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132 lines
4.7 KiB
C
132 lines
4.7 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ManualControl
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* @brief Interpretes the control input in ManualControlCommand
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* @{
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*
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* @file pathfollowerhandler.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "inc/manualcontrol.h"
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#include <pathdesired.h>
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#include <manualcontrolcommand.h>
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#include <flightstatus.h>
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#include <positionstate.h>
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#include <flightmodesettings.h>
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#if defined(REVOLUTION)
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// Private constants
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// Private types
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// Private functions
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/**
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* @brief Handler to control Guided flightmodes. FlightControl is governed by PathFollower, control via PathDesired
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* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands
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* @output: PathDesired
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*/
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void pathFollowerHandler(bool newinit)
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{
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if (newinit) {
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PathDesiredInitialize();
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PositionStateInitialize();
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}
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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if (newinit) {
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// After not being in this mode for a while init at current height
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PositionStateData positionState;
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PositionStateGet(&positionState);
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FlightModeSettingsData settings;
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FlightModeSettingsGet(&settings);
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PathDesiredData pathDesired;
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PathDesiredGet(&pathDesired);
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switch (flightStatus.FlightMode) {
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case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
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// Simple Return To Base mode - keep altitude the same, fly to home position
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pathDesired.Start.North = 0;
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pathDesired.Start.East = 0;
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pathDesired.Start.Down = positionState.Down - settings.ReturnToHomeAltitudeOffset;
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pathDesired.End.North = 0;
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pathDesired.End.East = 0;
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pathDesired.End.Down = positionState.Down - settings.ReturnToHomeAltitudeOffset;
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pathDesired.StartingVelocity = 1;
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pathDesired.EndingVelocity = 0;
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pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
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break;
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default:
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pathDesired.Start.North = positionState.North;
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pathDesired.Start.East = positionState.East;
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pathDesired.Start.Down = positionState.Down;
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pathDesired.End.North = positionState.North;
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pathDesired.End.East = positionState.East;
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pathDesired.End.Down = positionState.Down;
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pathDesired.StartingVelocity = 1;
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pathDesired.EndingVelocity = 0;
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pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
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/* Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.
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} else {
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PathDesiredData pathDesired;
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PathDesiredGet(&pathDesired);
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pathDesired.End[PATHDESIRED_END_NORTH] += dT * -cmd->Pitch;
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pathDesired.End[PATHDESIRED_END_EAST] += dT * cmd->Roll;
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pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
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PathDesiredSet(&pathDesired);
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*/
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break;
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}
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PathDesiredSet(&pathDesired);
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}
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// special handling of autoland - behaves like positon hold but with slow altitude decrease
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if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND) {
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PositionStateData positionState;
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PositionStateGet(&positionState);
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PathDesiredData pathDesired;
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PathDesiredGet(&pathDesired);
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pathDesired.End.Down = positionState.Down + 5;
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PathDesiredSet(&pathDesired);
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}
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}
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#else /* if defined(REVOLUTION) */
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void pathFollowerHandler(__attribute__((unused)) bool newinit)
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{
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
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}
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#endif // REVOLUTION
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/**
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* @}
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* @}
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*/
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