-
Notifications
You must be signed in to change notification settings - Fork 13.2k
/
navigator_main.cpp
1554 lines (1201 loc) · 51.7 KB
/
navigator_main.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/****************************************************************************
*
* 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_client/DatamanClient.hpp>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <lib/adsb/AdsbConflict.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),
#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
_vtol_takeoff(this),
#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
_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;
#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
_navigation_mode_array[6] = &_vtol_takeoff;
#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
/* iterate through navigation modes and initialize _mission_item for each */
for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
if (_navigation_mode_array[i]) {
_navigation_mode_array[i]->initialize();
}
}
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_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));
// Update the timeout used in mission_block (which can't hold it's own parameters)
_mission.set_payload_deployment_timeout(_param_mis_payload_delivery_timeout.get());
_adsb_conflict.set_conflict_detection_params(_param_nav_traff_a_hor_ct.get(),
_param_nav_traff_a_ver.get(),
_param_nav_traff_collision_time.get(), _param_nav_traff_avoid.get());
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_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);
}
_mission.set_payload_deployment_timeout(_param_mis_payload_delivery_timeout.get());
}
void Navigator::run()
{
/* 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;
uint32_t geofence_id{0};
uint32_t safe_points_id{0};
/* 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) {
mission_s mission;
orb_copy(ORB_ID(mission), _mission_sub, &mission);
if (mission.geofence_id != geofence_id) {
geofence_id = mission.geofence_id;
_geofence.updateFence();
}
if (mission.safe_points_id != safe_points_id) {
safe_points_id = mission.safe_points_id;
_rtl.updateSafePoints();
}
}
/* gps updated */
if (_gps_pos_sub.updated()) {
_gps_pos_sub.copy(&_gps_pos);
}
/* global position updated */
if (_global_pos_sub.updated()) {
_global_pos_sub.copy(&_global_pos);
}
/* 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);
// Handle Vehicle commands
int vehicle_command_updates = 0;
while (_vehicle_command_sub.updated() && (vehicle_command_updates < vehicle_command_s::ORB_QUEUE_LENGTH)) {
vehicle_command_updates++;
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)
vehicle_global_position_s position_setpoint{};
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
position_setpoint.lat = cmd.param5;
position_setpoint.lon = cmd.param6;
} else {
position_setpoint.lat = get_global_position()->lat;
position_setpoint.lon = get_global_position()->lon;
}
position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt;
if (geofence_allows_position(position_setpoint)) {
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)) {
// on entering Loiter mode, reset speed setpoint to default
if (_navigation_mode != &_loiter) {
rep->current.cruising_speed = -1.f;
} else {
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;
} else {
rep->current.yaw = NAN;
}
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) || PX4_ISFINITE(cmd.param4)) {
// Position is not changing, 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;
if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7;
only_alt_change_requested = true;
} else {
rep->current.alt = get_global_position()->alt;
}
} 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);
} 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 > FLT_EPSILON) {
rep->current.loiter_radius = curr->current.loiter_radius;
} else {
rep->current.loiter_radius = get_loiter_radius();
}
if (PX4_ISFINITE(curr->current.loiter_minor_radius) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) {
rep->current.loiter_minor_radius = curr->current.loiter_minor_radius;
} else {
rep->current.loiter_minor_radius = NAN;
}
if (PX4_ISFINITE(curr->current.loiter_orientation) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) {
rep->current.loiter_orientation = curr->current.loiter_orientation;
} else {
rep->current.loiter_orientation = 0.0f;
}
if (curr->current.loiter_pattern > 0) {
rep->current.loiter_pattern = curr->current.loiter_pattern;
} else {
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
}
rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
}
rep->previous.timestamp = hrt_absolute_time();
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
rep->next.valid = false;
_time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases
} 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_CHANGE_ALTITUDE
&& _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// only update the 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)
// A VEHICLE_CMD_DO_CHANGE_ALTITUDE has the exact same effect as a VEHICLE_CMD_DO_REPOSITION with only the altitude
// field populated, this logic is copied from above.
// only supports MAV_FRAME_GLOBAL and MAV_FRAMEs with absolute altitude amsl
vehicle_global_position_s position_setpoint{};
position_setpoint.lat = get_global_position()->lat;
position_setpoint.lon = get_global_position()->lon;
position_setpoint.alt = PX4_ISFINITE(cmd.param1) ? cmd.param1 : get_global_position()->alt;
if (geofence_allows_position(position_setpoint)) {
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;
// on entering Loiter mode, reset speed setpoint to default
if (_navigation_mode != &_loiter) {
rep->current.cruising_speed = -1.f;
} else {
rep->current.cruising_speed = get_cruising_speed();
}
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.yaw = NAN;
// Position is not changing, 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;
// set the altitude corresponding to command
rep->current.alt = PX4_ISFINITE(cmd.param1) ? cmd.param1 : 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);
}
if (PX4_ISFINITE(curr->current.loiter_radius) && curr->current.loiter_radius > FLT_EPSILON) {
rep->current.loiter_radius = curr->current.loiter_radius;
} else {
rep->current.loiter_radius = get_loiter_radius();
}
rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
rep->previous.timestamp = hrt_absolute_time();
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
rep->next.valid = false;
_time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases
} else {
mavlink_log_critical(&_mavlink_log_pub, "Altitude change is outside geofence\t");
events::send(events::ID("navigator_change_altitude_outside_geofence"), {events::Log::Error, events::LogInternal::Info},
"Altitude change is outside geofence");
}
// DO_CHANGE_ALTITUDE 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
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 (geofence_allows_position(position_setpoint)) {
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_counter_clockwise = false;
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
rep->current.cruising_throttle = get_cruising_throttle();
// on entering Loiter mode, reset speed setpoint to default
if (_navigation_mode != &_loiter) {
rep->current.cruising_speed = -1.f;
} else {
rep->current.cruising_speed = get_cruising_speed();
}
if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0;
}
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();
_time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases
} else {
mavlink_log_critical(&_mavlink_log_pub, "Orbit is outside geofence");
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_FIGUREEIGHT &&
get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
#ifdef CONFIG_FIGURE_OF_EIGHT
// Only valid for fixed wing mode
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 (geofence_allows_position(position_setpoint)) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_minor_radius = fabsf(get_loiter_radius());
rep->current.loiter_direction_counter_clockwise = get_loiter_radius() < 0;
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT;
rep->current.cruising_speed = get_cruising_speed();
if (PX4_ISFINITE(cmd.param2) && fabsf(cmd.param2) > FLT_EPSILON) {
rep->current.loiter_minor_radius = fabsf(cmd.param2);
}
rep->current.loiter_radius = 2.5f * rep->current.loiter_minor_radius;
if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0;
}
rep->current.loiter_radius = math::max(rep->current.loiter_radius, 2.0f * rep->current.loiter_minor_radius);
if (PX4_ISFINITE(cmd.param4)) {
rep->current.loiter_orientation = cmd.param4;
}
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();
_time_loitering_after_gf_breach = 0; // have to manually reset this in all LOITER cases
} else {
mavlink_log_critical(&_mavlink_log_pub, "Figure 8 is outside geofence");
}
#endif // CONFIG_FIGURE_OF_EIGHT
} 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_counter_clockwise = false;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.cruising_speed = -1.f; // reset to default
if (home_global_position_valid()) {
rep->previous.valid = true;
rep->previous.timestamp = hrt_absolute_time();
} else {
rep->previous.valid = false;
}
// Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset.
// The yaw setpoint generation is handled by FlightTaskAuto.
rep->current.yaw = NAN;
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
#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
} 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);
#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
} 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 from the next item containing a position setpoint
uint8_t result{vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED};
if (_mission.get_land_start_available()) {
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");
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_CANCELLED;
}
publish_vehicle_command_ack(cmd, result);
} 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 {
reset_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();
}
}
/* Check for traffic */
check_traffic();
/* Check geofence violation */
geofence_breach_check();
/* 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;
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:
// If we are already in mission landing, do not switch.
if (_navigation_mode == &_mission && _mission.isLanding()) {
navigation_mode_new = &_mission;
break;
} else {
_pos_sp_triplet_published_invalid_once = false;
}
#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
// If we are in VTOL takeoff, do not switch until it is finished.
if (_navigation_mode == &_vtol_takeoff && !get_mission_result()->finished) {
navigation_mode_new = &_vtol_takeoff;
} else
#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
{
navigation_mode_new = &_rtl;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_takeoff;
break;
#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_vtol_takeoff;
break;
#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
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;
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;
}
/* 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();
}
_geofence.run();
perf_end(_loop_perf);
}
}
void Navigator::geofence_breach_check()
{
// reset the _time_loitering_after_gf_breach time if no longer in LOITER (and 100ms after it was triggered)
if (_vstatus.nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER
&& hrt_elapsed_time(&_time_loitering_after_gf_breach) > 100_ms) {
_time_loitering_after_gf_breach = 0;
}
if ((_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();
geofence_violation_type_u gf_violation_type{};
float test_point_bearing;
float test_point_distance;
float vertical_test_point_distance;
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);
}
}
double current_latitude = _global_pos.lat;
double current_longitude = _global_pos.lon;
float current_altitude = _global_pos.alt;
bool position_valid = _global_pos.timestamp > 0;
if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) {
current_latitude = _gps_pos.latitude_deg;
current_longitude = _gps_pos.longitude_deg;
current_altitude = _gps_pos.altitude_msl_m;
position_valid = _global_pos.timestamp > 0;
}
if (!position_valid) {
// we don't have a valid position yet, so we can't check for geofence violations
return;
}
_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(current_latitude, current_longitude, current_altitude);
_gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome());
if (home_global_position_valid()) {
_gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt);
}
double test_point_latitude = current_latitude;
double test_point_longitude = current_longitude;
float test_point_altitude = current_altitude;
if (_geofence.getPredict()) {
matrix::Vector2<double>fence_violation_test_point = _gf_breach_avoidance.getFenceViolationTestPoint();
test_point_latitude = fence_violation_test_point(0);
test_point_longitude = fence_violation_test_point(1);
test_point_altitude = current_altitude + vertical_test_point_distance;
}
if (_time_loitering_after_gf_breach > 0) {
// if we are in the loitering state after breaching a GF, only allow new ones to be set, but not unset
_geofence_result.geofence_max_dist_triggered |= !_geofence.isCloserThanMaxDistToHome(test_point_latitude,
test_point_longitude, test_point_altitude);
_geofence_result.geofence_max_alt_triggered |= !_geofence.isBelowMaxAltitude(test_point_altitude);
_geofence_result.geofence_custom_fence_triggered |= !_geofence.isInsidePolygonOrCircle(test_point_latitude,
test_point_longitude, test_point_altitude);
} else {
_geofence_result.geofence_max_dist_triggered = !_geofence.isCloserThanMaxDistToHome(test_point_latitude,
test_point_longitude, test_point_altitude);
_geofence_result.geofence_max_alt_triggered = !_geofence.isBelowMaxAltitude(test_point_altitude);
_geofence_result.geofence_custom_fence_triggered = !_geofence.isInsidePolygonOrCircle(test_point_latitude,
test_point_longitude, test_point_altitude);
}
_last_geofence_check = hrt_absolute_time();
_geofence_result.timestamp = hrt_absolute_time();
_geofence_result.geofence_action = _geofence.getGeofenceAction();
if (_geofence_result.geofence_max_dist_triggered || _geofence_result.geofence_max_alt_triggered ||
_geofence_result.geofence_custom_fence_triggered) {
/* Issue a warning about the geofence violation once and only if we are armed */
if (!_geofence_reposition_sent && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED