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inav/src/main/navigation/navigation.c
Konstantin Sharlaimov (DigitalEntity) 19faf75e75 [RTH] Refactor RTH code to respect initial/final/hover RTH altitudes
2019-06-03 21:41:23 +02:00

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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/mixer.h"
#include "flight/pid.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "rx/rx.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;
uint32_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home point in degrees
radar_pois_t radar_pois[RADAR_MAX_POIS];
#if defined(USE_NAV)
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
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, 4);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
.flags = {
.use_thr_mid_for_althold = 0,
.extra_arming_safety = NAV_EXTRA_ARMING_SAFETY_ON,
.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,
.auto_overrides_motor_stop = 1,
},
// 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_home_altitude = 0,
.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,
.braking_speed_threshold = 100, // Braking can become active above 1m/s
.braking_disengage_speed = 75, // Stop when speed goes below 0.75m/s
.braking_timeout = 2000, // Timeout barking after 2s
.braking_boost_factor = 100, // A 100% boost by default
.braking_boost_timeout = 750, // Timout boost after 750ms
.braking_boost_speed_threshold = 150, // Boost can happen only above 1.5m/s
.braking_boost_disengage_speed = 100, // Disable boost at 1m/s
.braking_bank_angle = 40, // Max braking angle
.posDecelerationTime = 120, // posDecelerationTime * 100
.posResponseExpo = 10, // posResponseExpo * 100
},
// Fixed wing
.fw = {
.max_bank_angle = 20, // 30 deg
.max_climb_angle = 20,
.max_dive_angle = 15,
.cruise_throttle = 1400,
.cruise_speed = 0, // cm/s
.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
.cruise_yaw_rate = 20, // 20dps
.allow_manual_thr_increase = false
}
);
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;
int32_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 fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode);
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 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 calculateNewCruiseTarget(fpVector3_t * origin, int32_t yaw, int32_t distance);
static bool isWaypointPositionReached(const fpVector3_t * pos, const bool isWaypointHome);
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_CRUISE_2D_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_2D_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_2D_ADJUSTING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_ADJUSTING(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_HOVER_ABOVE_HOME(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,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_INITIALIZE,
}
},
/** CRUISE_2D mode ************************************************/
[NAV_STATE_CRUISE_2D_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_2D_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_2D_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_REQUIRE_ANGLE,
.mapToFlightModes = NAV_CRUISE_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_CRUISE_2D_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_CRUISE_2D_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_2D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_2D_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_CRUISE_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_2D_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_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_ADJ] = NAV_STATE_CRUISE_2D_ADJUSTING,
[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_STATE_CRUISE_2D_ADJUSTING] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_2D_ADJUSTING,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_2D_ADJUSTING,
.timeoutMs = 10,
.stateFlags = NAV_REQUIRE_ANGLE | NAV_RC_POS,
.mapToFlightModes = NAV_CRUISE_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_CRUISE_2D_IN_PROGRESS,
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_2D_ADJUSTING,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[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_CRUISE_3D] = NAV_STATE_CRUISE_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,
}
},
/** CRUISE_3D mode ************************************************/
[NAV_STATE_CRUISE_3D_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_3D_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_3D_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_REQUIRE_ANGLE,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_CRUISE_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_CRUISE_3D_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_CRUISE_3D_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_3D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_3D_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_CRUISE_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_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_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_ADJ] = NAV_STATE_CRUISE_3D_ADJUSTING,
[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_STATE_CRUISE_3D_ADJUSTING] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_3D_ADJUSTING,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_3D_ADJUSTING,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_ALT,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_CRUISE_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_CRUISE_3D_IN_PROGRESS,
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_3D_ADJUSTING,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[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_CRUISE_2D] = NAV_STATE_CRUISE_2D_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_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_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_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_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_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_INITIALIZE,
}
},
[NAV_STATE_RTH_HOVER_ABOVE_HOME] = {
.persistentId = NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_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 | NAV_RC_ALT,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HOVER_ABOVE_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_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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_REQUIRE_ANGLE | 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_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_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_EMERGENCY_LANDING,
.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_EMERGENCY_LANDING,
.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 ((previousState != NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING) && (previousState != NAV_STATE_RTH_HOVER_ABOVE_HOME) && (previousState != NAV_STATE_RTH_LANDING)) {
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_CRUISE_2D_INITIALIZE(navigationFSMState_t previousState)
{
const navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
if (!STATE(FIXED_WING)) { return NAV_FSM_EVENT_ERROR; } // Only on FW for now
DEBUG_SET(DEBUG_CRUISE, 0, 1);
if (checkForPositionSensorTimeout()) { return NAV_FSM_EVENT_SWITCH_TO_IDLE; } // Switch to IDLE if we do not have an healty position. Try the next iteration.
if (!(prevFlags & NAV_CTL_POS)) {
resetPositionController();
}
posControl.cruise.yaw = posControl.actualState.yaw; // Store the yaw to follow
posControl.cruise.previousYaw = posControl.cruise.yaw;
posControl.cruise.lastYawAdjustmentTime = 0;
return NAV_FSM_EVENT_SUCCESS; // Go to CRUISE_XD_IN_PROGRESS state
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_2D_IN_PROGRESS(navigationFSMState_t previousState)
{
const timeMs_t currentTimeMs = millis();
if (checkForPositionSensorTimeout()) { return NAV_FSM_EVENT_SWITCH_TO_IDLE; } // Switch to IDLE if we do not have an healty position. Do the CRUISE init the next iteration.
DEBUG_SET(DEBUG_CRUISE, 0, 2);
DEBUG_SET(DEBUG_CRUISE, 2, 0);
if (posControl.flags.isAdjustingPosition) {
return NAV_FSM_EVENT_SWITCH_TO_CRUISE_ADJ;
}
// User is yawing. We record the desidered yaw and we change the desidered target in the meanwhile
if (posControl.flags.isAdjustingHeading) {
timeMs_t timeDifference = currentTimeMs - posControl.cruise.lastYawAdjustmentTime;
if (timeDifference > 100) timeDifference = 0; // if adjustment was called long time ago, reset the time difference.
float rateTarget = scaleRangef((float)rcCommand[YAW], -500.0f, 500.0f, -DEGREES_TO_CENTIDEGREES(navConfig()->fw.cruise_yaw_rate), DEGREES_TO_CENTIDEGREES(navConfig()->fw.cruise_yaw_rate));
float centidegsPerIteration = rateTarget * timeDifference / 1000.0f;
posControl.cruise.yaw = wrap_36000(posControl.cruise.yaw - centidegsPerIteration);
DEBUG_SET(DEBUG_CRUISE, 1, CENTIDEGREES_TO_DEGREES(posControl.cruise.yaw));
posControl.cruise.lastYawAdjustmentTime = currentTimeMs;
}
if (currentTimeMs - posControl.cruise.lastYawAdjustmentTime > 4000)
posControl.cruise.previousYaw = posControl.cruise.yaw;
uint32_t distance = gpsSol.groundSpeed * 60; // next WP to be reached in 60s [cm]
if ((previousState == NAV_STATE_CRUISE_2D_INITIALIZE) || (previousState == NAV_STATE_CRUISE_2D_ADJUSTING)
|| (previousState == NAV_STATE_CRUISE_3D_INITIALIZE) || (previousState == NAV_STATE_CRUISE_3D_ADJUSTING)
|| posControl.flags.isAdjustingHeading) {
calculateFarAwayTarget(&posControl.cruise.targetPos, posControl.cruise.yaw, distance);
DEBUG_SET(DEBUG_CRUISE, 2, 1);
} else if (calculateDistanceToDestination(&posControl.cruise.targetPos) <= (navConfig()->fw.loiter_radius * 1.10f)) { //10% margin
calculateNewCruiseTarget(&posControl.cruise.targetPos, posControl.cruise.yaw, distance);
DEBUG_SET(DEBUG_CRUISE, 2, 2);
}
setDesiredPosition(&posControl.cruise.targetPos, posControl.cruise.yaw, NAV_POS_UPDATE_XY);
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_2D_ADJUSTING(navigationFSMState_t previousState)
{
UNUSED(previousState);
DEBUG_SET(DEBUG_CRUISE, 0, 3);
// User is rolling, changing manually direction. Wait until it is done and then restore CRUISE
if (posControl.flags.isAdjustingPosition) {
posControl.cruise.yaw = posControl.actualState.yaw; //store current heading
posControl.cruise.lastYawAdjustmentTime = millis();
return NAV_FSM_EVENT_NONE; // reprocess the state
}
resetPositionController();
return NAV_FSM_EVENT_SUCCESS; // go back to the CRUISE_XD_IN_PROGRESS state
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_INITIALIZE(navigationFSMState_t previousState)
{
if (!STATE(FIXED_WING)) { return NAV_FSM_EVENT_ERROR; } // only on FW for now
navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(previousState);
return navOnEnteringState_NAV_STATE_CRUISE_2D_INITIALIZE(previousState);
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_IN_PROGRESS(navigationFSMState_t previousState)
{
navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(previousState);
return navOnEnteringState_NAV_STATE_CRUISE_2D_IN_PROGRESS(previousState);
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_ADJUSTING(navigationFSMState_t previousState)
{
navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(previousState);
return navOnEnteringState_NAV_STATE_CRUISE_2D_ADJUSTING(previousState);
}
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) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) {
// 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, NAV_HOME_VALID_ALL);
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) * fabsf(posControl.rthState.rthInitialAltitude - posControl.rthState.homePosition.pos.z)) : // Airplane
MAX(MR_RTH_CLIMB_MARGIN_MIN_CM, (MR_RTH_CLIMB_MARGIN_PERCENT/100.0) * fabsf(posControl.rthState.rthInitialAltitude - posControl.rthState.homePosition.pos.z)); // Copters
if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.rthState.rthInitialAltitude) > -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);
}
// Save initial home distance for future use
posControl.rthState.rthInitialDistance = posControl.homeDistance;
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL);
if (navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING)) {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING_TAIL_FIRST);
}
else {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
}
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HEAD_HOME
}
else {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL);
/* 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)) {
tmpHomePos->z += FW_RTH_CLIMB_OVERSHOOT_CM;
setDesiredPosition(tmpHomePos, 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.
tmpHomePos->z += MR_RTH_CLIMB_OVERSHOOT_CM;
if (navConfig()->general.flags.rth_tail_first) {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING_TAIL_FIRST);
} else {
setDesiredPosition(tmpHomePos, 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)) {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL);
if (isWaypointPositionReached(tmpHomePos, true)) {
// Successfully reached position target - update XYZ-position
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.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 {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z);
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();
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME;
}
else {
if (ABS(wrap_18000(posControl.rthState.homePosition.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) {
resetLandingDetector();
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME;
}
else if (!validateRTHSanityChecker()) {
// Continue to check for RTH sanity during pre-landing hover
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
else {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.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_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (!(validateRTHSanityChecker() || (posControl.flags.estPosStatus >= EST_USABLE) || !checkForPositionSensorTimeout()))
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_HOVER);
if (navConfig()->general.rth_home_altitude) {
float timeToReachHomeAltitude = fabsf(tmpHomePos->z - navGetCurrentActualPositionAndVelocity()->pos.z) / navConfig()->general.max_auto_climb_rate;
if (timeToReachHomeAltitude < 1) {
// we almost reached the target home altitude so set the desired altitude to the desired home altitude
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z);
} else {
float altitudeChangeDirection = tmpHomePos->z > navGetCurrentActualPositionAndVelocity()->pos.z ? 1 : -1;
updateClimbRateToAltitudeController(altitudeChangeDirection * navConfig()->general.max_auto_climb_rate, ROC_TO_ALT_NORMAL);
}
}
else {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z);
}
return NAV_FSM_EVENT_NONE;
}
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;
}
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 {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_LAND);
// Ramp down descent velocity from 100% at maxAlt altitude to 25% from minAlt to 0cm.
float descentVelScaling = (navGetCurrentActualPositionAndVelocity()->pos.z - tmpHomePos->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);
}
return NAV_FSM_EVENT_SUCCESS;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHED(navigationFSMState_t previousState)
{
// Stay in this state
UNUSED(previousState);
updateClimbRateToAltitudeController(-0.3f * navConfig()->general.land_descent_rate, ROC_TO_ALT_NORMAL); // FIXME
// Prevent I-terms growing when already landed
pidResetErrorAccumulators();
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (posControl.waypointCount == 0 || !posControl.waypointListValid) {
return NAV_FSM_EVENT_ERROR;
}
else {
// Prepare controllers
resetPositionController();
// Make sure surface tracking is not enabled - RTH uses global altitude, not AGL
resetAltitudeController(false);
setupAltitudeController();
posControl.activeWaypointIndex = 0;
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_PRE_ACTION
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(navigationFSMState_t previousState)
{
/* A helper function to do waypoint-specific action */
UNUSED(previousState);
switch (posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_WAYPOINT:
calculateAndSetActiveWaypoint(&posControl.waypointList[posControl.activeWaypointIndex]);
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
case NAV_WP_ACTION_RTH:
default:
posControl.rthState.rthInitialDistance = posControl.homeDistance;
initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
calculateAndSetActiveWaypointToLocalPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL));
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
};
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(navigationFSMState_t previousState)
{
UNUSED(previousState);
// If no position sensor available - land immediately
if ((posControl.flags.estPosStatus >= EST_USABLE) && (posControl.flags.estHeadingStatus >= EST_USABLE)) {
switch (posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_WAYPOINT:
default:
if (isWaypointReached(&posControl.activeWaypoint, false) || isWaypointMissed(&posControl.activeWaypoint)) {
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_REACHED
}
else {
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
break;
case NAV_WP_ACTION_RTH:
if (isWaypointReached(&posControl.activeWaypoint, true) || isWaypointMissed(&posControl.activeWaypoint)) {
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_REACHED
}
else {
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
setDesiredPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL), 0, NAV_POS_UPDATE_Z);
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
break;
}
}
/* No pos sensor available for NAV_WAIT_FOR_GPS_TIMEOUT_MS - land */
else if (checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
else {
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(navigationFSMState_t previousState)
{
UNUSED(previousState);
switch (posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_RTH:
if (posControl.waypointList[posControl.activeWaypointIndex].p1 != 0) {
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND;
}
else {
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_WAYPOINT_NEXT
}
default:
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_WAYPOINT_NEXT
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navigationFSMState_t previousState)
{
UNUSED(previousState);
const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_LANDING(previousState);
if (landEvent == NAV_FSM_EVENT_SUCCESS) {
// Landing controller returned success - invoke RTH finishing state and finish the waypoint
navOnEnteringState_NAV_STATE_RTH_FINISHING(previousState);
return NAV_FSM_EVENT_SUCCESS;
}
else {
return NAV_FSM_EVENT_NONE;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigationFSMState_t previousState)
{
UNUSED(previousState);
const bool isLastWaypoint = (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST) ||
(posControl.activeWaypointIndex >= (posControl.waypointCount - 1));
if (isLastWaypoint) {
// Last waypoint reached
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
}
else {
// Waypoint reached, do something and move on to next waypoint
posControl.activeWaypointIndex++;
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_PRE_ACTION
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED(navigationFSMState_t previousState)
{
UNUSED(previousState);
// If no position sensor available - land immediately
if ((posControl.flags.estPosStatus >= EST_USABLE) && (posControl.flags.estHeadingStatus >= EST_USABLE)) {
return NAV_FSM_EVENT_NONE;
}
/* No pos sensor available for NAV_WAIT_FOR_GPS_TIMEOUT_MS - land */
else if (checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
else {
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState)
{
// TODO:
UNUSED(previousState);
// Emergency landing MAY use common altitude controller if vertical position is valid - initialize it
// Make sure terrain following is not enabled
resetAltitudeController(false);
return NAV_FSM_EVENT_SUCCESS;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS(navigationFSMState_t previousState)
{
// TODO:
UNUSED(previousState);
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED(navigationFSMState_t previousState)
{
// TODO:
UNUSED(previousState);
// Prevent I-terms growing when already landed
pidResetErrorAccumulators();
return NAV_FSM_EVENT_SUCCESS;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE(navigationFSMState_t previousState)
{
const timeUs_t currentTimeUs = micros();
UNUSED(previousState);
resetFixedWingLaunchController(currentTimeUs);
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_WAIT
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationFSMState_t previousState)
{
const timeUs_t currentTimeUs = micros();
UNUSED(previousState);
if (isFixedWingLaunchDetected()) {
enableFixedWingLaunchController(currentTimeUs);
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_IN_PROGRESS
}
//allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle.
if (feature(FEATURE_FW_LAUNCH)) {
throttleStatus_e throttleStatus = calculateThrottleStatus();
if ((throttleStatus == THROTTLE_LOW) && (areSticksDeflectedMoreThanPosHoldDeadband())) {
abortFixedWingLaunch();
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
}
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (isFixedWingLaunchFinishedOrAborted()) {
return NAV_FSM_EVENT_SUCCESS;
}
return NAV_FSM_EVENT_NONE;
}
static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState)
{
navigationFSMState_t previousState;
previousState = posControl.navState;
if (posControl.navState != newState) {
posControl.navState = newState;
posControl.navPersistentId = navFSM[newState].persistentId;
}
return previousState;
}
static void navProcessFSMEvents(navigationFSMEvent_t injectedEvent)
{
const timeMs_t currentMillis = millis();
navigationFSMState_t previousState;
static timeMs_t lastStateProcessTime = 0;
/* If timeout event defined and timeout reached - switch state */
if ((navFSM[posControl.navState].timeoutMs > 0) && (navFSM[posControl.navState].onEvent[NAV_FSM_EVENT_TIMEOUT] != NAV_STATE_UNDEFINED) &&
((currentMillis - lastStateProcessTime) >= navFSM[posControl.navState].timeoutMs)) {
/* Update state */
previousState = navSetNewFSMState(navFSM[posControl.navState].onEvent[NAV_FSM_EVENT_TIMEOUT]);
/* Call new state's entry function */
while (navFSM[posControl.navState].onEntry) {
navigationFSMEvent_t newEvent = navFSM[posControl.navState].onEntry(previousState);
if ((newEvent != NAV_FSM_EVENT_NONE) && (navFSM[posControl.navState].onEvent[newEvent] != NAV_STATE_UNDEFINED)) {
previousState = navSetNewFSMState(navFSM[posControl.navState].onEvent[newEvent]);
}
else {
break;
}
}
lastStateProcessTime = currentMillis;
}
/* Inject new event */
if (injectedEvent != NAV_FSM_EVENT_NONE && navFSM[posControl.navState].onEvent[injectedEvent] != NAV_STATE_UNDEFINED) {
/* Update state */
previousState = navSetNewFSMState(navFSM[posControl.navState].onEvent[injectedEvent]);
/* Call new state's entry function */
while (navFSM[posControl.navState].onEntry) {
navigationFSMEvent_t newEvent = navFSM[posControl.navState].onEntry(previousState);
if ((newEvent != NAV_FSM_EVENT_NONE) && (navFSM[posControl.navState].onEvent[newEvent] != NAV_STATE_UNDEFINED)) {
previousState = navSetNewFSMState(navFSM[posControl.navState].onEvent[newEvent]);
}
else {
break;
}
}
lastStateProcessTime = currentMillis;
}
/* Update public system state information */
NAV_Status.mode = MW_GPS_MODE_NONE;
if (ARMING_FLAG(ARMED)) {
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if (navStateFlags & NAV_AUTO_RTH) {
NAV_Status.mode = MW_GPS_MODE_RTH;
}
else if (navStateFlags & NAV_AUTO_WP) {
NAV_Status.mode = MW_GPS_MODE_NAV;
}
else if (navStateFlags & NAV_CTL_EMERG) {
NAV_Status.mode = MW_GPS_MODE_EMERG;
}
else if (navStateFlags & NAV_CTL_POS) {
NAV_Status.mode = MW_GPS_MODE_HOLD;
}
}
NAV_Status.state = navFSM[posControl.navState].mwState;
NAV_Status.error = navFSM[posControl.navState].mwError;
NAV_Status.flags = 0;
if (posControl.flags.isAdjustingPosition) NAV_Status.flags |= MW_NAV_FLAG_ADJUSTING_POSITION;
if (posControl.flags.isAdjustingAltitude) NAV_Status.flags |= MW_NAV_FLAG_ADJUSTING_ALTITUDE;
NAV_Status.activeWpNumber = posControl.activeWaypointIndex + 1;
NAV_Status.activeWpAction = 0;
if ((posControl.activeWaypointIndex >= 0) && (posControl.activeWaypointIndex < NAV_MAX_WAYPOINTS)) {
NAV_Status.activeWpAction = posControl.waypointList[posControl.activeWaypointIndex].action;
}
}
static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode)
{
posControl.rthState.homeTmpWaypoint = posControl.rthState.homePosition.pos;
switch (mode) {
case RTH_HOME_ENROUTE_INITIAL:
posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthInitialAltitude;
break;
case RTH_HOME_ENROUTE_PROPORTIONAL:
{
float rthTotalDistanceToTravel = posControl.rthState.rthInitialDistance - (STATE(FIXED_WING) ? navConfig()->fw.loiter_radius : 0);
if (rthTotalDistanceToTravel >= 100) {
float ratioNotTravelled = constrainf(posControl.homeDistance / rthTotalDistanceToTravel, 0.0f, 1.0f);
posControl.rthState.homeTmpWaypoint.z = (posControl.rthState.rthInitialAltitude * ratioNotTravelled) + (posControl.rthState.rthFinalAltitude * (1.0f - ratioNotTravelled));
}
else {
posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthFinalAltitude;
}
}
break;
case RTH_HOME_ENROUTE_FINAL:
posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthFinalAltitude;
break;
case RTH_HOME_FINAL_HOVER:
if (navConfig()->general.rth_home_altitude) {
posControl.rthState.homeTmpWaypoint.z = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
}
else {
// If home altitude not defined - fall back to final ENROUTE altitude
posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthFinalAltitude;
}
break;
case RTH_HOME_FINAL_LAND:
break;
}
return &posControl.rthState.homeTmpWaypoint;
}
/*-----------------------------------------------------------
* Float point PID-controller implementation
*-----------------------------------------------------------*/
// Implementation of PID with back-calculation I-term anti-windup
// Control System Design, Lecture Notes for ME 155A by Karl Johan Åström (p.228)
// http://www.cds.caltech.edu/~murray/courses/cds101/fa02/caltech/astrom-ch6.pdf
float navPidApply3(pidController_t *pid, const float setpoint, const float measurement, const float dt, const float outMin, const float outMax, const pidControllerFlags_e pidFlags, const float gainScaler)
{
float newProportional, newDerivative, newFeedForward;
float error = setpoint - measurement;
/* P-term */
newProportional = error * pid->param.kP * gainScaler;
/* D-term */
if (pid->reset) {
pid->last_input = (pidFlags & PID_DTERM_FROM_ERROR) ? error : measurement;
pid->reset = false;
}
if (pidFlags & PID_DTERM_FROM_ERROR) {
/* Error-tracking D-term */
newDerivative = (error - pid->last_input) / dt;
pid->last_input = error;
} else {
/* Measurement tracking D-term */
newDerivative = -(measurement - pid->last_input) / dt;
pid->last_input = measurement;
}
if (pid->dTermLpfHz > 0) {
newDerivative = pid->param.kD * pt1FilterApply4(&pid->dterm_filter_state, newDerivative, pid->dTermLpfHz, dt) * gainScaler;
} else {
newDerivative = pid->param.kD * newDerivative;
}
if (pidFlags & PID_ZERO_INTEGRATOR) {
pid->integrator = 0.0f;
}
/*
* Compute FeedForward parameter
*/
newFeedForward = setpoint * pid->param.kFF * gainScaler;
/* Pre-calculate output and limit it if actuator is saturating */
const float outVal = newProportional + (pid->integrator * gainScaler) + newDerivative + newFeedForward;
const float outValConstrained = constrainf(outVal, outMin, outMax);
pid->proportional = newProportional;
pid->integral = pid->integrator;
pid->derivative = newDerivative;
pid->feedForward = newFeedForward;
pid->output_constrained = outValConstrained;
/* Update I-term */
if (!(pidFlags & PID_ZERO_INTEGRATOR)) {
const float newIntegrator = pid->integrator + (error * pid->param.kI * gainScaler * dt) + ((outValConstrained - outVal) * pid->param.kT * dt);
if (pidFlags & PID_SHRINK_INTEGRATOR) {
// Only allow integrator to shrink
if (fabsf(newIntegrator) < fabsf(pid->integrator)) {
pid->integrator = newIntegrator;
}
}
else {
pid->integrator = newIntegrator;
}
}
return outValConstrained;
}
float navPidApply2(pidController_t *pid, const float setpoint, const float measurement, const float dt, const float outMin, const float outMax, const pidControllerFlags_e pidFlags)
{
return navPidApply3(pid, setpoint, measurement, dt, outMin, outMax, pidFlags, 1.0f);
}
void navPidReset(pidController_t *pid)
{
pid->reset = true;
pid->proportional = 0.0f;
pid->integral = 0.0f;
pid->derivative = 0.0f;
pid->integrator = 0.0f;
pid->last_input = 0.0f;
pid->feedForward = 0.0f;
pt1FilterReset(&pid->dterm_filter_state, 0.0f);
pid->output_constrained = 0.0f;
}
void navPidInit(pidController_t *pid, float _kP, float _kI, float _kD, float _kFF, float _dTermLpfHz)
{
pid->param.kP = _kP;
pid->param.kI = _kI;
pid->param.kD = _kD;
pid->param.kFF = _kFF;
if (_kI > 1e-6f && _kP > 1e-6f) {
float Ti = _kP / _kI;
float Td = _kD / _kP;
pid->param.kT = 2.0f / (Ti + Td);
}
else {
pid->param.kI = 0.0;
pid->param.kT = 0.0;
}
pid->dTermLpfHz = _dTermLpfHz;
navPidReset(pid);
}
/*-----------------------------------------------------------
* Detects if thrust vector is facing downwards
*-----------------------------------------------------------*/
bool isThrustFacingDownwards(void)
{
// Tilt angle <= 80 deg; cos(80) = 0.17364817766693034885171662676931
return (calculateCosTiltAngle() >= 0.173648178f);
}
/*-----------------------------------------------------------
* Checks if position sensor (GPS) is failing for a specified timeout (if enabled)
*-----------------------------------------------------------*/
bool checkForPositionSensorTimeout(void)
{
if (navConfig()->general.pos_failure_timeout) {
if ((posControl.flags.estPosStatus == EST_NONE) && ((millis() - posControl.lastValidPositionTimeMs) > (1000 * navConfig()->general.pos_failure_timeout))) {
return true;
}
else {
return false;
}
}
else {
// Timeout not defined, never fail
return false;
}
}
/*-----------------------------------------------------------
* Processes an update to XY-position and velocity
*-----------------------------------------------------------*/
void updateActualHorizontalPositionAndVelocity(bool estPosValid, bool estVelValid, float newX, float newY, float newVelX, float newVelY)
{
posControl.actualState.abs.pos.x = newX;
posControl.actualState.abs.pos.y = newY;
posControl.actualState.abs.vel.x = newVelX;
posControl.actualState.abs.vel.y = newVelY;
posControl.actualState.agl.pos.x = newX;
posControl.actualState.agl.pos.y = newY;
posControl.actualState.agl.vel.x = newVelX;
posControl.actualState.agl.vel.y = newVelY;
posControl.actualState.velXY = sqrtf(sq(newVelX) + sq(newVelY));
// CASE 1: POS & VEL valid
if (estPosValid && estVelValid) {
posControl.flags.estPosStatus = EST_TRUSTED;
posControl.flags.estVelStatus = EST_TRUSTED;
posControl.flags.horizontalPositionDataNew = 1;
posControl.lastValidPositionTimeMs = millis();
}
// CASE 1: POS invalid, VEL valid
else if (!estPosValid && estVelValid) {
posControl.flags.estPosStatus = EST_USABLE; // Pos usable, but not trusted
posControl.flags.estVelStatus = EST_TRUSTED;
posControl.flags.horizontalPositionDataNew = 1;
posControl.lastValidPositionTimeMs = millis();
}
// CASE 3: can't use pos/vel data
else {
posControl.flags.estPosStatus = EST_NONE;
posControl.flags.estVelStatus = EST_NONE;
posControl.flags.horizontalPositionDataNew = 0;
}
#if defined(NAV_BLACKBOX)
navLatestActualPosition[X] = newX;
navLatestActualPosition[Y] = newY;
navActualVelocity[X] = constrain(newVelX, -32678, 32767);
navActualVelocity[Y] = constrain(newVelY, -32678, 32767);
#endif
}
/*-----------------------------------------------------------
* Processes an update to Z-position and velocity
*-----------------------------------------------------------*/
void updateActualAltitudeAndClimbRate(bool estimateValid, float newAltitude, float newVelocity, float surfaceDistance, float surfaceVelocity, navigationEstimateStatus_e surfaceStatus)
{
posControl.actualState.abs.pos.z = newAltitude;
posControl.actualState.abs.vel.z = newVelocity;
posControl.actualState.agl.pos.z = surfaceDistance;
posControl.actualState.agl.vel.z = surfaceVelocity;
// Update altitude that would be used when executing RTH
if (estimateValid) {
updateDesiredRTHAltitude();
// If we acquired new surface reference - changing from NONE/USABLE -> TRUSTED
if ((surfaceStatus == EST_TRUSTED) && (posControl.flags.estAglStatus != EST_TRUSTED)) {
// If we are in terrain-following modes - signal that we should update the surface tracking setpoint
// NONE/USABLE means that we were flying blind, now we should lock to surface
//updateSurfaceTrackingSetpoint();
}
posControl.flags.estAglStatus = surfaceStatus; // Could be TRUSTED or USABLE
posControl.flags.estAltStatus = EST_TRUSTED;
posControl.flags.verticalPositionDataNew = 1;
posControl.lastValidAltitudeTimeMs = millis();
}
else {
posControl.flags.estAltStatus = EST_NONE;
posControl.flags.estAglStatus = EST_NONE;
posControl.flags.verticalPositionDataNew = 0;
}
if (ARMING_FLAG(ARMED)) {
if ((posControl.flags.estAglStatus == EST_TRUSTED) && surfaceDistance > 0) {
if (posControl.actualState.surfaceMin > 0) {
posControl.actualState.surfaceMin = MIN(posControl.actualState.surfaceMin, surfaceDistance);
}
else {
posControl.actualState.surfaceMin = surfaceDistance;
}
}
}
else {
posControl.actualState.surfaceMin = -1;
}
#if defined(NAV_BLACKBOX)
navLatestActualPosition[Z] = navGetCurrentActualPositionAndVelocity()->pos.z;
navActualVelocity[Z] = constrain(navGetCurrentActualPositionAndVelocity()->vel.z, -32678, 32767);
#endif
}
/*-----------------------------------------------------------
* Processes an update to estimated heading
*-----------------------------------------------------------*/
void updateActualHeading(bool headingValid, int32_t newHeading)
{
/* Update heading. Check if we're acquiring a valid heading for the
* first time and update home heading accordingly.
*/
navigationEstimateStatus_e newEstHeading = headingValid ? EST_TRUSTED : EST_NONE;
if (newEstHeading >= EST_USABLE && posControl.flags.estHeadingStatus < EST_USABLE &&
(posControl.rthState.homeFlags & (NAV_HOME_VALID_XY | NAV_HOME_VALID_Z)) &&
(posControl.rthState.homeFlags & NAV_HOME_VALID_HEADING) == 0) {
// Home was stored using the fake heading (assuming boot as 0deg). Calculate
// the offset from the fake to the actual yaw and apply the same rotation
// to the home point.
int32_t fakeToRealYawOffset = newHeading - posControl.actualState.yaw;
posControl.rthState.homePosition.yaw += fakeToRealYawOffset;
if (posControl.rthState.homePosition.yaw < 0) {
posControl.rthState.homePosition.yaw += DEGREES_TO_CENTIDEGREES(360);
}
if (posControl.rthState.homePosition.yaw >= DEGREES_TO_CENTIDEGREES(360)) {
posControl.rthState.homePosition.yaw -= DEGREES_TO_CENTIDEGREES(360);
}
posControl.rthState.homeFlags |= NAV_HOME_VALID_HEADING;
}
posControl.actualState.yaw = newHeading;
posControl.flags.estHeadingStatus = newEstHeading;
/* Precompute sin/cos of yaw angle */
posControl.actualState.sinYaw = sin_approx(CENTIDEGREES_TO_RADIANS(newHeading));
posControl.actualState.cosYaw = cos_approx(CENTIDEGREES_TO_RADIANS(newHeading));
posControl.flags.headingDataNew = 1;
}
/*-----------------------------------------------------------
* Returns pointer to currently used position (ABS or AGL) depending on surface tracking status
*-----------------------------------------------------------*/
const navEstimatedPosVel_t * navGetCurrentActualPositionAndVelocity(void)
{
return posControl.flags.isTerrainFollowEnabled ? &posControl.actualState.agl : &posControl.actualState.abs;
}
/*-----------------------------------------------------------
* Calculates distance and bearing to destination point
*-----------------------------------------------------------*/
static uint32_t calculateDistanceFromDelta(float deltaX, float deltaY)
{
return sqrtf(sq(deltaX) + sq(deltaY));
}
static int32_t calculateBearingFromDelta(float deltaX, float deltaY)
{
return wrap_36000(RADIANS_TO_CENTIDEGREES(atan2_approx(deltaY, deltaX)));
}
uint32_t calculateDistanceToDestination(const fpVector3_t * destinationPos)
{
const navEstimatedPosVel_t *posvel = navGetCurrentActualPositionAndVelocity();
const float deltaX = destinationPos->x - posvel->pos.x;
const float deltaY = destinationPos->y - posvel->pos.y;
return calculateDistanceFromDelta(deltaX, deltaY);
}
int32_t calculateBearingToDestination(const fpVector3_t * destinationPos)
{
const navEstimatedPosVel_t *posvel = navGetCurrentActualPositionAndVelocity();
const float deltaX = destinationPos->x - posvel->pos.x;
const float deltaY = destinationPos->y - posvel->pos.y;
return calculateBearingFromDelta(deltaX, deltaY);
}
bool navCalculatePathToDestination(navDestinationPath_t *result, const fpVector3_t * destinationPos)
{
if (posControl.flags.estPosStatus == EST_NONE ||
posControl.flags.estHeadingStatus == EST_NONE) {
return false;
}
const navEstimatedPosVel_t *posvel = navGetCurrentActualPositionAndVelocity();
const float deltaX = destinationPos->x - posvel->pos.x;
const float deltaY = destinationPos->y - posvel->pos.y;
result->distance = calculateDistanceFromDelta(deltaX, deltaY);
result->bearing = calculateBearingFromDelta(deltaX, deltaY);
return true;
}
/*-----------------------------------------------------------
* Check if waypoint is/was reached. Assume that waypoint-yaw stores initial bearing
*-----------------------------------------------------------*/
bool isWaypointMissed(const navWaypointPosition_t * waypoint)
{
int32_t bearingError = calculateBearingToDestination(&waypoint->pos) - waypoint->yaw;
bearingError = wrap_18000(bearingError);
return ABS(bearingError) > 10000; // TRUE if we passed the waypoint by 100 degrees
}
static bool isWaypointPositionReached(const fpVector3_t * pos, const bool isWaypointHome)
{
// We consider waypoint reached if within specified radius
const uint32_t wpDistance = calculateDistanceToDestination(pos);
if (STATE(FIXED_WING) && isWaypointHome) {
// Airplane will do a circular loiter over home and might never approach it closer than waypoint_radius - need extra check
return (wpDistance <= navConfig()->general.waypoint_radius)
|| (wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)); // 10% margin of desired circular loiter radius
}
else {
return (wpDistance <= navConfig()->general.waypoint_radius);
}
}
bool isWaypointReached(const navWaypointPosition_t * waypoint, const bool isWaypointHome)
{
return isWaypointPositionReached(&waypoint->pos, isWaypointHome);
}
static void updateHomePositionCompatibility(void)
{
geoConvertLocalToGeodetic(&GPS_home, &posControl.gpsOrigin, &posControl.rthState.homePosition.pos);
GPS_distanceToHome = posControl.homeDistance / 100;
GPS_directionToHome = posControl.homeDirection / 100;
}
// Backdoor for RTH estimator
float getFinalRTHAltitude(void)
{
return posControl.rthState.rthFinalAltitude;
}
/*-----------------------------------------------------------
* Reset home position to current position
*-----------------------------------------------------------*/
static void updateDesiredRTHAltitude(void)
{
if (ARMING_FLAG(ARMED)) {
if (!(navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)) {
switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT:
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.actualState.abs.pos.z;
break;
case NAV_RTH_EXTRA_ALT: // Maintain current altitude + predefined safety margin
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_altitude;
posControl.rthState.rthFinalAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_altitude;
break;
case NAV_RTH_MAX_ALT:
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude, posControl.actualState.abs.pos.z);
posControl.rthState.rthFinalAltitude = MAX(posControl.rthState.rthFinalAltitude, posControl.actualState.abs.pos.z);
break;
case NAV_RTH_AT_LEAST_ALT: // Climb to at least some predefined altitude above home
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude + navConfig()->general.rth_altitude, posControl.actualState.abs.pos.z);
posControl.rthState.rthFinalAltitude = MAX(posControl.rthState.rthFinalAltitude + navConfig()->general.rth_altitude, posControl.actualState.abs.pos.z);
break;
case NAV_RTH_AT_LEAST_ALT_LINEAR_DESCENT:
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude + navConfig()->general.rth_altitude, posControl.actualState.abs.pos.z);
posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude;
break;
case NAV_RTH_CONST_ALT: // Climb/descend to predefined altitude above home
default:
posControl.rthState.rthInitialAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude;
posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude;
}
}
}
else {
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.actualState.abs.pos.z;
}
}
/*-----------------------------------------------------------
* RTH sanity test logic
*-----------------------------------------------------------*/
void initializeRTHSanityChecker(const fpVector3_t * pos)
{
const timeMs_t currentTimeMs = millis();
posControl.rthSanityChecker.lastCheckTime = currentTimeMs;
posControl.rthSanityChecker.initialPosition = *pos;
posControl.rthSanityChecker.minimalDistanceToHome = calculateDistanceToDestination(&posControl.rthState.homePosition.pos);
}
bool validateRTHSanityChecker(void)
{
const timeMs_t currentTimeMs = millis();
bool checkResult = true; // Between the checks return the "good" status
// Ability to disable this
if (navConfig()->general.rth_abort_threshold == 0) {
return true;
}
// Check at 10Hz rate
if ((currentTimeMs - posControl.rthSanityChecker.lastCheckTime) > 100) {
const float currentDistanceToHome = calculateDistanceToDestination(&posControl.rthState.homePosition.pos);
if (currentDistanceToHome < posControl.rthSanityChecker.minimalDistanceToHome) {
posControl.rthSanityChecker.minimalDistanceToHome = currentDistanceToHome;
}
else if ((currentDistanceToHome - posControl.rthSanityChecker.minimalDistanceToHome) > navConfig()->general.rth_abort_threshold) {
// If while doing RTH we got even farther away from home - RTH is doing something crazy
checkResult = false;
}
posControl.rthSanityChecker.lastCheckTime = currentTimeMs;
}
return checkResult;
}
/*-----------------------------------------------------------
* Reset home position to current position
*-----------------------------------------------------------*/
void setHomePosition(const fpVector3_t * pos, int32_t yaw, navSetWaypointFlags_t useMask, navigationHomeFlags_t homeFlags)
{
// XY-position
if ((useMask & NAV_POS_UPDATE_XY) != 0) {
posControl.rthState.homePosition.pos.x = pos->x;
posControl.rthState.homePosition.pos.y = pos->y;
if (homeFlags & NAV_HOME_VALID_XY) {
posControl.rthState.homeFlags |= NAV_HOME_VALID_XY;
} else {
posControl.rthState.homeFlags &= ~NAV_HOME_VALID_XY;
}
}
// Z-position
if ((useMask & NAV_POS_UPDATE_Z) != 0) {
posControl.rthState.homePosition.pos.z = pos->z;
if (homeFlags & NAV_HOME_VALID_Z) {
posControl.rthState.homeFlags |= NAV_HOME_VALID_Z;
} else {
posControl.rthState.homeFlags &= ~NAV_HOME_VALID_Z;
}
}
// Heading
if ((useMask & NAV_POS_UPDATE_HEADING) != 0) {
// Heading
posControl.rthState.homePosition.yaw = yaw;
if (homeFlags & NAV_HOME_VALID_HEADING) {
posControl.rthState.homeFlags |= NAV_HOME_VALID_HEADING;
} else {
posControl.rthState.homeFlags &= ~NAV_HOME_VALID_HEADING;
}
}
posControl.homeDistance = 0;
posControl.homeDirection = 0;
// Update target RTH altitude as a waypoint above home
updateDesiredRTHAltitude();
updateHomePositionCompatibility();
ENABLE_STATE(GPS_FIX_HOME);
}
static navigationHomeFlags_t navigationActualStateHomeValidity(void)
{
navigationHomeFlags_t flags = 0;
if (posControl.flags.estPosStatus >= EST_USABLE) {
flags |= NAV_HOME_VALID_XY | NAV_HOME_VALID_Z;
}
if (posControl.flags.estHeadingStatus >= EST_USABLE) {
flags |= NAV_HOME_VALID_HEADING;
}
return flags;
}
/*-----------------------------------------------------------
* Update home position, calculate distance and bearing to home
*-----------------------------------------------------------*/
void updateHomePosition(void)
{
// Disarmed and have a valid position, constantly update home
if (!ARMING_FLAG(ARMED)) {
if (posControl.flags.estPosStatus >= EST_USABLE) {
const navigationHomeFlags_t validHomeFlags = NAV_HOME_VALID_XY | NAV_HOME_VALID_Z;
bool setHome = (posControl.rthState.homeFlags & validHomeFlags) != validHomeFlags;
switch ((nav_reset_type_e)positionEstimationConfig()->reset_home_type) {
case NAV_RESET_NEVER:
break;
case NAV_RESET_ON_FIRST_ARM:
setHome |= !ARMING_FLAG(WAS_EVER_ARMED);
break;
case NAV_RESET_ON_EACH_ARM:
setHome = true;
break;
}
if (setHome) {
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
}
}
}
else {
static bool isHomeResetAllowed = false;
// If pilot so desires he may reset home position to current position
if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
const navSetWaypointFlags_t homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
isHomeResetAllowed = false;
}
}
else {
isHomeResetAllowed = true;
}
// Update distance and direction to home if armed (home is not updated when armed)
if (STATE(GPS_FIX_HOME)) {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_LAND);
posControl.homeDistance = calculateDistanceToDestination(tmpHomePos);
posControl.homeDirection = calculateBearingToDestination(tmpHomePos);
updateHomePositionCompatibility();
}
}
}
/*-----------------------------------------------------------
* Update flight statistics
*-----------------------------------------------------------*/
static void updateNavigationFlightStatistics(void)
{
static timeMs_t previousTimeMs = 0;
const timeMs_t currentTimeMs = millis();
const timeDelta_t timeDeltaMs = currentTimeMs - previousTimeMs;
previousTimeMs = currentTimeMs;
if (ARMING_FLAG(ARMED)) {
posControl.totalTripDistance += posControl.actualState.velXY * MS2S(timeDeltaMs);
}
}
uint32_t getTotalTravelDistance(void)
{
return lrintf(posControl.totalTripDistance);
}
/*-----------------------------------------------------------
* Calculate platform-specific hold position (account for deceleration)
*-----------------------------------------------------------*/
void calculateInitialHoldPosition(fpVector3_t * pos)
{
if (STATE(FIXED_WING)) { // FIXED_WING
calculateFixedWingInitialHoldPosition(pos);
}
else {
calculateMulticopterInitialHoldPosition(pos);
}
}
/*-----------------------------------------------------------
* Set active XYZ-target and desired heading
*-----------------------------------------------------------*/
void setDesiredPosition(const fpVector3_t * pos, int32_t yaw, navSetWaypointFlags_t useMask)
{
// XY-position update is allowed only when not braking in NAV_CRUISE_BRAKING
if ((useMask & NAV_POS_UPDATE_XY) != 0 && !STATE(NAV_CRUISE_BRAKING)) {
posControl.desiredState.pos.x = pos->x;
posControl.desiredState.pos.y = pos->y;
}
// Z-position
if ((useMask & NAV_POS_UPDATE_Z) != 0) {
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET); // Reset RoC/RoD -> altitude controller
posControl.desiredState.pos.z = pos->z;
}
// Heading
if ((useMask & NAV_POS_UPDATE_HEADING) != 0) {
// Heading
posControl.desiredState.yaw = yaw;
}
else if ((useMask & NAV_POS_UPDATE_BEARING) != 0) {
posControl.desiredState.yaw = calculateBearingToDestination(pos);
}
else if ((useMask & NAV_POS_UPDATE_BEARING_TAIL_FIRST) != 0) {
posControl.desiredState.yaw = wrap_36000(calculateBearingToDestination(pos) - 18000);
}
}
void calculateFarAwayTarget(fpVector3_t * farAwayPos, int32_t yaw, int32_t distance)
{
farAwayPos->x = navGetCurrentActualPositionAndVelocity()->pos.x + distance * cos_approx(CENTIDEGREES_TO_RADIANS(yaw));
farAwayPos->y = navGetCurrentActualPositionAndVelocity()->pos.y + distance * sin_approx(CENTIDEGREES_TO_RADIANS(yaw));
farAwayPos->z = navGetCurrentActualPositionAndVelocity()->pos.z;
}
void calculateNewCruiseTarget(fpVector3_t * origin, int32_t yaw, int32_t distance)
{
origin->x = origin->x + distance * cos_approx(CENTIDEGREES_TO_RADIANS(yaw));
origin->y = origin->y + distance * sin_approx(CENTIDEGREES_TO_RADIANS(yaw));
origin->z = origin->z;
}
/*-----------------------------------------------------------
* NAV land detector
*-----------------------------------------------------------*/
void resetLandingDetector(void)
{
if (STATE(FIXED_WING)) { // FIXED_WING
resetFixedWingLandingDetector();
}
else {
resetMulticopterLandingDetector();
}
}
bool isLandingDetected(void)
{
bool landingDetected;
if (STATE(FIXED_WING)) { // FIXED_WING
landingDetected = isFixedWingLandingDetected();
}
else {
landingDetected = isMulticopterLandingDetected();
}
return landingDetected;
}
/*-----------------------------------------------------------
* Z-position controller
*-----------------------------------------------------------*/
void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAltitudeControllerMode_e mode)
{
static timeUs_t lastUpdateTimeUs;
timeUs_t currentTimeUs = micros();
// Terrain following uses different altitude measurement
const float altitudeToUse = navGetCurrentActualPositionAndVelocity()->pos.z;
if (mode == ROC_TO_ALT_RESET) {
lastUpdateTimeUs = currentTimeUs;
posControl.desiredState.pos.z = altitudeToUse;
}
else {
if (STATE(FIXED_WING)) {
// Fixed wing climb rate controller is open-loop. We simply move the known altitude target
float timeDelta = US2S(currentTimeUs - lastUpdateTimeUs);
DEBUG_SET(DEBUG_FW_CLIMB_RATE_TO_ALTITUDE, 0, desiredClimbRate);
DEBUG_SET(DEBUG_FW_CLIMB_RATE_TO_ALTITUDE, 1, timeDelta * 1000);
if (timeDelta <= HZ2S(MIN_POSITION_UPDATE_RATE_HZ)) {
posControl.desiredState.pos.z += desiredClimbRate * timeDelta;
posControl.desiredState.pos.z = constrainf(posControl.desiredState.pos.z, altitudeToUse - 500, altitudeToUse + 500); // FIXME: calculate sanity limits in a smarter way
}
}
else {
// Multicopter climb-rate control is closed-loop, it's possible to directly calculate desired altitude setpoint to yield the required RoC/RoD
posControl.desiredState.pos.z = altitudeToUse + (desiredClimbRate / posControl.pids.pos[Z].param.kP);
}
lastUpdateTimeUs = currentTimeUs;
}
}
static void resetAltitudeController(bool useTerrainFollowing)
{
// Set terrain following flag
posControl.flags.isTerrainFollowEnabled = useTerrainFollowing;
if (STATE(FIXED_WING)) {
resetFixedWingAltitudeController();
}
else {
resetMulticopterAltitudeController();
}
}
static void setupAltitudeController(void)
{
if (STATE(FIXED_WING)) {
setupFixedWingAltitudeController();
}
else {
setupMulticopterAltitudeController();
}
}
static bool adjustAltitudeFromRCInput(void)
{
if (STATE(FIXED_WING)) {
return adjustFixedWingAltitudeFromRCInput();
}
else {
return adjustMulticopterAltitudeFromRCInput();
}
}
/*-----------------------------------------------------------
* Heading controller (pass-through to MAG mode)
*-----------------------------------------------------------*/
static void resetHeadingController(void)
{
if (STATE(FIXED_WING)) {
resetFixedWingHeadingController();
}
else {
resetMulticopterHeadingController();
}
}
static bool adjustHeadingFromRCInput(void)
{
if (STATE(FIXED_WING)) {
return adjustFixedWingHeadingFromRCInput();
}
else {
return adjustMulticopterHeadingFromRCInput();
}
}
/*-----------------------------------------------------------
* XY Position controller
*-----------------------------------------------------------*/
static void resetPositionController(void)
{
if (STATE(FIXED_WING)) {
resetFixedWingPositionController();
}
else {
resetMulticopterPositionController();
resetMulticopterBrakingMode();
}
}
static bool adjustPositionFromRCInput(void)
{
bool retValue;
if (STATE(FIXED_WING)) {
retValue = adjustFixedWingPositionFromRCInput();
}
else {
const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
retValue = adjustMulticopterPositionFromRCInput(rcPitchAdjustment, rcRollAdjustment);
}
return retValue;
}
/*-----------------------------------------------------------
* WP controller
*-----------------------------------------------------------*/
void resetGCSFlags(void)
{
posControl.flags.isGCSAssistedNavigationReset = false;
posControl.flags.isGCSAssistedNavigationEnabled = false;
}
void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData)
{
/* Default waypoint to send */
wpData->action = NAV_WP_ACTION_RTH;
wpData->lat = 0;
wpData->lon = 0;
wpData->alt = 0;
wpData->p1 = 0;
wpData->p2 = 0;
wpData->p3 = 0;
wpData->flag = NAV_WP_FLAG_LAST;
// WP #0 - special waypoint - HOME
if (wpNumber == 0) {
if (STATE(GPS_FIX_HOME)) {
wpData->lat = GPS_home.lat;
wpData->lon = GPS_home.lon;
wpData->alt = GPS_home.alt;
}
}
// WP #255 - special waypoint - directly get actualPosition
else if (wpNumber == 255) {
gpsLocation_t wpLLH;
geoConvertLocalToGeodetic(&wpLLH, &posControl.gpsOrigin, &navGetCurrentActualPositionAndVelocity()->pos);
wpData->lat = wpLLH.lat;
wpData->lon = wpLLH.lon;
wpData->alt = wpLLH.alt;
}
// WP #1 - #15 - common waypoints - pre-programmed mission
else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS)) {
if (wpNumber <= posControl.waypointCount) {
*wpData = posControl.waypointList[wpNumber - 1];
}
}
}
void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
{
gpsLocation_t wpLLH;
navWaypointPosition_t wpPos;
// Pre-fill structure to convert to local coordinates
wpLLH.lat = wpData->lat;
wpLLH.lon = wpData->lon;
wpLLH.alt = wpData->alt;
// WP #0 - special waypoint - HOME
if ((wpNumber == 0) && ARMING_FLAG(ARMED) && (posControl.flags.estPosStatus >= EST_USABLE) && posControl.gpsOrigin.valid && posControl.flags.isGCSAssistedNavigationEnabled) {
// Forcibly set home position. Note that this is only valid if already armed, otherwise home will be reset instantly
geoConvertGeodeticToLocal(&wpPos.pos, &posControl.gpsOrigin, &wpLLH, GEO_ALT_RELATIVE);
setHomePosition(&wpPos.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL);
}
// WP #255 - special waypoint - directly set desiredPosition
// Only valid when armed and in poshold mode
else if ((wpNumber == 255) && (wpData->action == NAV_WP_ACTION_WAYPOINT) &&
ARMING_FLAG(ARMED) && (posControl.flags.estPosStatus == EST_TRUSTED) && posControl.gpsOrigin.valid && posControl.flags.isGCSAssistedNavigationEnabled &&
(posControl.navState == NAV_STATE_POSHOLD_3D_IN_PROGRESS)) {
// Convert to local coordinates
geoConvertGeodeticToLocal(&wpPos.pos, &posControl.gpsOrigin, &wpLLH, GEO_ALT_RELATIVE);
navSetWaypointFlags_t waypointUpdateFlags = NAV_POS_UPDATE_XY;
// If we received global altitude == 0, use current altitude
if (wpData->alt != 0) {
waypointUpdateFlags |= NAV_POS_UPDATE_Z;
}
if (wpData->p1 > 0 && wpData->p1 < 360) {
waypointUpdateFlags |= NAV_POS_UPDATE_HEADING;
}
setDesiredPosition(&wpPos.pos, DEGREES_TO_CENTIDEGREES(wpData->p1), waypointUpdateFlags);
}
// WP #1 - #15 - common waypoints - pre-programmed mission
else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS) && !ARMING_FLAG(ARMED)) {
if (wpData->action == NAV_WP_ACTION_WAYPOINT || wpData->action == NAV_WP_ACTION_RTH) {
// Only allow upload next waypoint (continue upload mission) or first waypoint (new mission)
if (wpNumber == (posControl.waypointCount + 1) || wpNumber == 1) {
posControl.waypointList[wpNumber - 1] = *wpData;
posControl.waypointCount = wpNumber;
posControl.waypointListValid = (wpData->flag == NAV_WP_FLAG_LAST);
}
}
}
}
void resetWaypointList(void)
{
/* Can only reset waypoint list if not armed */
if (!ARMING_FLAG(ARMED)) {
posControl.waypointCount = 0;
posControl.waypointListValid = false;
}
}
bool isWaypointListValid(void)
{
return posControl.waypointListValid;
}
int getWaypointCount(void)
{
return posControl.waypointCount;
}
#ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
bool loadNonVolatileWaypointList(void)
{
if (ARMING_FLAG(ARMED))
return false;
resetWaypointList();
for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
// Load waypoint
setWaypoint(i + 1, nonVolatileWaypointList(i));
// Check if this is the last waypoint
if (nonVolatileWaypointList(i)->flag == NAV_WP_FLAG_LAST)
break;
}
// Mission sanity check failed - reset the list
if (!posControl.waypointListValid) {
resetWaypointList();
}
return posControl.waypointListValid;
}
bool saveNonVolatileWaypointList(void)
{
if (ARMING_FLAG(ARMED) || !posControl.waypointListValid)
return false;
for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
getWaypoint(i + 1, nonVolatileWaypointListMutable(i));
}
saveConfigAndNotify();
return true;
}
#endif
static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint)
{
gpsLocation_t wpLLH;
wpLLH.lat = waypoint->lat;
wpLLH.lon = waypoint->lon;
wpLLH.alt = waypoint->alt;
geoConvertGeodeticToLocal(localPos, &posControl.gpsOrigin, &wpLLH, GEO_ALT_RELATIVE);
}
static void calculateAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos)
{
posControl.activeWaypoint.pos = *pos;
// Calculate initial bearing towards waypoint and store it in waypoint yaw parameter (this will further be used to detect missed waypoints)
posControl.activeWaypoint.yaw = calculateBearingToDestination(pos);
// Set desired position to next waypoint (XYZ-controller)
setDesiredPosition(&posControl.activeWaypoint.pos, posControl.activeWaypoint.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
}
static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint)
{
fpVector3_t localPos;
mapWaypointToLocalPosition(&localPos, waypoint);
calculateAndSetActiveWaypointToLocalPosition(&localPos);
}
/**
* Returns TRUE if we are in WP mode and executing last waypoint on the list, or in RTH mode, or in PH mode
* In RTH mode our only and last waypoint is home
* In PH mode our waypoint is hold position */
bool isApproachingLastWaypoint(void)
{
if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) {
if (posControl.waypointCount == 0) {
/* No waypoints */
return true;
}
else if ((posControl.activeWaypointIndex == (posControl.waypointCount - 1)) ||
(posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST)) {
return true;
}
else {
return false;
}
}
else if (navGetStateFlags(posControl.navState) & NAV_CTL_POS) {
// If POS controller is active we are in Poshold or RTH mode - assume last waypoint
return true;
}
else {
return false;
}
}
float getActiveWaypointSpeed(void)
{
if (posControl.flags.isAdjustingPosition) {
// In manual control mode use different cap for speed
return navConfig()->general.max_manual_speed;
}
else {
uint16_t waypointSpeed = navConfig()->general.max_auto_speed;
if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) {
if (posControl.waypointCount > 0 && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT) {
const float wpSpecificSpeed = posControl.waypointList[posControl.activeWaypointIndex].p1;
if (wpSpecificSpeed >= 50.0f && wpSpecificSpeed <= navConfig()->general.max_auto_speed) {
waypointSpeed = wpSpecificSpeed;
}
}
}
return waypointSpeed;
}
}
/*-----------------------------------------------------------
* Process adjustments to alt, pos and yaw controllers
*-----------------------------------------------------------*/
static void processNavigationRCAdjustments(void)
{
/* Process pilot's RC input. Disable all pilot's input when in FAILSAFE_MODE */
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if ((navStateFlags & NAV_RC_ALT) && (!FLIGHT_MODE(FAILSAFE_MODE))) {
posControl.flags.isAdjustingAltitude = adjustAltitudeFromRCInput();
}
else {
posControl.flags.isAdjustingAltitude = false;
}
if (navStateFlags & NAV_RC_POS) {
if (!FLIGHT_MODE(FAILSAFE_MODE)) {
posControl.flags.isAdjustingPosition = adjustPositionFromRCInput();
}
else {
if (!STATE(FIXED_WING)) {
resetMulticopterBrakingMode();
}
}
}
else {
posControl.flags.isAdjustingPosition = false;
}
if ((navStateFlags & NAV_RC_YAW) && (!FLIGHT_MODE(FAILSAFE_MODE))) {
posControl.flags.isAdjustingHeading = adjustHeadingFromRCInput();
}
else {
posControl.flags.isAdjustingHeading = false;
}
}
/*-----------------------------------------------------------
* A main function to call position controllers at loop rate
*-----------------------------------------------------------*/
void applyWaypointNavigationAndAltitudeHold(void)
{
const timeUs_t currentTimeUs = micros();
#if defined(NAV_BLACKBOX)
navFlags = 0;
if (posControl.flags.estAltStatus == EST_TRUSTED) navFlags |= (1 << 0);
if (posControl.flags.estAglStatus == EST_TRUSTED) navFlags |= (1 << 1);
if (posControl.flags.estPosStatus == EST_TRUSTED) navFlags |= (1 << 2);
if (posControl.flags.isTerrainFollowEnabled) navFlags |= (1 << 3);
#if defined(NAV_GPS_GLITCH_DETECTION)
if (isGPSGlitchDetected()) navFlags |= (1 << 4);
#endif
if (posControl.flags.estHeadingStatus == EST_TRUSTED) navFlags |= (1 << 5);
#endif
// Reset all navigation requests - NAV controllers will set them if necessary
DISABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
// No navigation when disarmed
if (!ARMING_FLAG(ARMED)) {
// If we are disarmed, abort forced RTH
posControl.flags.forcedRTHActivated = false;
return;
}
/* Reset flags */
posControl.flags.horizontalPositionDataConsumed = 0;
posControl.flags.verticalPositionDataConsumed = 0;
/* Process controllers */
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if (STATE(FIXED_WING)) {
applyFixedWingNavigationController(navStateFlags, currentTimeUs);
}
else {
applyMulticopterNavigationController(navStateFlags, currentTimeUs);
}
/* Consume position data */
if (posControl.flags.horizontalPositionDataConsumed)
posControl.flags.horizontalPositionDataNew = 0;
if (posControl.flags.verticalPositionDataConsumed)
posControl.flags.verticalPositionDataNew = 0;
#if defined(NAV_BLACKBOX)
if (posControl.flags.isAdjustingPosition) navFlags |= (1 << 6);
if (posControl.flags.isAdjustingAltitude) navFlags |= (1 << 7);
if (posControl.flags.isAdjustingHeading) navFlags |= (1 << 8);
navTargetPosition[X] = lrintf(posControl.desiredState.pos.x);
navTargetPosition[Y] = lrintf(posControl.desiredState.pos.y);
navTargetPosition[Z] = lrintf(posControl.desiredState.pos.z);
#endif
}
/*-----------------------------------------------------------
* Set CF's FLIGHT_MODE from current NAV_MODE
*-----------------------------------------------------------*/
void switchNavigationFlightModes(void)
{
const flightModeFlags_e enabledNavFlightModes = navGetMappedFlightModes(posControl.navState);
const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE | NAV_CRUISE_MODE) & (~enabledNavFlightModes);
DISABLE_FLIGHT_MODE(disabledFlightModes);
ENABLE_FLIGHT_MODE(enabledNavFlightModes);
}
/*-----------------------------------------------------------
* desired NAV_MODE from combination of FLIGHT_MODE flags
*-----------------------------------------------------------*/
static bool canActivateAltHoldMode(void)
{
return (posControl.flags.estAltStatus >= EST_USABLE);
}
static bool canActivatePosHoldMode(void)
{
return (posControl.flags.estPosStatus >= EST_USABLE) && (posControl.flags.estVelStatus == EST_TRUSTED) && (posControl.flags.estHeadingStatus >= EST_USABLE);
}
static bool canActivateNavigationModes(void)
{
return (posControl.flags.estPosStatus == EST_TRUSTED) && (posControl.flags.estVelStatus == EST_TRUSTED) && (posControl.flags.estHeadingStatus >= EST_USABLE);
}
static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
{
static bool canActivateWaypoint = false;
static bool canActivateLaunchMode = false;
//We can switch modes only when ARMED
if (ARMING_FLAG(ARMED)) {
// Ask failsafe system if we can use navigation system
if (failsafeBypassNavigation()) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
// Flags if we can activate certain nav modes (check if we have required sensors and they provide valid data)
bool canActivateAltHold = canActivateAltHoldMode();
bool canActivatePosHold = canActivatePosHoldMode();
bool canActivateNavigation = canActivateNavigationModes();
// LAUNCH mode has priority over any other NAV mode
if (STATE(FIXED_WING)) {
if (isNavLaunchEnabled()) { // FIXME: Only available for fixed wing aircrafts now
if (canActivateLaunchMode) {
canActivateLaunchMode = false;
return NAV_FSM_EVENT_SWITCH_TO_LAUNCH;
}
else if FLIGHT_MODE(NAV_LAUNCH_MODE) {
// Make sure we don't bail out to IDLE
return NAV_FSM_EVENT_NONE;
}
}
else {
// If we were in LAUNCH mode - force switch to IDLE only if the throttle is low
if (FLIGHT_MODE(NAV_LAUNCH_MODE)) {
throttleStatus_e throttleStatus = calculateThrottleStatus();
if (throttleStatus != THROTTLE_LOW)
return NAV_FSM_EVENT_NONE;
else
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
}
}
// RTH/Failsafe_RTH can override MANUAL
if (posControl.flags.forcedRTHActivated || (IS_RC_MODE_ACTIVE(BOXNAVRTH) && canActivatePosHold && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
// If we request forced RTH - attempt to activate it no matter what
// This might switch to emergency landing controller if GPS is unavailable
canActivateWaypoint = false; // Block WP mode if we switched to RTH for whatever reason
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
// MANUAL mode has priority over WP/PH/AH
if (IS_RC_MODE_ACTIVE(BOXMANUAL)) {
canActivateWaypoint = false; // Block WP mode if we are in PASSTHROUGH mode
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
if ((FLIGHT_MODE(NAV_WP_MODE)) || (canActivateNavigation && canActivateWaypoint && canActivatePosHold && canActivateAltHold && STATE(GPS_FIX_HOME) && ARMING_FLAG(ARMED) && posControl.waypointListValid && (posControl.waypointCount > 0)))
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
}
else {
// Arm the state variable if the WP BOX mode is not enabled
canActivateWaypoint = true;
}
if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD)) {
if (FLIGHT_MODE(NAV_POSHOLD_MODE) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D;
}
// PH has priority over CRUISE
// CRUISE has priority on AH
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && ((FLIGHT_MODE(NAV_CRUISE_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold)))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D;
if (FLIGHT_MODE(NAV_CRUISE_MODE) || (canActivatePosHold))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D;
}
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
if ((FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_ALTHOLD;
}
}
else {
canActivateWaypoint = false;
// Launch mode can be activated if feature FW_LAUNCH is enabled or BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
canActivateLaunchMode = isNavLaunchEnabled();
}
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
/*-----------------------------------------------------------
* An indicator that throttle tilt compensation is forced
*-----------------------------------------------------------*/
bool navigationRequiresThrottleTiltCompensation(void)
{
return !STATE(FIXED_WING) && (navGetStateFlags(posControl.navState) & NAV_REQUIRE_THRTILT);
}
/*-----------------------------------------------------------
* An indicator that ANGLE mode must be forced per NAV requirement
*-----------------------------------------------------------*/
bool navigationRequiresAngleMode(void)
{
const navigationFSMStateFlags_t currentState = navGetStateFlags(posControl.navState);
return (currentState & NAV_REQUIRE_ANGLE) || ((currentState & NAV_REQUIRE_ANGLE_FW) && STATE(FIXED_WING));
}
/*-----------------------------------------------------------
* An indicator that TURN ASSISTANCE is required for navigation
*-----------------------------------------------------------*/
bool navigationRequiresTurnAssistance(void)
{
const navigationFSMStateFlags_t currentState = navGetStateFlags(posControl.navState);
if (STATE(FIXED_WING)) {
// For airplanes turn assistant is always required when controlling position
return (currentState & (NAV_CTL_POS | NAV_CTL_ALT));
}
else {
return false;
}
}
/**
* An indicator that NAV is in charge of heading control (a signal to disable other heading controllers)
*/
int8_t navigationGetHeadingControlState(void)
{
// For airplanes report as manual heading control
if (STATE(FIXED_WING)) {
return NAV_HEADING_CONTROL_MANUAL;
}
// For multirotors it depends on navigation system mode
if (navGetStateFlags(posControl.navState) & NAV_REQUIRE_MAGHOLD) {
if (posControl.flags.isAdjustingHeading) {
return NAV_HEADING_CONTROL_MANUAL;
}
else {
return NAV_HEADING_CONTROL_AUTO;
}
}
else {
return NAV_HEADING_CONTROL_NONE;
}
}
bool navigationTerrainFollowingEnabled(void)
{
return posControl.flags.isTerrainFollowEnabled;
}
navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
{
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING) && IS_RC_MODE_ACTIVE(BOXNAVCRUISE));
const bool navLaunchComboModesEnabled = isNavLaunchEnabled() && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE));
if (usedBypass) {
*usedBypass = false;
}
if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_OFF) {
return NAV_ARMING_BLOCKER_NONE;
}
// Apply extra arming safety only if pilot has any of GPS modes configured
if ((isUsingNavigationModes() || failsafeMayRequireNavigationMode()) && !((posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME))) {
if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_ALLOW_BYPASS &&
(STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED) || rxGetChannelValue(YAW) > 1750)) {
if (usedBypass) {
*usedBypass = true;
}
return NAV_ARMING_BLOCKER_NONE;
}
return NAV_ARMING_BLOCKER_MISSING_GPS_FIX;
}
// Don't allow arming if any of NAV modes is active
if (!ARMING_FLAG(ARMED) && navBoxModesEnabled && !navLaunchComboModesEnabled) {
return NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE;
}
// Don't allow arming if first waypoint is farther than configured safe distance
if (posControl.waypointCount > 0) {
fpVector3_t startingWaypointPos;
mapWaypointToLocalPosition(&startingWaypointPos, &posControl.waypointList[0]);
const bool navWpMissionStartTooFar = calculateDistanceToDestination(&startingWaypointPos) > navConfig()->general.waypoint_safe_distance;
if (navWpMissionStartTooFar) {
return NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR;
}
}
return NAV_ARMING_BLOCKER_NONE;
}
bool navigationPositionEstimateIsHealthy(void)
{
return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME);
}
/**
* Indicate ready/not ready status
*/
static void updateReadyStatus(void)
{
static bool posReadyBeepDone = false;
/* Beep out READY_BEEP once when position lock is firstly acquired and HOME set */
if (navigationPositionEstimateIsHealthy() && !posReadyBeepDone) {
beeper(BEEPER_READY_BEEP);
posReadyBeepDone = true;
}
}
void updateFlightBehaviorModifiers(void)
{
if (posControl.flags.isGCSAssistedNavigationEnabled && !IS_RC_MODE_ACTIVE(BOXGCSNAV)) {
posControl.flags.isGCSAssistedNavigationReset = true;
}
posControl.flags.isGCSAssistedNavigationEnabled = IS_RC_MODE_ACTIVE(BOXGCSNAV);
}
/**
* Process NAV mode transition and WP/RTH state machine
* Update rate: RX (data driven or 50Hz)
*/
void updateWaypointsAndNavigationMode(void)
{
/* Initiate home position update */
updateHomePosition();
/* Update flight statistics */
updateNavigationFlightStatistics();
/* Update NAV ready status */
updateReadyStatus();
// Update flight behaviour modifiers
updateFlightBehaviorModifiers();
// Process switch to a different navigation mode (if needed)
navProcessFSMEvents(selectNavEventFromBoxModeInput());
// Process pilot's RC input to adjust behaviour
processNavigationRCAdjustments();
// Map navMode back to enabled flight modes
switchNavigationFlightModes();
#if defined(NAV_BLACKBOX)
navCurrentState = (int16_t)posControl.navPersistentId;
#endif
}
/*-----------------------------------------------------------
* NAV main control functions
*-----------------------------------------------------------*/
void navigationUsePIDs(void)
{
/** Multicopter PIDs */
// Brake time parameter
posControl.posDecelerationTime = (float)navConfig()->mc.posDecelerationTime / 100.0f;
// Position controller expo (taret vel expo for MC)
posControl.posResponseExpo = constrainf((float)navConfig()->mc.posResponseExpo / 100.0f, 0.0f, 1.0f);
// Initialize position hold P-controller
for (int axis = 0; axis < 2; axis++) {
navPidInit(
&posControl.pids.pos[axis],
(float)pidProfile()->bank_mc.pid[PID_POS_XY].P / 100.0f,
0.0f,
0.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
navPidInit(&posControl.pids.vel[axis], (float)pidProfile()->bank_mc.pid[PID_VEL_XY].P / 20.0f,
(float)pidProfile()->bank_mc.pid[PID_VEL_XY].I / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_VEL_XY].D / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_VEL_XY].FF / 100.0f,
pidProfile()->navVelXyDTermLpfHz
);
}
// Initialize altitude hold PID-controllers (pos_z, vel_z, acc_z
navPidInit(
&posControl.pids.pos[Z],
(float)pidProfile()->bank_mc.pid[PID_POS_Z].P / 100.0f,
0.0f,
0.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
navPidInit(&posControl.pids.vel[Z], (float)pidProfile()->bank_mc.pid[PID_VEL_Z].P / 66.7f,
(float)pidProfile()->bank_mc.pid[PID_VEL_Z].I / 20.0f,
(float)pidProfile()->bank_mc.pid[PID_VEL_Z].D / 100.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
// Initialize surface tracking PID
navPidInit(&posControl.pids.surface, 2.0f,
0.0f,
0.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
/** Airplane PIDs */
// Initialize fixed wing PID controllers
navPidInit(&posControl.pids.fw_nav, (float)pidProfile()->bank_fw.pid[PID_POS_XY].P / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_XY].I / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_XY].D / 100.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 10.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
}
void navigationInit(void)
{
/* Initial state */
posControl.navState = NAV_STATE_IDLE;
posControl.flags.horizontalPositionDataNew = 0;
posControl.flags.verticalPositionDataNew = 0;
posControl.flags.headingDataNew = 0;
posControl.flags.estAltStatus = EST_NONE;
posControl.flags.estPosStatus = EST_NONE;
posControl.flags.estVelStatus = EST_NONE;
posControl.flags.estHeadingStatus = EST_NONE;
posControl.flags.estAglStatus = EST_NONE;
posControl.flags.forcedRTHActivated = 0;
posControl.waypointCount = 0;
posControl.activeWaypointIndex = 0;
posControl.waypointListValid = false;
/* Set initial surface invalid */
posControl.actualState.surfaceMin = -1.0f;
/* Reset statistics */
posControl.totalTripDistance = 0.0f;
/* Use system config */
navigationUsePIDs();
}
/*-----------------------------------------------------------
* Access to estimated position/velocity data
*-----------------------------------------------------------*/
float getEstimatedActualVelocity(int axis)
{
return navGetCurrentActualPositionAndVelocity()->vel.v[axis];
}
float getEstimatedActualPosition(int axis)
{
return navGetCurrentActualPositionAndVelocity()->pos.v[axis];
}
/*-----------------------------------------------------------
* Ability to execute RTH on external event
*-----------------------------------------------------------*/
void activateForcedRTH(void)
{
posControl.flags.forcedRTHActivated = true;
navProcessFSMEvents(selectNavEventFromBoxModeInput());
}
void abortForcedRTH(void)
{
// Disable failsafe RTH and make sure we back out of navigation mode to IDLE
// If any navigation mode was active prior to RTH it will be re-enabled with next RX update
posControl.flags.forcedRTHActivated = false;
navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
}
rthState_e getStateOfForcedRTH(void)
{
/* If forced RTH activated and in AUTO_RTH or EMERG state */
if (posControl.flags.forcedRTHActivated && (navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG))) {
if (posControl.navState == NAV_STATE_RTH_FINISHED || posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED) {
return RTH_HAS_LANDED;
}
else {
return RTH_IN_PROGRESS;
}
}
else {
return RTH_IDLE;
}
}
bool navigationIsExecutingAnEmergencyLanding(void)
{
return navGetCurrentStateFlags() & NAV_CTL_EMERG;
}
bool navigationIsControllingThrottle(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return ((stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND)) && (getMotorStatus() != MOTOR_STOPPED_USER));
}
bool navigationIsFlyingAutonomousMode(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & (NAV_AUTO_RTH | NAV_AUTO_WP));
}
bool navigationRTHAllowsLanding(void)
{
navRTHAllowLanding_e allow = navConfig()->general.flags.rth_allow_landing;
return allow == NAV_RTH_ALLOW_LANDING_ALWAYS ||
(allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE));
}
bool FAST_CODE isNavLaunchEnabled(void)
{
return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH);
}
int32_t navigationGetHomeHeading(void)
{
return posControl.rthState.homePosition.yaw;
}
// returns m/s
float calculateAverageSpeed() {
float flightTime = getFlightTime();
if (flightTime == 0.0f) return 0;
return (float)getTotalTravelDistance() / (flightTime * 100);
}
const navigationPIDControllers_t* getNavigationPIDControllers(void) {
return &posControl.pids;
}
bool isAdjustingPosition(void) {
return posControl.flags.isAdjustingPosition;
}
bool isAdjustingHeading(void) {
return posControl.flags.isAdjustingHeading;
}
int32_t getCruiseHeadingAdjustment(void) {
return wrap_18000(posControl.cruise.yaw - posControl.cruise.previousYaw);
}
#else // NAV
#ifdef USE_GPS
/* Fallback if navigation is not compiled in - handle GPS home coordinates */
static float GPS_scaleLonDown;
static float GPS_totalTravelDistance = 0;
static void GPS_distance_cm_bearing(int32_t currentLat1, int32_t currentLon1, int32_t destinationLat2, int32_t destinationLon2, uint32_t *dist, int32_t *bearing)
{
const float dLat = destinationLat2 - currentLat1; // difference of latitude in 1/10 000 000 degrees
const float dLon = (float)(destinationLon2 - currentLon1) * GPS_scaleLonDown;
*dist = sqrtf(sq(dLat) + sq(dLon)) * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR;
*bearing = 9000.0f + RADIANS_TO_CENTIDEGREES(atan2_approx(-dLat, dLon)); // Convert the output radians to 100xdeg
if (*bearing < 0)
*bearing += 36000;
}
void onNewGPSData(void)
{
static timeMs_t previousTimeMs = 0;
const timeMs_t currentTimeMs = millis();
const timeDelta_t timeDeltaMs = currentTimeMs - previousTimeMs;
previousTimeMs = currentTimeMs;
if (!(sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5))
return;
if (ARMING_FLAG(ARMED)) {
/* Update home distance and direction */
if (STATE(GPS_FIX_HOME)) {
uint32_t dist;
int32_t dir;
GPS_distance_cm_bearing(gpsSol.llh.lat, gpsSol.llh.lon, GPS_home.lat, GPS_home.lon, &dist, &dir);
GPS_distanceToHome = dist / 100;
GPS_directionToHome = lrintf(dir / 100.0f);
} else {
GPS_distanceToHome = 0;
GPS_directionToHome = 0;
}
/* Update trip distance */
GPS_totalTravelDistance += gpsSol.groundSpeed * MS2S(timeDeltaMs);
}
else {
// Set home position to current GPS coordinates
ENABLE_STATE(GPS_FIX_HOME);
GPS_home.lat = gpsSol.llh.lat;
GPS_home.lon = gpsSol.llh.lon;
GPS_home.alt = gpsSol.llh.alt;
GPS_distanceToHome = 0;
GPS_directionToHome = 0;
GPS_scaleLonDown = cos_approx((fabsf((float)gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f);
}
}
int32_t getTotalTravelDistance(void)
{
return lrintf(GPS_totalTravelDistance);
}
#endif
#endif // NAV
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