commands_logic.pde
Link to the code: commands_logic.pde
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// forward declarations to make compiler happy
static void do_nav_wp(const AP_Mission::Mission_Command& cmd);
static void do_wait_delay(const AP_Mission::Mission_Command& cmd);
static void do_within_distance(const AP_Mission::Mission_Command& cmd);
static void do_change_speed(const AP_Mission::Mission_Command& cmd);
static void do_set_home(const AP_Mission::Mission_Command& cmd);
static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
...
Here you can find the definitions for some instance of AP_Mission class.
static bool
start_command(const AP_Mission::Mission_Command& cmd)
{
// log when new commands start
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(cmd);
}
// exit immediately if not in AUTO mode
if (control_mode != AUTO) {
return false;
}
...
`
start_commadnfuntion enables command use.If MASK_LOG_CMD is active then logs for commands.
Also checks if the mode is AUTO, if not exits.
gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);
// remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
...
A message is send to the ground station.And the next navigation leg course is set.
switch(cmd.id){
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp(cmd);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
do_RTL();
break;
// Conditional commands
case MAV_CMD_CONDITION_DELAY:
do_wait_delay(cmd);
break;
case MAV_CMD_CONDITION_DISTANCE:
do_within_distance(cmd);
break;
// Do commands
case MAV_CMD_DO_CHANGE_SPEED:
do_change_speed(cmd);
break;
case MAV_CMD_DO_SET_HOME:
do_set_home(cmd);
break;
...
Depending on the MAV_CMD (mavlink commad) the corresponding funtion is called.
For example in case MAV_CMD_NAV_WAYPOINTis input do_nav_wp is called for leading the robot to the wp.
The same structure is followed in the next functions.
case MAV_CMD_DO_SET_SERVO:
ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
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:
ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
...
This options of the case follow the same structure, but the funtions implemented are related to AP_ServoRelayEvents.
#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)|
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_take_picture();
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
#endif
...
This slice of code checks if the CAMERA is enabled, if yes it enters in a case that includes commands for dealing with the camera.
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for a sensor set or the
// vehicle itself. This can then be used by the vehicles control
// system to control the vehicle attitude and the attitude of various
// devices such as cameras.
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
case MAV_CMD_DO_SET_ROI:
if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
// switch off the camera tracking if enabled
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
camera_mount.set_roi_cmd(&cmd.content.location);
}
break;
case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
camera_mount.configure_cmd();
break;
case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
camera_mount.control_cmd();
break;
#endif
...
The same happend if the MOUNT is enabled; enters a case with command options related to the mount.
default:
// return false for unhandled commands
return false;
}
// if we got this far we must have been successful
return true;
}
...
The end of the case returns True if successful or false if not.
// exit_mission - callback function called from ap-mission when the mission has completed
// 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
static void exit_mission()
{
if (control_mode == AUTO) {
gcs_send_text_fmt(PSTR("No commands - setting HOLD"));
set_mode(HOLD);
}
}
...
exit_mission()function change to HOLD mode from AUTO.
/********************************************************************************/
// Verify command Handlers
// Returns true if command complete
/********************************************************************************/
static bool verify_command(const AP_Mission::Mission_Command& cmd)
{
// exit immediately if not in AUTO mode
// we return true or we will continue to be called by ap-mission
if (control_mode != AUTO) {
return true;
}
switch(cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
break;
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
break;
default:
if (cmd.id > MAV_CMD_CONDITION_LAST) {
// this is a command that doesn't require verify
return true;
}
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command"));
return true;
break;
}
return false;
}
...
The verify_command funtion, first, checks id the mode is AUTO.Then enters a case with the cmd.idas variable. If non of the case options are selected a message is sent to the gcs.
/********************************************************************************/
// Nav (Must) commands
/********************************************************************************/
static void do_RTL(void)
{
prev_WP = current_loc;
control_mode = RTL;
next_WP = home;
}
static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd.content.location);
}
...
This slice of code presents do_RTLfuntion and do_nav_wpfuntion.The first one updated the prev_WP and the next_wpin RTL control_mode.
The second function ,set_next_WP to the location value.
/********************************************************************************/
// Verify Nav (Must) commands
/********************************************************************************/
static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd)
{
if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
(unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP));
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"),
(unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP));
return true;
}
return false;
}
...
This slice of code includes verify_nav_wpfuntion.If wp_distance is greater than 0 and wp_distance becomes equal or under the g.waypoint_radiusvalue, the target has been reached.And if the location_passed_pointfills the conditions the waypoint has been passed.
static bool verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
rtl_complete = true;
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(PSTR("Reached Home dist %um"),
(unsigned)get_distance(current_loc, next_WP));
return true;
}
return false;
}
...
The verify_RTL checks if the wp_distanceis less than the waypoint_radius for sending a "reached home" message.Also checks if the robot has gone past the wp.
/********************************************************************************/
// Condition (May) commands
/********************************************************************************/
static void do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
condition_start = millis();
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
}
static void do_within_distance(const AP_Mission::Mission_Command& cmd)
{
condition_value = cmd.content.distance.meters;
}
...
`
do_wait_delay funtion change the cmd.content.delay to miliseconds and the do_within_distance
contains the value of the distance in meters.
/********************************************************************************/
// Verify Condition (May) commands
/********************************************************************************/
static bool verify_wait_delay()
{
if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){
condition_value = 0;
return true;
}
return false;
}
static bool verify_within_distance()
{
if (wp_distance < condition_value){
condition_value = 0;
return true;
}
return false;
}
...
The two functions in the code above code verify that the delay and the distance are 0.
/********************************************************************************/
// Do (Now) commands
/********************************************************************************/
static void do_change_speed(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.p1)
{
case 0:
if (cmd.content.speed.target_ms > 0) {
g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt(PSTR("Cruise speed: %.1f m/s"), g.speed_cruise.get());
}
break;
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt(PSTR("Cruise throttle: %.1f"), g.throttle_cruise.get());
}
}
...
This slice of code contains the do_change_speed
funtion.If the cmd.p1 is equal to 0 sets the speed_cruisethe throttle_cruiseandsends messages to gcs.
static void do_set_home(const AP_Mission::Mission_Command& cmd)
{
if(cmd.p1 == 1 && have_position) {
init_home();
} else {
ahrs.set_home(cmd.content.location);
home_is_set = true;
}
}
...
The funtion do_set_homealls the init_home defines in commadns.pde and updates set_home varible from attitude and heading reference system (ahrs).
// do_take_picture - take a picture with the camera library
static void do_take_picture()
{
#if CAMERA == ENABLED
camera.trigger_pic();
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
#endif
...
This last function takes a photo if the CAMERA is enabled. and stores it in dataflash.