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149 lines
4.0 KiB
C
149 lines
4.0 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup PathPlanner Path Planner Module
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* @brief Executes a series of waypoints
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* @{
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*
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* @file pathplanner.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Executes a series of waypoints
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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 "openpilot.h"
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#include "flightstatus.h"
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#include "positionactual.h"
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#include "positiondesired.h"
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#include "waypoint.h"
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#include "waypointactive.h"
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// Private constants
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#define STACK_SIZE_BYTES 1500
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#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
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#define MAX_QUEUE_SIZE 2
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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static xQueueHandle queue;
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// Private functions
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static void pathPlannerTask(void *parameters);
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/**
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* Module initialization
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*/
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int32_t PathPlannerStart()
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{
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taskHandle = NULL;
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// Start VM thread
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xTaskCreate(pathPlannerTask, (signed char *)"PathPlanner", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_PATHPLANNER, taskHandle);
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return 0;
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}
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/**
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* Module initialization
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*/
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int32_t PathPlannerInitialize()
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{
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taskHandle = NULL;
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WaypointInitialize();
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WaypointActiveInitialize();
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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return 0;
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}
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MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart)
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/**
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* Module task
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*/
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static void pathPlannerTask(void *parameters)
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{
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FlightStatusData flightStatus;
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PositionActualData positionActual;
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WaypointActiveData waypointActive;
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WaypointData waypoint;
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const float MIN_RADIUS = 2.0f; // Radius to consider at waypoint (m)
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// Main thread loop
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while (1)
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{
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FlightStatusGet(&flightStatus);
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if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER)
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continue;
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PositionActualGet(&positionActual);
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WaypointActiveGet(&waypointActive);
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WaypointInstGet(waypointActive.Index, &waypoint);
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float r2 = powf(positionActual.North - waypoint.Position[WAYPOINT_POSITION_NORTH], 2) +
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powf(positionActual.East - waypoint.Position[WAYPOINT_POSITION_EAST], 2) +
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powf(positionActual.Down - waypoint.Position[WAYPOINT_POSITION_DOWN], 2);
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// We hit this waypoint
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if (r2 < (MIN_RADIUS * MIN_RADIUS)) {
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if (waypoint.Action == WAYPOINT_ACTION_NEXT) {
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waypointActive.Index++;
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WaypointActiveSet(&waypointActive);
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if(WaypointInstGet(waypointActive.Index, &waypoint) != 0) {
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// Oh shit, tried to go to non-existant waypoint
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continue;
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}
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PositionDesiredData positionDesired;
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PositionDesiredGet(&positionDesired);
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positionDesired.North = waypoint.Position[WAYPOINT_POSITION_NORTH];
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positionDesired.East = waypoint.Position[WAYPOINT_POSITION_EAST];
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positionDesired.Down = waypoint.Position[WAYPOINT_POSITION_DOWN];
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PositionDesiredSet(&positionDesired);
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} else if (waypointAction == WAYPOINT_ACTION_RTH) {
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// Fly back to the home location but 20 m above it
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PositionDesiredData positionDesired;
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PositionDesiredGet(&positionDesired);
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positionDesired.North = 0;
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positionDesired.East = 0;
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positionDesired.Down = -20;
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PositionDesiredSet(&positionDesired);
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}
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}
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vTaskDelay(10);
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}
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}
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/**
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* @}
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* @}
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*/
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