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mode_auto.cpp
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#include "Copter.h"
#if MODE_AUTO_ENABLED == ENABLED
/*
* Init and run calls for auto flight mode
*
* This file contains the implementation for Land, Waypoint navigation and Takeoff from Auto mode
* Command execution code (i.e. command_logic.pde) should:
* a) switch to Auto flight mode with set_mode() function. This will cause auto_init to be called
* b) call one of the three auto initialisation functions: auto_wp_start(), auto_takeoff_start(), auto_land_start()
* c) call one of the verify functions auto_wp_verify(), auto_takeoff_verify, auto_land_verify repeated to check if the command has completed
* The main loop (i.e. fast loop) will call update_flight_modes() which will in turn call auto_run() which, based upon the auto_mode variable will call
* correct auto_wp_run, auto_takeoff_run or auto_land_run to actually implement the feature
*/
/*
* While in the auto flight mode, navigation or do/now commands can be run.
* Code in this file implements the navigation commands
*/
// auto_init - initialise auto controller
bool Copter::ModeAuto::init(bool ignore_checks)
{
if ((copter.position_ok() && copter.mission.num_commands() > 1) || ignore_checks) {
_mode = Auto_Loiter;
// reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce chance of flips)
if (motors->armed() && ap.land_complete && !copter.mission.starts_with_takeoff_cmd()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd");
return false;
}
// stop ROI from carrying over from previous runs of the mission
// To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
if (auto_yaw.mode() == AUTO_YAW_ROI) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
// initialise waypoint and spline controller
wp_nav->wp_and_spline_init();
// clear guided limits
copter.mode_guided.limit_clear();
// start/resume the mission (based on MIS_RESTART parameter)
copter.mission.start_or_resume();
return true;
} else {
return false;
}
}
// auto_run - runs the auto controller
// should be called at 100hz or more
// relies on run_autopilot being called at 10hz which handles decision making and non-navigation related commands
void Copter::ModeAuto::run()
{
// call the correct auto controller
switch (_mode) {
case Auto_TakeOff:
takeoff_run();
break;
case Auto_WP:
case Auto_CircleMoveToEdge:
wp_run();
break;
case Auto_Land:
land_run();
break;
case Auto_RTL:
rtl_run();
break;
case Auto_Circle:
circle_run();
break;
case Auto_Spline:
spline_run();
break;
case Auto_NavGuided:
#if NAV_GUIDED == ENABLED
nav_guided_run();
#endif
break;
case Auto_Loiter:
loiter_run();
break;
case Auto_NavPayloadPlace:
payload_place_run();
break;
}
}
// auto_loiter_start - initialises loitering in auto mode
// returns success/failure because this can be called by exit_mission
bool Copter::ModeAuto::loiter_start()
{
// return failure if GPS is bad
if (!copter.position_ok()) {
return false;
}
_mode = Auto_Loiter;
// calculate stopping point
Vector3f stopping_point;
wp_nav->get_wp_stopping_point(stopping_point);
// initialise waypoint controller target to stopping point
wp_nav->set_wp_destination(stopping_point);
// hold yaw at current heading
auto_yaw.set_mode(AUTO_YAW_HOLD);
return true;
}
// auto_rtl_start - initialises RTL in AUTO flight mode
void Copter::ModeAuto::rtl_start()
{
_mode = Auto_RTL;
// call regular rtl flight mode initialisation and ask it to ignore checks
copter.mode_rtl.init(true);
}
// auto_takeoff_start - initialises waypoint controller to implement take-off
void Copter::ModeAuto::takeoff_start(const Location& dest_loc)
{
_mode = Auto_TakeOff;
// convert location to class
Location_Class dest(dest_loc);
// set horizontal target
dest.lat = copter.current_loc.lat;
dest.lng = copter.current_loc.lng;
// get altitude target
int32_t alt_target;
if (!dest.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_HOME, alt_target)) {
// this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data
copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
// fall back to altitude above current altitude
alt_target = copter.current_loc.alt + dest.alt;
}
// sanity check target
if (alt_target < copter.current_loc.alt) {
dest.set_alt_cm(copter.current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME);
}
// Note: if taking off from below home this could cause a climb to an unexpectedly high altitude
if (alt_target < 100) {
dest.set_alt_cm(100, Location_Class::ALT_FRAME_ABOVE_HOME);
}
// set waypoint controller target
if (!wp_nav->set_wp_destination(dest)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// initialise yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
// clear i term when we're taking off
set_throttle_takeoff();
// get initial alt for WP_NAVALT_MIN
auto_takeoff_set_start_alt();
}
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
void Copter::ModeAuto::wp_start(const Vector3f& destination)
{
_mode = Auto_WP;
// initialise wpnav (no need to check return status because terrain data is not used)
wp_nav->set_wp_destination(destination, false);
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AUTO_YAW_ROI) {
auto_yaw.set_mode_to_default(false);
}
}
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
void Copter::ModeAuto::wp_start(const Location_Class& dest_loc)
{
_mode = Auto_WP;
// send target to waypoint controller
if (!wp_nav->set_wp_destination(dest_loc)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AUTO_YAW_ROI) {
auto_yaw.set_mode_to_default(false);
}
}
// auto_land_start - initialises controller to implement a landing
void Copter::ModeAuto::land_start()
{
// set target to stopping point
Vector3f stopping_point;
loiter_nav->get_stopping_point_xy(stopping_point);
// call location specific land start function
land_start(stopping_point);
}
// auto_land_start - initialises controller to implement a landing
void Copter::ModeAuto::land_start(const Vector3f& destination)
{
_mode = Auto_Land;
// initialise loiter target destination
loiter_nav->init_target(destination);
// initialise position and desired velocity
if (!pos_control->is_active_z()) {
pos_control->set_alt_target(inertial_nav.get_altitude());
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
}
// initialise yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
// auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
// we assume the caller has performed all required GPS_ok checks
void Copter::ModeAuto::circle_movetoedge_start(const Location_Class &circle_center, float radius_m)
{
// convert location to vector from ekf origin
Vector3f circle_center_neu;
if (!circle_center.get_vector_from_origin_NEU(circle_center_neu)) {
// default to current position and log error
circle_center_neu = inertial_nav.get_position();
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_CIRCLE_INIT);
}
copter.circle_nav->set_center(circle_center_neu);
// set circle radius
if (!is_zero(radius_m)) {
copter.circle_nav->set_radius(radius_m * 100.0f);
}
// check our distance from edge of circle
Vector3f circle_edge_neu;
copter.circle_nav->get_closest_point_on_circle(circle_edge_neu);
float dist_to_edge = (inertial_nav.get_position() - circle_edge_neu).length();
// if more than 3m then fly to edge
if (dist_to_edge > 300.0f) {
// set the state to move to the edge of the circle
_mode = Auto_CircleMoveToEdge;
// convert circle_edge_neu to Location_Class
Location_Class circle_edge(circle_edge_neu);
// convert altitude to same as command
circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
// initialise wpnav to move to edge of circle
if (!wp_nav->set_wp_destination(circle_edge)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
}
// if we are outside the circle, point at the edge, otherwise hold yaw
const Vector3f &curr_pos = inertial_nav.get_position();
float dist_to_center = norm(circle_center_neu.x - curr_pos.x, circle_center_neu.y - curr_pos.y);
if (dist_to_center > copter.circle_nav->get_radius() && dist_to_center > 500) {
auto_yaw.set_mode_to_default(false);
} else {
// vehicle is within circle so hold yaw to avoid spinning as we move to edge of circle
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
} else {
circle_start();
}
}
// auto_circle_start - initialises controller to fly a circle in AUTO flight mode
// assumes that circle_nav object has already been initialised with circle center and radius
void Copter::ModeAuto::circle_start()
{
_mode = Auto_Circle;
// initialise circle controller
copter.circle_nav->init(copter.circle_nav->get_center());
}
// auto_spline_start - initialises waypoint controller to implement flying to a particular destination using the spline controller
// seg_end_type can be SEGMENT_END_STOP, SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE. If Straight or Spline the next_destination should be provided
void Copter::ModeAuto::spline_start(const Location_Class& destination, bool stopped_at_start,
AC_WPNav::spline_segment_end_type seg_end_type,
const Location_Class& next_destination)
{
_mode = Auto_Spline;
// initialise wpnav
if (!wp_nav->set_spline_destination(destination, stopped_at_start, seg_end_type, next_destination)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AUTO_YAW_ROI) {
auto_yaw.set_mode_to_default(false);
}
}
#if NAV_GUIDED == ENABLED
// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode
void Copter::ModeAuto::nav_guided_start()
{
_mode = Auto_NavGuided;
// call regular guided flight mode initialisation
copter.mode_guided.init(true);
// initialise guided start time and position as reference for limit checking
copter.mode_guided.limit_init_time_and_pos();
}
#endif //NAV_GUIDED
bool Copter::ModeAuto::landing_gear_should_be_deployed() const
{
switch(_mode) {
case Auto_Land:
return true;
case Auto_RTL:
return copter.mode_rtl.landing_gear_should_be_deployed();
default:
return false;
}
return false;
}
// auto_payload_place_start - initialises controller to implement a placing
void Copter::ModeAuto::payload_place_start()
{
// set target to stopping point
Vector3f stopping_point;
loiter_nav->get_stopping_point_xy(stopping_point);
// call location specific place start function
payload_place_start(stopping_point);
}
// start_command - this function will be called when the ap_mission lib wishes to start a new command
bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
{
// To-Do: logging when new commands start/end
if (copter.should_log(MASK_LOG_CMD)) {
copter.DataFlash.Log_Write_Mission_Cmd(copter.mission, cmd);
}
switch(cmd.id) {
///
/// navigation commands
///
case MAV_CMD_NAV_TAKEOFF: // 22
do_takeoff(cmd);
break;
case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint
do_nav_wp(cmd);
break;
case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
do_land(cmd);
break;
case MAV_CMD_NAV_PAYLOAD_PLACE: // 94 place at Waypoint
do_payload_place(cmd);
break;
case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely
do_loiter_unlimited(cmd);
break;
case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times
do_circle(cmd);
break;
case MAV_CMD_NAV_LOITER_TIME: // 19
do_loiter_time(cmd);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20
do_RTL();
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // 82 Navigate to Waypoint using spline
do_spline_wp(cmd);
break;
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer
do_nav_guided_enable(cmd);
break;
#endif
case MAV_CMD_NAV_DELAY: // 94 Delay the next navigation command
do_nav_delay(cmd);
break;
//
// conditional commands
//
case MAV_CMD_CONDITION_DELAY: // 112
do_wait_delay(cmd);
break;
case MAV_CMD_CONDITION_DISTANCE: // 114
do_within_distance(cmd);
break;
case MAV_CMD_CONDITION_YAW: // 115
do_yaw(cmd);
break;
///
/// do commands
///
case MAV_CMD_DO_CHANGE_SPEED: // 178
do_change_speed(cmd);
break;
case MAV_CMD_DO_SET_HOME: // 179
do_set_home(cmd);
break;
case MAV_CMD_DO_SET_SERVO:
copter.ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
copter.ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
copter.ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_REPEAT_RELAY:
copter.ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_SET_ROI: // 201
// point the copter and camera at a region of interest (ROI)
do_roi(cmd);
break;
case MAV_CMD_DO_MOUNT_CONTROL: // 205
// point the camera to a specified angle
do_mount_control(cmd);
break;
case MAV_CMD_DO_FENCE_ENABLE:
#if AC_FENCE == ENABLED
if (cmd.p1 == 0) { //disable
copter.fence.enable(false);
gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
} else { //enable fence
copter.fence.enable(true);
gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
}
#endif //AC_FENCE == ENABLED
break;
#if CAMERA == ENABLED
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
do_digicam_configure(cmd);
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
do_digicam_control(cmd);
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
copter.camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
#endif
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE: // Mission command to configure or release parachute
do_parachute(cmd);
break;
#endif
#if GRIPPER_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER: // Mission command to control gripper
do_gripper(cmd);
break;
#endif
#if NAV_GUIDED == ENABLED
case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
do_guided_limits(cmd);
break;
#endif
#if WINCH_ENABLED == ENABLED
case MAV_CMD_DO_WINCH: // Mission command to control winch
do_winch(cmd);
break;
#endif
default:
// do nothing with unrecognized MAVLink messages
break;
}
// always return success
return true;
}
// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
bool Copter::ModeAuto::verify_command_callback(const AP_Mission::Mission_Command& cmd)
{
if (copter.flightmode == &copter.mode_auto) {
bool cmd_complete = verify_command(cmd);
// send message to GCS
if (cmd_complete) {
gcs().send_mission_item_reached_message(cmd.index);
}
return cmd_complete;
}
return false;
}
// exit_mission - function that is called once the mission completes
void Copter::ModeAuto::exit_mission()
{
// play a tone
AP_Notify::events.mission_complete = 1;
// if we are not on the ground switch to loiter or land
if (!ap.land_complete) {
// try to enter loiter but if that fails land
if (!loiter_start()) {
set_mode(LAND, MODE_REASON_MISSION_END);
}
} else {
// if we've landed it's safe to disarm
copter.init_disarm_motors();
}
}
// do_guided - start guided mode
bool Copter::ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
{
// only process guided waypoint if we are in guided mode
if (copter.control_mode != GUIDED && !(copter.control_mode == AUTO && mode() == Auto_NavGuided)) {
return false;
}
// switch to handle different commands
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
{
// set wp_nav's destination
Location_Class dest(cmd.content.location);
return copter.mode_guided.set_destination(dest);
}
case MAV_CMD_CONDITION_YAW:
do_yaw(cmd);
return true;
default:
// reject unrecognised command
return false;
}
return true;
}
uint32_t Copter::ModeAuto::wp_distance() const
{
return wp_nav->get_wp_distance_to_destination();
}
int32_t Copter::ModeAuto::wp_bearing() const
{
return wp_nav->get_wp_bearing_to_destination();
}
bool Copter::ModeAuto::get_wp(Location_Class& destination)
{
switch (_mode) {
case Auto_NavGuided:
return copter.mode_guided.get_wp(destination);
case Auto_WP:
return wp_nav->get_wp_destination(destination);
default:
return false;
}
}
// update mission
void Copter::ModeAuto::run_autopilot()
{
copter.mission.update();
}
/*******************************************************************************
Verify command Handlers
Each type of mission element has a "verify" operation. The verify
operation returns true when the mission element has completed and we
should move onto the next mission element.
Return true if we do not recognize the command so that we move on to the next command
*******************************************************************************/
bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_PAYLOAD_PLACE:
return verify_payload_place();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
case MAV_CMD_NAV_DELAY:
return verify_nav_delay(cmd);
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_GUIDED_LIMITS:
case MAV_CMD_DO_FENCE_ENABLE:
case MAV_CMD_DO_WINCH:
return true;
default:
// error message
gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
// auto_takeoff_run - takeoff in auto mode
// called by auto_run at 100hz or more
void Copter::ModeAuto::takeoff_run()
{
auto_takeoff_run();
if (wp_nav->reached_wp_destination()) {
const Vector3f target = wp_nav->get_wp_destination();
wp_start(target);
}
}
// auto_wp_run - runs the auto waypoint controller
// called by auto_run at 100hz or more
void Copter::ModeAuto::wp_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
zero_throttle_and_relax_ac();
// clear i term when we're taking off
set_throttle_takeoff();
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!copter.failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control->update_z_controller();
// call attitude controller
if (auto_yaw.mode() == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
} else {
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), auto_yaw.yaw(),true);
}
}
// auto_spline_run - runs the auto spline controller
// called by auto_run at 100hz or more
void Copter::ModeAuto::spline_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
zero_throttle_and_relax_ac();
// clear i term when we're taking off
set_throttle_takeoff();
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!copter.failsafe.radio) {
// get pilot's desired yaw rat
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav->update_spline();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control->update_z_controller();
// call attitude controller
if (auto_yaw.mode() == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
} else {
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), auto_yaw.yaw(), true);
}
}
// auto_land_run - lands in auto mode
// called by auto_run at 100hz or more
void Copter::ModeAuto::land_run()
{
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
zero_throttle_and_relax_ac();
// set target to current position
loiter_nav->init_target();
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
land_run_horizontal_control();
land_run_vertical_control();
}
// auto_rtl_run - rtl in AUTO flight mode
// called by auto_run at 100hz or more
void Copter::ModeAuto::rtl_run()
{
// call regular rtl flight mode run function
copter.mode_rtl.run(false);
}
// auto_circle_run - circle in AUTO flight mode
// called by auto_run at 100hz or more
void Copter::ModeAuto::circle_run()
{
// call circle controller
copter.circle_nav->update();
// call z-axis position controller
pos_control->update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(), copter.circle_nav->get_pitch(), copter.circle_nav->get_yaw(), true);
}
#if NAV_GUIDED == ENABLED
// auto_nav_guided_run - allows control by external navigation controller
// called by auto_run at 100hz or more
void Copter::ModeAuto::nav_guided_run()
{
// call regular guided flight mode run function
copter.mode_guided.run();
}
#endif // NAV_GUIDED
// auto_loiter_run - loiter in AUTO flight mode
// called by auto_run at 100hz or more
void Copter::ModeAuto::loiter_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
zero_throttle_and_relax_ac();
return;
}
// accept pilot input of yaw
float target_yaw_rate = 0;
if (!copter.failsafe.radio) {
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run waypoint and z-axis position controller
copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
pos_control->update_z_controller();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
}
// auto_payload_place_start - initialises controller to implement placement of a load
void Copter::ModeAuto::payload_place_start(const Vector3f& destination)
{
_mode = Auto_NavPayloadPlace;
nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
// initialise loiter target destination
loiter_nav->init_target(destination);
// initialise position and desired velocity
if (!pos_control->is_active_z()) {
pos_control->set_alt_target(inertial_nav.get_altitude());
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
}
// initialise yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
// auto_payload_place_run - places an object in auto mode
// called by auto_run at 100hz or more
void Copter::ModeAuto::payload_place_run()
{
if (!payload_place_run_should_run()) {
zero_throttle_and_relax_ac();
// set target to current position
loiter_nav->init_target();
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
switch (nav_payload_place.state) {
case PayloadPlaceStateType_FlyToLocation:
case PayloadPlaceStateType_Calibrating_Hover_Start:
case PayloadPlaceStateType_Calibrating_Hover:
return payload_place_run_loiter();
case PayloadPlaceStateType_Descending_Start:
case PayloadPlaceStateType_Descending:
return payload_place_run_descend();
case PayloadPlaceStateType_Releasing_Start:
case PayloadPlaceStateType_Releasing:
case PayloadPlaceStateType_Released:
case PayloadPlaceStateType_Ascending_Start:
case PayloadPlaceStateType_Ascending:
case PayloadPlaceStateType_Done:
return payload_place_run_loiter();
}
}
bool Copter::ModeAuto::payload_place_run_should_run()
{
// muts be armed
if (!motors->armed()) {
return false;
}
// muts be auto-armed
if (!ap.auto_armed) {
return false;
}
// must not be landed
if (ap.land_complete) {
return false;
}
// interlock must be enabled (i.e. unsafe)
if (!motors->get_interlock()) {
return false;
}
return true;
}
void Copter::ModeAuto::payload_place_run_loiter()
{
// loiter...
land_run_horizontal_control();
// run loiter controller
loiter_nav->update(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
const float target_yaw_rate = 0;
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
// call position controller
pos_control->update_z_controller();
}
void Copter::ModeAuto::payload_place_run_descend()
{
land_run_horizontal_control();
land_run_vertical_control();
}
// terrain_adjusted_location: returns a Location with lat/lon from cmd
// and altitude from our current altitude adjusted for location
Location_Class Copter::ModeAuto::terrain_adjusted_location(const AP_Mission::Mission_Command& cmd) const
{
// convert to location class