVENT
* @description
* - ID: {1}
* - Distance: {2m}
* - Direction: {3} degrees
*/
events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic_land"), events::Log::Critical,
"Traffic alert, landing",
uas_id_int, traffic_seperation, traffic_direction);
// ask the commander to land
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
publish_vehicle_cmd(&vcmd);
break;
}
case 4: {
/* Position hold */
mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Holding position! dst %d, hdg %d\t",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
/* EVENT
* @description
* - ID: {1}
* - Distance: {2m}
* - Direction: {3} degrees
*/
events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic_hold"), events::Log::Critical,
"Traffic alert, holding position",
uas_id_int, traffic_seperation, traffic_direction);
// ask the commander to Loiter
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
publish_vehicle_cmd(&vcmd);
break;
}
}
}
}
}
}
changed = _traffic_sub.updated();
}
}
bool Navigator::buffer_air_traffic(uint32_t icao_address)
{
bool action_needed = true;
if (_traffic_buffer.icao_address == icao_address) {
if (hrt_elapsed_time(&_traffic_buffer.timestamp) > 60_s) {
_traffic_buffer.timestamp = hrt_absolute_time();
} else {
action_needed = false;
}
} else {
_traffic_buffer.timestamp = hrt_absolute_time();
_traffic_buffer.icao_address = icao_address;
}
return action_needed;
}
bool Navigator::abort_landing()
{
// only abort if currently landing and position controller status updated
bool should_abort = false;
if (_pos_sp_triplet.current.valid
&& _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
if (_pos_ctrl_landing_status_sub.updated()) {
position_controller_landing_status_s landing_status{};
// landing status from position controller must be newer than navigator's last position setpoint
if (_pos_ctrl_landing_status_sub.copy(&landing_status)) {
if (landing_status.timestamp > _pos_sp_triplet.timestamp) {
should_abort = (landing_status.abort_status > 0);
}
}
}
}
return should_abort;
}
bool Navigator::force_vtol()
{
return _vstatus.is_vtol &&
(_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING || _vstatus.in_transition_to_fw)
&& _param_nav_force_vt.get();
}
int Navigator::custom_command(int argc, char *argv[])
{
if (!is_running()) {
print_usage("not running");
return 1;
}
if (!strcmp(argv[0], "fencefile")) {
get_instance()->load_fence_from_file(GEOFENCE_FILENAME);
return 0;
} else if (!strcmp(argv[0], "fake_traffic")) {
get_instance()->fake_traffic("LX007", 500, 1.0f, -1.0f, 100.0f, 90.0f, 0.001f,
transponder_report_s::ADSB_EMITTER_TYPE_LIGHT);
get_instance()->fake_traffic("LX55", 1000, 0, 0, 100.0f, 90.0f, 0.001f, transponder_report_s::ADSB_EMITTER_TYPE_SMALL);
get_instance()->fake_traffic("LX20", 15000, 1.0f, -1.0f, 280.0f, 90.0f, 0.001f,
transponder_report_s::ADSB_EMITTER_TYPE_LARGE);
get_instance()->fake_traffic("UAV", 10, 1.0f, -2.0f, 10.0f, 10.0f, 0.01f, transponder_report_s::ADSB_EMITTER_TYPE_UAV);
return 0;
}
return print_usage("unknown command");
}
void Navigator::publish_mission_result()
{
_mission_result.timestamp = hrt_absolute_time();
/* lazily publish the mission result only once available */
_mission_result_pub.publish(_mission_result);
/* reset some of the flags */
_mission_result.item_do_jump_changed = false;
_mission_result.item_changed_index = 0;
_mission_result.item_do_jump_remaining = 0;
_mission_result_updated = false;
}
void Navigator::set_mission_failure_heading_timeout()
{
if (!_mission_result.failure) {
_mission_result.failure = true;
set_mission_result_updated();
mavlink_log_critical(&_mavlink_log_pub, "unable to reach heading within timeout\t");
events::send(events::ID("navigator_mission_failure_heading"), events::Log::Critical,
"Mission failure: unable to reach heading within timeout");
}
}
void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
{
vcmd->timestamp = hrt_absolute_time();
vcmd->source_system = _vstatus.system_id;
vcmd->source_component = _vstatus.component_id;
vcmd->target_system = _vstatus.system_id;
vcmd->confirmation = false;
vcmd->from_external = false;
// The camera commands are not processed on the autopilot but will be
// sent to the mavlink links to other components.
switch (vcmd->command) {
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
break;
default:
vcmd->target_component = _vstatus.component_id;
break;
}
_vehicle_cmd_pub.publish(*vcmd);
}
void Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t result)
{
vehicle_command_ack_s command_ack = {};
command_ack.timestamp = hrt_absolute_time();
command_ack.command = cmd.command;
command_ack.target_system = cmd.source_system;
command_ack.target_component = cmd.source_component;
command_ack.from_external = false;
command_ack.result = result;
command_ack.result_param1 = 0;
command_ack.result_param2 = 0;
_vehicle_cmd_ack_pub.publish(command_ack);
}
void Navigator::acquire_gimbal_control()
{
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
vcmd.param1 = _vstatus.system_id;
vcmd.param2 = _vstatus.component_id;
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_cmd(&vcmd);
}
void Navigator::release_gimbal_control()
{
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
vcmd.param1 = -3.0f; // Remove control if it had it.
vcmd.param2 = -3.0f; // Remove control if it had it.
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_cmd(&vcmd);
}
bool Navigator::geofence_allows_position(const vehicle_global_position_s &pos)
{
if ((_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN)) {
if (PX4_ISFINITE(pos.lat) && PX4_ISFINITE(pos.lon)) {
return _geofence.check(pos, _gps_pos);
}
}
return true;
}
void Navigator::calculate_breaking_stop(double &lat, double &lon, float &yaw)
{
// For multirotors we need to account for the braking distance, otherwise the vehicle will overshoot and go back
float course_over_ground = atan2f(_local_pos.vy, _local_pos.vx);
// predict braking distance
const float velocity_hor_abs = sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * _local_pos.vy);
float multirotor_braking_distance = math::trajectory::computeBrakingDistanceFromVelocity(velocity_hor_abs,
_param_mpc_jerk_auto, _param_mpc_acc_hor, 0.6f * _param_mpc_jerk_auto);
waypoint_from_heading_and_distance(get_global_position()->lat, get_global_position()->lon, course_over_ground,
multirotor_braking_distance, &lat, &lon);
yaw = get_local_position()->heading;
}
int Navigator::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
takeoff and RTL.
It is also responsible for geofence violation checking.
### Implementation
The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
The member `_navigation_mode` contains the current active mode.
Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
controller.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("navigator", "controller");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("fencefile", "load a geofence file from SD card, stored at etc/geofence.txt");
PRINT_MODULE_USAGE_COMMAND_DESCR("fake_traffic", "publishes 4 fake transponder_report_s uORB messages");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
/**
* navigator app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int navigator_main(int argc, char *argv[])
{
return Navigator::main(argc, argv);
}
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