/
navigation.c
executable file
·2773 lines (2382 loc) · 111 KB
/
navigation.c
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/filter.h"
#include "common/maths.h"
#include "common/utils.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/time.h"
#include "fc/fc_core.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
// Multirotors:
#define MR_RTH_CLIMB_OVERSHOOT_CM 100 // target this amount of cm *above* the target altitude to ensure it is actually reached (Vz > 0 at target alt)
#define MR_RTH_CLIMB_MARGIN_MIN_CM 100 // start cruising home this amount of cm *before* reaching the cruise altitude (while continuing the ascend)
#define MR_RTH_CLIMB_MARGIN_PERCENT 15 // on high RTH altitudes use even bigger margin - percent of the altitude set
// Planes:
#define FW_RTH_CLIMB_OVERSHOOT_CM 100
#define FW_RTH_CLIMB_MARGIN_MIN_CM 100
#define FW_RTH_CLIMB_MARGIN_PERCENT 15
/*-----------------------------------------------------------
* Compatibility for home position
*-----------------------------------------------------------*/
gpsLocation_t GPS_home;
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home point in degrees
#if defined(USE_NAV)
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
PG_DECLARE_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList);
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 1);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
.flags = {
.use_thr_mid_for_althold = 0,
.extra_arming_safety = 1,
.user_control_mode = NAV_GPS_ATTI,
.rth_alt_control_mode = NAV_RTH_AT_LEAST_ALT,
.rth_climb_first = 1, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = 0, // Ignore GPS loss on initial climb
.rth_tail_first = 0,
.disarm_on_landing = 0,
.rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
},
// General navigation parameters
.pos_failure_timeout = 5, // 5 sec
.waypoint_radius = 100, // 2m diameter
.waypoint_safe_distance = 10000, // 100m - first waypoint should be closer than this
.max_auto_speed = 300, // 3 m/s = 10.8 km/h
.max_auto_climb_rate = 500, // 5 m/s
.max_manual_speed = 500,
.max_manual_climb_rate = 200,
.land_descent_rate = 200, // 2 m/s
.land_slowdown_minalt = 500, // 5 meters of altitude
.land_slowdown_maxalt = 2000, // 20 meters of altitude
.emerg_descent_rate = 500, // 5 m/s
.min_rth_distance = 500, // If closer than 5m - land immediately
.rth_altitude = 1000, // 10m
.rth_abort_threshold = 50000, // 500m - should be safe for all aircraft
.max_terrain_follow_altitude = 100, // max 1m altitude in terrain following mode
},
// MC-specific
.mc = {
.max_bank_angle = 30, // 30 deg
.hover_throttle = 1500,
.auto_disarm_delay = 2000,
},
// Fixed wing
.fw = {
.max_bank_angle = 20, // 30 deg
.max_climb_angle = 20,
.max_dive_angle = 15,
.cruise_throttle = 1400,
.max_throttle = 1700,
.min_throttle = 1200,
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.loiter_radius = 5000, // 50m
//Fixed wing landing
.land_dive_angle = 2, // 2 degrees dive by default
// Fixed wing launch
.launch_velocity_thresh = 300, // 3 m/s
.launch_accel_thresh = 1.9f * 981, // cm/s/s (1.9*G)
.launch_time_thresh = 40, // 40ms
.launch_throttle = 1700,
.launch_idle_throttle = 1000, // Motor idle or MOTOR_STOP
.launch_motor_timer = 500, // ms
.launch_motor_spinup_time = 100, // ms, time to gredually increase throttle from idle to launch
.launch_min_time = 0, // ms, min time in launch mode
.launch_timeout = 5000, // ms, timeout for launch procedure
.launch_max_altitude = 0, // cm, altitude where to consider launch ended
.launch_climb_angle = 18, // 18 degrees
.launch_max_angle = 45 // 45 deg
}
);
navigationPosControl_t posControl;
navSystemStatus_t NAV_Status;
#if defined(NAV_BLACKBOX)
int16_t navCurrentState;
int16_t navActualVelocity[3];
int16_t navDesiredVelocity[3];
int16_t navActualHeading;
int16_t navDesiredHeading;
int16_t navTargetPosition[3];
int32_t navLatestActualPosition[3];
int16_t navActualSurface;
uint16_t navFlags;
uint16_t navEPH;
uint16_t navEPV;
int16_t navAccNEU[3];
#endif
static void updateDesiredRTHAltitude(void);
static void resetAltitudeController(bool useTerrainFollowing);
static void resetPositionController(void);
static void setupAltitudeController(void);
static void resetHeadingController(void);
void resetGCSFlags(void);
static bool posEstimationHasGlobalReference(void);
static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint);
static void calculateAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos);
void calculateInitialHoldPosition(fpVector3_t * pos);
void calculateFarAwayTarget(fpVector3_t * farAwayPos, int32_t yaw, int32_t distance);
void initializeRTHSanityChecker(const fpVector3_t * pos);
bool validateRTHSanityChecker(void);
/*************************************************************************************************/
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHED(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navigationFSMState_t previousState);
static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** Idle state ******************************************************/
[NAV_STATE_IDLE] = {
.persistentId = NAV_PERSISTENT_ID_IDLE,
.onEntry = navOnEnteringState_NAV_STATE_IDLE,
.timeoutMs = 0,
.stateFlags = 0,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_LAUNCH] = NAV_STATE_LAUNCH_INITIALIZE,
}
},
/** ALTHOLD mode ***************************************************/
[NAV_STATE_ALTHOLD_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_ALTHOLD_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT,
.mapToFlightModes = NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_ALTHOLD_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_ALTHOLD_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_ALTHOLD_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT | NAV_RC_ALT,
.mapToFlightModes = NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_ALTHOLD_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
/** POSHOLD_3D mode ************************************************/
[NAV_STATE_POSHOLD_3D_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_INFINIT,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_POSHOLD_3D_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_POSHOLD_3D_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
.mwState = MW_NAV_STATE_HOLD_INFINIT,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_POSHOLD_3D_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
/** RTH_3D mode ************************************************/
[NAV_STATE_RTH_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_RTH_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_RTH_INITIALIZE,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_RTH_START,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_INITIALIZE, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_RTH_CLIMB_TO_SAFE_ALT] = {
.persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
.onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbind to safe alt
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_RTH_ENROUTE,
.mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_CLIMB_TO_SAFE_ALT, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_HEAD_HOME,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
}
},
[NAV_STATE_RTH_HEAD_HOME] = {
.persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_RTH_ENROUTE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HEAD_HOME, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
[NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = {
.persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
.timeoutMs = 500,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_SETTLE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_LANDING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
[NAV_STATE_RTH_LANDING] = {
.persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LANDING, // re-process state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_FINISHING,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
[NAV_STATE_RTH_FINISHING] = {
.persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_RTH_FINISHED] = {
.persistentId = NAV_PERSISTENT_ID_RTH_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LANDED,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_FINISHED, // re-process state
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
/** WAYPOINT mode ************************************************/
[NAV_STATE_WAYPOINT_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_PROCESS_NEXT,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_PRE_ACTION,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
}
},
[NAV_STATE_WAYPOINT_PRE_ACTION] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_PRE_ACTION,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_PROCESS_NEXT,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
}
},
[NAV_STATE_WAYPOINT_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_WP_ENROUTE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_REACHED, // successfully reached waypoint
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
[NAV_STATE_WAYPOINT_REACHED] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_REACHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_REACHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_PROCESS_NEXT,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_REACHED, // re-process state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_NEXT,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND] = NAV_STATE_WAYPOINT_RTH_LAND,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
[NAV_STATE_WAYPOINT_RTH_LAND] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_RTH_LAND, // re-process state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
[NAV_STATE_WAYPOINT_NEXT] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_NEXT,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_NEXT,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_PROCESS_NEXT,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_PRE_ACTION,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
}
},
[NAV_STATE_WAYPOINT_FINISHED] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_WP_ENROUTE,
.mwError = MW_NAV_ERROR_FINISH,
.onEvent = {
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
}
},
/** EMERGENCY LANDING ************************************************/
[NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LAND_START,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_IDLE, // ALTHOLD also bails out from emergency (to IDLE, AltHold will take over from there)
}
},
[NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_EMERGENCY_LANDING_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_IDLE, // ALTHOLD also bails out from emergency (to IDLE, AltHold will take over from there)
}
},
[NAV_STATE_EMERGENCY_LANDING_FINISHED] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LANDED,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_EMERGENCY_LANDING_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_LAUNCH_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_LAUNCH_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_REQUIRE_ANGLE,
.mapToFlightModes = NAV_LAUNCH_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_LAUNCH_WAIT,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_LAUNCH_WAIT] = {
.persistentId = NAV_PERSISTENT_ID_LAUNCH_WAIT,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_WAIT,
.timeoutMs = 10,
.stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
.mapToFlightModes = NAV_LAUNCH_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_LAUNCH_WAIT, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_LAUNCH_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_LAUNCH_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_LAUNCH_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
.mapToFlightModes = NAV_LAUNCH_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_LAUNCH_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
};
static navigationFSMStateFlags_t navGetStateFlags(navigationFSMState_t state)
{
return navFSM[state].stateFlags;
}
static flightModeFlags_e navGetMappedFlightModes(navigationFSMState_t state)
{
return navFSM[state].mapToFlightModes;
}
navigationFSMStateFlags_t navGetCurrentStateFlags(void)
{
return navGetStateFlags(posControl.navState);
}
static bool navTerrainFollowingRequested(void)
{
// Terrain following not supported on FIXED WING aircraft yet
return !STATE(FIXED_WING) && IS_RC_MODE_ACTIVE(BOXSURFACE);
}
/*************************************************************************************************/
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState)
{
UNUSED(previousState);
resetAltitudeController(false);
resetHeadingController();
resetPositionController();
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(navigationFSMState_t previousState)
{
const navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
const bool terrainFollowingToggled = (posControl.flags.isTerrainFollowEnabled != navTerrainFollowingRequested());
resetGCSFlags();
// If surface tracking mode changed value - reset altitude controller
if ((prevFlags & NAV_CTL_ALT) == 0 || terrainFollowingToggled) {
resetAltitudeController(navTerrainFollowingRequested());
}
if (((prevFlags & NAV_CTL_ALT) == 0) || ((prevFlags & NAV_AUTO_RTH) != 0) || ((prevFlags & NAV_AUTO_WP) != 0) || terrainFollowingToggled) {
setupAltitudeController();
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z); // This will reset surface offset
}
return NAV_FSM_EVENT_SUCCESS;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(navigationFSMState_t previousState)
{
UNUSED(previousState);
// If GCS was disabled - reset altitude setpoint
if (posControl.flags.isGCSAssistedNavigationReset) {
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
resetGCSFlags();
}
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(navigationFSMState_t previousState)
{
const navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
const bool terrainFollowingToggled = (posControl.flags.isTerrainFollowEnabled != navTerrainFollowingRequested());
resetGCSFlags();
if ((prevFlags & NAV_CTL_POS) == 0) {
resetPositionController();
}
if ((prevFlags & NAV_CTL_ALT) == 0 || terrainFollowingToggled) {
resetAltitudeController(navTerrainFollowingRequested());
setupAltitudeController();
}
if (((prevFlags & NAV_CTL_ALT) == 0) || ((prevFlags & NAV_AUTO_RTH) != 0) || ((prevFlags & NAV_AUTO_WP) != 0) || terrainFollowingToggled) {
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z); // This will reset surface offset
}
if (((prevFlags & NAV_CTL_POS) == 0) || ((prevFlags & NAV_AUTO_RTH) != 0) || ((prevFlags & NAV_AUTO_WP) != 0)) {
fpVector3_t targetHoldPos;
calculateInitialHoldPosition(&targetHoldPos);
setDesiredPosition(&targetHoldPos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);
}
return NAV_FSM_EVENT_SUCCESS;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS(navigationFSMState_t previousState)
{
UNUSED(previousState);
// If GCS was disabled - reset 2D pos setpoint
if (posControl.flags.isGCSAssistedNavigationReset) {
fpVector3_t targetHoldPos;
calculateInitialHoldPosition(&targetHoldPos);
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
setDesiredPosition(&targetHoldPos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);
resetGCSFlags();
}
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState)
{
navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || !STATE(GPS_FIX_HOME) || !posEstimationHasGlobalReference()) {
// Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
// If we are in dead-reckoning mode - also fail, since coordinates may be unreliable
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (STATE(FIXED_WING) && (posControl.homeDistance < navConfig()->general.min_rth_distance) && !posControl.flags.forcedRTHActivated) {
// Prevent RTH from activating on airplanes if too close to home unless it's a failsafe RTH
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
// If we have valid position sensor or configured to ignore it's loss at initial stage - continue
if ((posControl.flags.estPosStatus >= EST_USABLE) || navConfig()->general.flags.rth_climb_ignore_emerg) {
// Reset altitude and position controllers if necessary
if ((prevFlags & NAV_CTL_POS) == 0) {
resetPositionController();
}
// Reset altitude controller if it was not enabled or if we are in terrain follow mode
if ((prevFlags & NAV_CTL_ALT) == 0 || posControl.flags.isTerrainFollowEnabled) {
// Make sure surface tracking is not enabled - RTH uses global altitude, not AGL
resetAltitudeController(false);
setupAltitudeController();
}
// If close to home - reset home position and land
if (posControl.homeDistance < navConfig()->general.min_rth_distance) {
setHomePosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
}
else {
fpVector3_t targetHoldPos;
if (STATE(FIXED_WING)) {
// Airplane - climbout before turning around
calculateFarAwayTarget(&targetHoldPos, posControl.actualState.yaw, 100000.0f); // 1km away
} else {
// Multicopter, hover and climb
calculateInitialHoldPosition(&targetHoldPos);
// Initialize RTH sanity check to prevent fly-aways on RTH
// For airplanes this is delayed until climb-out is finished
initializeRTHSanityChecker(&targetHoldPos);
}
setDesiredPosition(&targetHoldPos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_CLIMB_TO_SAFE_ALT
}
}
/* Position sensor failure timeout - land */
else if (checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
/* No valid POS sensor but still within valid timeout - wait */
else {
return NAV_FSM_EVENT_NONE;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState)
{
UNUSED(previousState);
if ((posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
// If we have valid pos sensor OR we are configured to ignore GPS loss
if ((posControl.flags.estPosStatus >= EST_USABLE) || !checkForPositionSensorTimeout() || navConfig()->general.flags.rth_climb_ignore_emerg) {
const float rthAltitudeMargin = STATE(FIXED_WING) ?
MAX(FW_RTH_CLIMB_MARGIN_MIN_CM, (FW_RTH_CLIMB_MARGIN_PERCENT/100.0) * ABS(posControl.homeWaypointAbove.pos.z - posControl.homePosition.pos.z)) : // Airplane
MAX(MR_RTH_CLIMB_MARGIN_MIN_CM, (MR_RTH_CLIMB_MARGIN_PERCENT/100.0) * ABS(posControl.homeWaypointAbove.pos.z - posControl.homePosition.pos.z)); // Copters
if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.homeWaypointAbove.pos.z) > -rthAltitudeMargin) || (!navConfig()->general.flags.rth_climb_first)) {
// Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
if (STATE(FIXED_WING)) {
initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
}
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HEAD_HOME
}
else {
/* For multi-rotors execute sanity check during initial ascent as well */
if (!STATE(FIXED_WING)) {
if (!validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
}
// Climb to safe altitude and turn to correct direction
if (STATE(FIXED_WING)) {
fpVector3_t pos = posControl.homeWaypointAbove.pos;
pos.z += FW_RTH_CLIMB_OVERSHOOT_CM;
setDesiredPosition(&pos, 0, NAV_POS_UPDATE_Z);
}
else {
// Until the initial climb phase is complete target slightly *above* the cruise altitude to ensure we actually reach
// it in a reasonable time. Immediately after we finish this phase - target the original altitude.
fpVector3_t pos = posControl.homeWaypointAbove.pos;
pos.z += MR_RTH_CLIMB_OVERSHOOT_CM;
if (navConfig()->general.flags.rth_tail_first) {
setDesiredPosition(&pos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING_TAIL_FIRST);
}
else {
setDesiredPosition(&pos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
}
}
return NAV_FSM_EVENT_NONE;
}
}
/* Position sensor failure timeout - land */
else {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState)
{
UNUSED(previousState);
if ((posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
// If we have position sensor - continue home
if ((posControl.flags.estPosStatus >= EST_USABLE)) {
if (isWaypointReached(&posControl.homeWaypointAbove, true)) {
// Successfully reached position target - update XYZ-position
setDesiredPosition(&posControl.homeWaypointAbove.pos, posControl.homeWaypointAbove.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
}
else if (!validateRTHSanityChecker()) {
// Sanity check of RTH
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
else {
// Update XYZ-position target
if (navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING)) {
setDesiredPosition(&posControl.homeWaypointAbove.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING_TAIL_FIRST);
}
else {
setDesiredPosition(&posControl.homeWaypointAbove.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
}
return NAV_FSM_EVENT_NONE;
}
}
/* Position sensor failure timeout - land */
else if (checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
/* No valid POS sensor but still within valid timeout - wait */
else {
return NAV_FSM_EVENT_NONE;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
{
UNUSED(previousState);
if ((posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
// If position ok OR within valid timeout - continue
if ((posControl.flags.estPosStatus >= EST_USABLE) || !checkForPositionSensorTimeout()) {
// Wait until target heading is reached (with 15 deg margin for error)
if (STATE(FIXED_WING)) {
resetLandingDetector();
return NAV_FSM_EVENT_SUCCESS;
}
else {
if (ABS(wrap_18000(posControl.homeWaypointAbove.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) {
resetLandingDetector();
return NAV_FSM_EVENT_SUCCESS;
}
else if (!validateRTHSanityChecker()) {
// Continue to check for RTH sanity during pre-landing hover
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
else {
setDesiredPosition(&posControl.homeWaypointAbove.pos, posControl.homeWaypointAbove.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_NONE;
}
}
}
else {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (!ARMING_FLAG(ARMED)) {
return NAV_FSM_EVENT_SUCCESS;
}
else if (isLandingDetected()) {
return NAV_FSM_EVENT_SUCCESS;
}
else {
if (!validateRTHSanityChecker()) {
// Continue to check for RTH sanity during landing
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (navigationRTHAllowsLanding()) {
float descentVelLimited = 0;
// A safeguard - if surface altitude sensors is available and it is reading < 50cm altitude - drop to low descend speed
if ((posControl.flags.estAglStatus == EST_TRUSTED) && posControl.actualState.agl.pos.z < 50.0f) {
// land_descent_rate == 200 : descend speed = 30 cm/s, gentle touchdown
// Do not allow descent velocity slower than -30cm/s so the landing detector works.
descentVelLimited = MIN(-0.15f * navConfig()->general.land_descent_rate, -30.0f);
}
else {
// Ramp down descent velocity from 100% at maxAlt altitude to 25% from minAlt to 0cm.
float descentVelScaling = (navGetCurrentActualPositionAndVelocity()->pos.z - posControl.homePosition.pos.z - navConfig()->general.land_slowdown_minalt)
/ (navConfig()->general.land_slowdown_maxalt - navConfig()->general.land_slowdown_minalt) * 0.75f + 0.25f; // Yield 1.0 at 2000 alt and 0.25 at 500 alt
descentVelScaling = constrainf(descentVelScaling, 0.25f, 1.0f);
// Do not allow descent velocity slower than -50cm/s so the landing detector works.
descentVelLimited = MIN(-descentVelScaling * navConfig()->general.land_descent_rate, -50.0f);
}
updateClimbRateToAltitudeController(descentVelLimited, ROC_TO_ALT_NORMAL);
}
return NAV_FSM_EVENT_NONE;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (navConfig()->general.flags.disarm_on_landing) {
disarm(DISARM_NAVIGATION);
}