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inav/src/main/navigation/navigation.c
breadoven 879b20d518 Update navigation.c
2023-12-11 21:13:13 +00:00

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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 <string.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/multifunction.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#ifdef USE_MULTI_MISSION
#include "fc/rc_adjustments.h"
#include "fc/cli.h"
#endif
#include "fc/settings.h"
#include "flight/imu.h"
#include "flight/mixer_profile.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"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "programming/global_variables.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
#define MR_RTH_LAND_MARGIN_CM 2000 // pause landing if this amount of cm *before* remaining to the home point (2D distance)
// 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_SAFE_HOME)
PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CONFIG , 0);
#endif
// waypoint 254, 255 are special waypoints
STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_range);
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 6);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
.flags = {
.extra_arming_safety = SETTING_NAV_EXTRA_ARMING_SAFETY_DEFAULT,
.user_control_mode = SETTING_NAV_USER_CONTROL_MODE_DEFAULT,
.rth_alt_control_mode = SETTING_NAV_RTH_ALT_MODE_DEFAULT,
.rth_climb_first = SETTING_NAV_RTH_CLIMB_FIRST_DEFAULT, // Climb first, turn after reaching safe altitude
.rth_climb_first_stage_mode = SETTING_NAV_RTH_CLIMB_FIRST_STAGE_MODE_DEFAULT, // To determine how rth_climb_first_stage_altitude is used
.rth_climb_ignore_emerg = SETTING_NAV_RTH_CLIMB_IGNORE_EMERG_DEFAULT, // Ignore GPS loss on initial climb
.rth_tail_first = SETTING_NAV_RTH_TAIL_FIRST_DEFAULT,
.disarm_on_landing = SETTING_NAV_DISARM_ON_LANDING_DEFAULT,
.rth_allow_landing = SETTING_NAV_RTH_ALLOW_LANDING_DEFAULT,
.rth_alt_control_override = SETTING_NAV_RTH_ALT_CONTROL_OVERRIDE_DEFAULT, // Override RTH Altitude and Climb First using Pitch and Roll stick
.nav_overrides_motor_stop = SETTING_NAV_OVERRIDES_MOTOR_STOP_DEFAULT,
.safehome_usage_mode = SETTING_SAFEHOME_USAGE_MODE_DEFAULT,
.mission_planner_reset = SETTING_NAV_MISSION_PLANNER_RESET_DEFAULT, // Allow mode switch toggle to reset Mission Planner WPs
.waypoint_mission_restart = SETTING_NAV_WP_MISSION_RESTART_DEFAULT, // WP mission restart action
.soaring_motor_stop = SETTING_NAV_FW_SOARING_MOTOR_STOP_DEFAULT, // stops motor when Saoring mode enabled
.rth_trackback_mode = SETTING_NAV_RTH_TRACKBACK_MODE_DEFAULT, // RTH trackback useage mode
.rth_use_linear_descent = SETTING_NAV_RTH_USE_LINEAR_DESCENT_DEFAULT, // Use linear descent during RTH
.landing_bump_detection = SETTING_NAV_LANDING_BUMP_DETECTION_DEFAULT, // Detect landing based on touchdown G bump
},
// General navigation parameters
.pos_failure_timeout = SETTING_NAV_POSITION_TIMEOUT_DEFAULT, // 5 sec
.waypoint_radius = SETTING_NAV_WP_RADIUS_DEFAULT, // 2m diameter
.waypoint_safe_distance = SETTING_NAV_WP_MAX_SAFE_DISTANCE_DEFAULT, // Metres - first waypoint should be closer than this
#ifdef USE_MULTI_MISSION
.waypoint_multi_mission_index = SETTING_NAV_WP_MULTI_MISSION_INDEX_DEFAULT, // mission index selected from multi mission WP entry
#endif
.waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT, // load waypoints automatically during boot
.auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT, // speed in autonomous modes (3 m/s = 10.8 km/h)
.min_ground_speed = SETTING_NAV_MIN_GROUND_SPEED_DEFAULT, // Minimum ground speed (m/s)
.max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT, // max allowed speed autonomous modes
.max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT, // 5 m/s
.max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,
.max_manual_climb_rate = SETTING_NAV_MANUAL_CLIMB_RATE_DEFAULT,
.land_slowdown_minalt = SETTING_NAV_LAND_SLOWDOWN_MINALT_DEFAULT, // altitude in centimeters
.land_slowdown_maxalt = SETTING_NAV_LAND_SLOWDOWN_MAXALT_DEFAULT, // altitude in meters
.land_minalt_vspd = SETTING_NAV_LAND_MINALT_VSPD_DEFAULT, // centimeters/s
.land_maxalt_vspd = SETTING_NAV_LAND_MAXALT_VSPD_DEFAULT, // centimeters/s
.emerg_descent_rate = SETTING_NAV_EMERG_LANDING_SPEED_DEFAULT, // centimeters/s
.min_rth_distance = SETTING_NAV_MIN_RTH_DISTANCE_DEFAULT, // centimeters, if closer than this land immediately
.rth_altitude = SETTING_NAV_RTH_ALTITUDE_DEFAULT, // altitude in centimeters
.rth_home_altitude = SETTING_NAV_RTH_HOME_ALTITUDE_DEFAULT, // altitude in centimeters
.rth_climb_first_stage_altitude = SETTING_NAV_RTH_CLIMB_FIRST_STAGE_ALTITUDE_DEFAULT, // altitude in centimetres, 0= off
.rth_abort_threshold = SETTING_NAV_RTH_ABORT_THRESHOLD_DEFAULT, // centimeters - 500m should be safe for all aircraft
.max_terrain_follow_altitude = SETTING_NAV_MAX_TERRAIN_FOLLOW_ALT_DEFAULT, // max altitude in centimeters in terrain following mode
.safehome_max_distance = SETTING_SAFEHOME_MAX_DISTANCE_DEFAULT, // Max distance that a safehome is from the arming point
.max_altitude = SETTING_NAV_MAX_ALTITUDE_DEFAULT,
.rth_trackback_distance = SETTING_NAV_RTH_TRACKBACK_DISTANCE_DEFAULT, // Max distance allowed for RTH trackback
.waypoint_enforce_altitude = SETTING_NAV_WP_ENFORCE_ALTITUDE_DEFAULT, // Forces set wp altitude to be achieved
.land_detect_sensitivity = SETTING_NAV_LAND_DETECT_SENSITIVITY_DEFAULT, // Changes sensitivity of landing detection
.auto_disarm_delay = SETTING_NAV_AUTO_DISARM_DELAY_DEFAULT, // 2000 ms - time delay to disarm when auto disarm after landing enabled
.rth_linear_descent_start_distance = SETTING_NAV_RTH_LINEAR_DESCENT_START_DISTANCE_DEFAULT,
.cruise_yaw_rate = SETTING_NAV_CRUISE_YAW_RATE_DEFAULT, // 20dps
.rth_fs_landing_delay = SETTING_NAV_RTH_FS_LANDING_DELAY_DEFAULT, // Delay before landing in FS. 0 = immedate landing
},
// MC-specific
.mc = {
.max_bank_angle = SETTING_NAV_MC_BANK_ANGLE_DEFAULT, // degrees
#ifdef USE_MR_BRAKING_MODE
.braking_speed_threshold = SETTING_NAV_MC_BRAKING_SPEED_THRESHOLD_DEFAULT, // Braking can become active above 1m/s
.braking_disengage_speed = SETTING_NAV_MC_BRAKING_DISENGAGE_SPEED_DEFAULT, // Stop when speed goes below 0.75m/s
.braking_timeout = SETTING_NAV_MC_BRAKING_TIMEOUT_DEFAULT, // Timeout barking after 2s
.braking_boost_factor = SETTING_NAV_MC_BRAKING_BOOST_FACTOR_DEFAULT, // A 100% boost by default
.braking_boost_timeout = SETTING_NAV_MC_BRAKING_BOOST_TIMEOUT_DEFAULT, // Timout boost after 750ms
.braking_boost_speed_threshold = SETTING_NAV_MC_BRAKING_BOOST_SPEED_THRESHOLD_DEFAULT, // Boost can happen only above 1.5m/s
.braking_boost_disengage_speed = SETTING_NAV_MC_BRAKING_BOOST_DISENGAGE_SPEED_DEFAULT, // Disable boost at 1m/s
.braking_bank_angle = SETTING_NAV_MC_BRAKING_BANK_ANGLE_DEFAULT, // Max braking angle
#endif
.posDecelerationTime = SETTING_NAV_MC_POS_DECELERATION_TIME_DEFAULT, // posDecelerationTime * 100
.posResponseExpo = SETTING_NAV_MC_POS_EXPO_DEFAULT, // posResponseExpo * 100
.slowDownForTurning = SETTING_NAV_MC_WP_SLOWDOWN_DEFAULT,
.althold_throttle_type = SETTING_NAV_MC_ALTHOLD_THROTTLE_DEFAULT, // STICK
},
// Fixed wing
.fw = {
.max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees
.max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees
.max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees
.cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s
.control_smoothness = SETTING_NAV_FW_CONTROL_SMOOTHNESS_DEFAULT,
.pitch_to_throttle_smooth = SETTING_NAV_FW_PITCH2THR_SMOOTHING_DEFAULT,
.pitch_to_throttle_thresh = SETTING_NAV_FW_PITCH2THR_THRESHOLD_DEFAULT,
.minThrottleDownPitchAngle = SETTING_FW_MIN_THROTTLE_DOWN_PITCH_DEFAULT,
.loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m
.loiter_direction = SETTING_FW_LOITER_DIRECTION_DEFAULT,
//Fixed wing landing
.land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default
// Fixed wing launch
.launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s
.launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G)
.launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
.launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
.launch_abort_deadband = SETTING_NAV_FW_LAUNCH_ABORT_DEADBAND_DEFAULT, // 100 us
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
.yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT,
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,// pitch angle mode deadband when Saoring mode enabled
.wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions
.wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs
.wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions
}
);
/* NAV variables */
static navWapointHeading_t wpHeadingControl;
navigationPosControl_t posControl;
navSystemStatus_t NAV_Status;
static bool landingDetectorIsActive;
EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
// Blackbox states
int16_t navCurrentState;
int16_t navActualVelocity[3];
int16_t navDesiredVelocity[3];
int32_t navTargetPosition[3];
int32_t navLatestActualPosition[3];
int16_t navActualHeading;
uint16_t navDesiredHeading;
int16_t navActualSurface;
uint16_t navFlags;
uint16_t navEPH;
uint16_t navEPV;
int16_t navAccNEU[3];
//End of blackbox states
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 setupJumpCounters(void);
static void resetJumpCounter(void);
static void clearJumpCounters(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 bearing, int32_t distance);
static bool isWaypointReached(const fpVector3_t * waypointPos, const int32_t * waypointBearing);
bool isWaypointAltitudeReached(void);
static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint, geoAltitudeConversionMode_e altConv);
static navigationFSMEvent_t nextForNonGeoStates(void);
static bool isWaypointMissionValid(void);
void missionPlannerSetWaypoint(void);
void initializeRTHSanityChecker(void);
bool validateRTHSanityChecker(void);
void updateHomePosition(void);
bool abortLaunchAllowed(void);
static bool rthAltControlStickOverrideCheck(unsigned axis);
static void updateRthTrackback(bool forceSaveTrackPoint);
static fpVector3_t * rthGetTrackbackPos(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_COURSE_HOLD_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_COURSE_HOLD_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_COURSE_HOLD_ADJUSTING(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_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_TRACKBACK(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_HOLD_TIME(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 navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_ABORT(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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
}
},
/** CRUISE_HOLD mode ************************************************/
[NAV_STATE_COURSE_HOLD_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_COURSE_HOLD_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_COURSE_HOLD_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_REQUIRE_ANGLE,
.mapToFlightModes = NAV_COURSE_HOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_COURSE_HOLD_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_COURSE_HOLD_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_COURSE_HOLD_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_COURSE_HOLD_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_COURSE_HOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_COURSE_HOLD_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] = NAV_STATE_CRUISE_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_COURSE_ADJ] = NAV_STATE_COURSE_HOLD_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_COURSE_HOLD_ADJUSTING] = {
.persistentId = NAV_PERSISTENT_ID_COURSE_HOLD_ADJUSTING,
.onEntry = navOnEnteringState_NAV_STATE_COURSE_HOLD_ADJUSTING,
.timeoutMs = 10,
.stateFlags = NAV_REQUIRE_ANGLE | NAV_RC_POS,
.mapToFlightModes = NAV_COURSE_HOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_COURSE_HOLD_IN_PROGRESS,
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_COURSE_HOLD_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] = NAV_STATE_CRUISE_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_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_REQUIRE_ANGLE,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_COURSE_HOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_CRUISE_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_CRUISE_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_COURSE_HOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_COURSE_ADJ] = NAV_STATE_CRUISE_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_ADJUSTING] = {
.persistentId = NAV_PERSISTENT_ID_CRUISE_ADJUSTING,
.onEntry = navOnEnteringState_NAV_STATE_CRUISE_ADJUSTING,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_ALT,
.mapToFlightModes = NAV_ALTHOLD_MODE | NAV_COURSE_HOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_CRUISE_IN_PROGRESS,
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_CRUISE_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_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_NAV_STATE_RTH_TRACKBACK] = NAV_STATE_RTH_TRACKBACK,
[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_CLIMB,
.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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
}
},
[NAV_STATE_RTH_TRACKBACK] = {
.persistentId = NAV_PERSISTENT_ID_RTH_TRACKBACK,
.onEntry = navOnEnteringState_NAV_STATE_RTH_TRACKBACK,
.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_ENROUTE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_TRACKBACK, // re-process the state
[NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_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_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_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_CTL_LAND | 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_CTL_LAND | 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 = 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_PRE_ACTION, // re-process the state (for JUMP)
[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_RTH] = NAV_STATE_RTH_INITIALIZE,
[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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_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_HOLD_TIME] = NAV_STATE_WAYPOINT_HOLD_TIME,
[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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
}
},
[NAV_STATE_WAYPOINT_HOLD_TIME] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME, // There is no state for timed hold?
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
.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_HOLD_TIMED,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_HOLD_TIME, // re-process the state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_NEXT, // 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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_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_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_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 = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_WP_ENROUTE,
.mwError = MW_NAV_ERROR_FINISH,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_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_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_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_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
}
},
[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_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE,
}
},
[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,
}
},
/** MIXER AUTOMATED TRANSITION mode, alternated althod ***************************************************/
[NAV_STATE_MIXERAT_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_MIXERAT_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_MIXERAT_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_MIXERAT,
.mapToFlightModes = NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_MIXERAT_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
[NAV_STATE_MIXERAT_IN_PROGRESS] = {
.persistentId = NAV_PERSISTENT_ID_MIXERAT_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_MIXERAT_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_MIXERAT,
.mapToFlightModes = NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_MIXERAT_IN_PROGRESS, // re-process the state
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_MIXERAT_ABORT,
[NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME] = NAV_STATE_RTH_HEAD_HOME, //switch to its pending state
[NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_LANDING, //switch to its pending state
}
},
[NAV_STATE_MIXERAT_ABORT] = {
.persistentId = NAV_PERSISTENT_ID_MIXERAT_ABORT,
.onEntry = navOnEnteringState_NAV_STATE_MIXERAT_ABORT, //will not switch to its pending state
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
.mapToFlightModes = NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_NONE,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
};
static navigationFSMStateFlags_t navGetStateFlags(navigationFSMState_t state)
{
return navFSM[state].stateFlags;
}
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_LEGACY) && 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();
// Prepare altitude controller if idle, RTH or WP modes active or surface mode status changed
if (!(prevFlags & NAV_CTL_ALT) || (prevFlags & NAV_AUTO_RTH) || (prevFlags & NAV_AUTO_WP) || terrainFollowingToggled) {
resetAltitudeController(navTerrainFollowingRequested());
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();
// Prepare altitude controller if idle, RTH or WP modes active or surface mode status changed
if (!(prevFlags & NAV_CTL_ALT) || (prevFlags & NAV_AUTO_RTH) || (prevFlags & NAV_AUTO_WP) || terrainFollowingToggled) {
resetAltitudeController(navTerrainFollowingRequested());
setupAltitudeController();
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z); // This will reset surface offset
}
// Prepare position controller if idle or current Mode NOT active in position hold state
if (previousState != NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_HOVER_ABOVE_HOME &&
previousState != NAV_STATE_RTH_LANDING && previousState != NAV_STATE_WAYPOINT_RTH_LAND &&
previousState != NAV_STATE_WAYPOINT_FINISHED && previousState != NAV_STATE_WAYPOINT_HOLD_TIME)
{
resetPositionController();
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_COURSE_HOLD_INITIALIZE(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (STATE(MULTIROTOR) && !navConfig()->general.cruise_yaw_rate) { // course hold not possible on MR without yaw control
return NAV_FSM_EVENT_ERROR;
}
DEBUG_SET(DEBUG_CRUISE, 0, 1);
// Switch to IDLE if we do not have an healty position. Try the next iteration.
if (checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
resetPositionController();
if (STATE(AIRPLANE)) {
posControl.cruise.course = posControl.actualState.cog; // Store the course to follow
} else { // Multicopter
posControl.cruise.course = posControl.actualState.yaw;
posControl.cruise.multicopterSpeed = constrainf(posControl.actualState.velXY, 10.0f, navConfig()->general.max_manual_speed);
posControl.desiredState.pos = posControl.actualState.abs.pos;
}
posControl.cruise.previousCourse = posControl.cruise.course;
posControl.cruise.lastCourseAdjustmentTime = 0;
return NAV_FSM_EVENT_SUCCESS; // Go to NAV_STATE_COURSE_HOLD_IN_PROGRESS state
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_COURSE_HOLD_IN_PROGRESS(navigationFSMState_t previousState)
{
UNUSED(previousState);
const timeMs_t currentTimeMs = millis();
// Switch to IDLE if we do not have an healty position. Do the CRUISE init the next iteration.
if (checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
DEBUG_SET(DEBUG_CRUISE, 0, 2);
DEBUG_SET(DEBUG_CRUISE, 2, 0);
if (STATE(AIRPLANE) && posControl.flags.isAdjustingPosition) { // inhibit for MR, pitch/roll only adjusts speed using pitch
return NAV_FSM_EVENT_SWITCH_TO_COURSE_ADJ;
}
const bool mcRollStickHeadingAdjustmentActive = STATE(MULTIROTOR) && ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband;
// User demanding yaw -> yaw stick on FW, yaw or roll sticks on MR
// We record the desired course and change the desired target in the meanwhile
if (posControl.flags.isAdjustingHeading || mcRollStickHeadingAdjustmentActive) {
int16_t cruiseYawRate = DEGREES_TO_CENTIDEGREES(navConfig()->general.cruise_yaw_rate);
int16_t headingAdjustCommand = rcCommand[YAW];
if (mcRollStickHeadingAdjustmentActive && ABS(rcCommand[ROLL]) > ABS(headingAdjustCommand)) {
headingAdjustCommand = -rcCommand[ROLL];
}
timeMs_t timeDifference = currentTimeMs - posControl.cruise.lastCourseAdjustmentTime;
if (timeDifference > 100) timeDifference = 0; // if adjustment was called long time ago, reset the time difference.
float rateTarget = scaleRangef((float)headingAdjustCommand, -500.0f, 500.0f, -cruiseYawRate, cruiseYawRate);
float centidegsPerIteration = rateTarget * MS2S(timeDifference);
posControl.cruise.course = wrap_36000(posControl.cruise.course - centidegsPerIteration);
DEBUG_SET(DEBUG_CRUISE, 1, CENTIDEGREES_TO_DEGREES(posControl.cruise.course));
posControl.cruise.lastCourseAdjustmentTime = currentTimeMs;
} else if (currentTimeMs - posControl.cruise.lastCourseAdjustmentTime > 4000) {
posControl.cruise.previousCourse = posControl.cruise.course;
}
setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_COURSE_HOLD_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.course = posControl.actualState.cog; //store current course
posControl.cruise.lastCourseAdjustmentTime = millis();
return NAV_FSM_EVENT_NONE; // reprocess the state
}
resetPositionController();
return NAV_FSM_EVENT_SUCCESS; // go back to NAV_STATE_COURSE_HOLD_IN_PROGRESS state
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_INITIALIZE(navigationFSMState_t previousState)
{
if (STATE(MULTIROTOR) && !navConfig()->general.cruise_yaw_rate) { // course hold not possible on MR without yaw control
return NAV_FSM_EVENT_ERROR;
}
navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(previousState);
return navOnEnteringState_NAV_STATE_COURSE_HOLD_INITIALIZE(previousState);
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_IN_PROGRESS(navigationFSMState_t previousState)
{
navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(previousState);
return navOnEnteringState_NAV_STATE_COURSE_HOLD_IN_PROGRESS(previousState);
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_ADJUSTING(navigationFSMState_t previousState)
{
navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(previousState);
return navOnEnteringState_NAV_STATE_COURSE_HOLD_ADJUSTING(previousState);
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
posControl.rthState.rthLinearDescentActive = false;
if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || !STATE(GPS_FIX_HOME)) {
// Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
// Relevant to failsafe forced RTH only. Switched RTH blocked in selectNavEventFromBoxModeInput if sensors unavailable.
// 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_LEGACY) && (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) {
// Prepare controllers
resetPositionController();
resetAltitudeController(false); // Make sure surface tracking is not enabled - RTH uses global altitude, not AGL
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 {
// Switch to RTH trackback
bool trackbackActive = navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON ||
(navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated);
if (trackbackActive && posControl.activeRthTBPointIndex >= 0 && !isWaypointMissionRTHActive()) {
updateRthTrackback(true); // save final trackpoint for altitude and max trackback distance reference
posControl.flags.rthTrackbackActive = true;
calculateAndSetActiveWaypointToLocalPosition(rthGetTrackbackPos());
return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK;
}
fpVector3_t targetHoldPos;
if (STATE(FIXED_WING_LEGACY)) {
// Airplane - climbout before heading home
if (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_ON_FW_SPIRAL) {
// Spiral climb centered at xy of RTH activation
calculateInitialHoldPosition(&targetHoldPos);
} else {
calculateFarAwayTarget(&targetHoldPos, posControl.actualState.cog, 100000.0f); // 1km away Linear climb
}
} 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();
}
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. Land immediately if failsafe RTH and timeout disabled (set to 0) */
else if (checkForPositionSensorTimeout() || (!navConfig()->general.pos_failure_timeout && posControl.flags.forcedRTHActivated)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
/* No valid POS sensor but still within valid timeout - wait */
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (!STATE(ALTITUDE_CONTROL)) {
//If altitude control is not a thing, switch to RTH in progress instead
return NAV_FSM_EVENT_SUCCESS; //Will cause NAV_STATE_RTH_HEAD_HOME
}
rthAltControlStickOverrideCheck(PITCH);
/* Position sensor failure timeout and not configured to ignore GPS loss - land */
if ((posControl.flags.estHeadingStatus == EST_NONE) ||
(checkForPositionSensorTimeout() && !navConfig()->general.flags.rth_climb_ignore_emerg)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
const uint8_t rthClimbMarginPercent = STATE(FIXED_WING_LEGACY) ? FW_RTH_CLIMB_MARGIN_PERCENT : MR_RTH_CLIMB_MARGIN_PERCENT;
const float rthAltitudeMargin = MAX(FW_RTH_CLIMB_MARGIN_MIN_CM, (rthClimbMarginPercent/100.0f) * fabsf(posControl.rthState.rthInitialAltitude - posControl.rthState.homePosition.pos.z));
// If we reached desired initial RTH altitude or we don't want to climb first
if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.rthState.rthInitialAltitude) > -rthAltitudeMargin) || (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_OFF) || rthAltControlStickOverrideCheck(ROLL) || rthClimbStageActiveAndComplete()) {
// Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
if (STATE(FIXED_WING_LEGACY)) {
initializeRTHSanityChecker();
}
// 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_LEGACY)) {
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_LEGACY) && !validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
// Climb to safe altitude and turn to correct direction
// 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.
if (STATE(FIXED_WING_LEGACY)) {
tmpHomePos->z += FW_RTH_CLIMB_OVERSHOOT_CM;
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z);
} else {
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;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigationFSMState_t previousState)
{
UNUSED(previousState);
/* If position sensors unavailable - land immediately */
if ((posControl.flags.estHeadingStatus == EST_NONE) || checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (posControl.flags.estPosStatus >= EST_USABLE) {
const int32_t distFromStartTrackback = calculateDistanceToDestination(&posControl.rthTBPointsList[posControl.rthTBLastSavedIndex]) / 100;
#ifdef USE_MULTI_FUNCTIONS
const bool overrideTrackback = rthAltControlStickOverrideCheck(ROLL) || MULTI_FUNC_FLAG(MF_SUSPEND_TRACKBACK);
#else
const bool overrideTrackback = rthAltControlStickOverrideCheck(ROLL);
#endif
const bool cancelTrackback = distFromStartTrackback > navConfig()->general.rth_trackback_distance ||
(overrideTrackback && !posControl.flags.forcedRTHActivated);
if (posControl.activeRthTBPointIndex < 0 || cancelTrackback) {
posControl.rthTBWrapAroundCounter = posControl.activeRthTBPointIndex = -1;
posControl.flags.rthTrackbackActive = false;
return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE; // procede to home after final trackback point
}
if (isWaypointReached(&posControl.activeWaypoint.pos, &posControl.activeWaypoint.bearing)) {
posControl.activeRthTBPointIndex--;
if (posControl.rthTBWrapAroundCounter > -1 && posControl.activeRthTBPointIndex < 0) {
posControl.activeRthTBPointIndex = NAV_RTH_TRACKBACK_POINTS - 1;
}
calculateAndSetActiveWaypointToLocalPosition(rthGetTrackbackPos());
if (posControl.activeRthTBPointIndex - posControl.rthTBWrapAroundCounter == 0) {
posControl.rthTBWrapAroundCounter = posControl.activeRthTBPointIndex = -1;
}
} else {
setDesiredPosition(rthGetTrackbackPos(), 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
}
}
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState)
{
UNUSED(previousState);
rthAltControlStickOverrideCheck(PITCH);
/* If position sensors unavailable - land immediately */
if ((posControl.flags.estHeadingStatus == EST_NONE) || !validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (checkMixerATRequired(MIXERAT_REQUEST_RTH) && (calculateDistanceToDestination(&posControl.rthState.homePosition.pos) > (navConfig()->fw.loiter_radius * 3))){
return NAV_FSM_EVENT_SWITCH_TO_MIXERAT;
}
if (navConfig()->general.flags.rth_use_linear_descent && navConfig()->general.rth_home_altitude > 0) {
// Check linear descent status
uint32_t homeDistance = calculateDistanceToDestination(&posControl.rthState.homePosition.pos);
if (homeDistance <= METERS_TO_CENTIMETERS(navConfig()->general.rth_linear_descent_start_distance)) {
posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
posControl.rthState.rthLinearDescentActive = true;
}
}
// If we have position sensor - continue home
if ((posControl.flags.estPosStatus >= EST_USABLE)) {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL);
if (isWaypointReached(tmpHomePos, 0)) {
// Successfully reached position target - update XYZ-position
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
posControl.landingDelay = 0;
if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
posControl.rthState.rthLinearDescentActive = false;
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
} else {
setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY);
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 */
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
{
UNUSED(previousState);
//On ROVER and BOAT we immediately switch to the next event
if (!STATE(ALTITUDE_CONTROL)) {
return NAV_FSM_EVENT_SUCCESS;
}
/* If position sensors unavailable - land immediately (wait for timeout on GPS) */
if ((posControl.flags.estHeadingStatus == EST_NONE) || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
// Action delay before landing if in FS and option enabled
bool pauseLanding = false;
navRTHAllowLanding_e allow = navConfig()->general.flags.rth_allow_landing;
if ((allow == NAV_RTH_ALLOW_LANDING_ALWAYS || allow == NAV_RTH_ALLOW_LANDING_FS_ONLY) && FLIGHT_MODE(FAILSAFE_MODE) && navConfig()->general.rth_fs_landing_delay > 0) {
if (posControl.landingDelay == 0)
posControl.landingDelay = millis() + S2MS(navConfig()->general.rth_fs_landing_delay);
batteryState_e batteryState = getBatteryState();
if (millis() < posControl.landingDelay && batteryState != BATTERY_WARNING && batteryState != BATTERY_CRITICAL)
pauseLanding = true;
else
posControl.landingDelay = 0;
}
// If landing is not temporarily paused (FS only), position ok, OR within valid timeout - continue
// Wait until target heading is reached for MR (with 15 deg margin for error), or continue for Fixed Wing
if (!pauseLanding && ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY))) {
resetLandingDetector(); // force reset landing detector just in case
updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
} else {
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_NONE;
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
{
UNUSED(previousState);
/* If position sensors unavailable - land immediately (wait for timeout on GPS) */
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_HOVER);
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);
//On ROVER and BOAT we immediately switch to the next event
if (!STATE(ALTITUDE_CONTROL)) {
return NAV_FSM_EVENT_SUCCESS;
}
if (!ARMING_FLAG(ARMED) || STATE(LANDING_DETECTED)) {
return NAV_FSM_EVENT_SUCCESS;
}
/* If position sensors unavailable - land immediately (wait for timeout on GPS)
* Continue to check for RTH sanity during landing */
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (checkMixerATRequired(MIXERAT_REQUEST_LAND)){
return NAV_FSM_EVENT_SWITCH_TO_MIXERAT;
}
float descentVelLimited = 0;
fpVector3_t tmpHomePos = posControl.rthState.homeTmpWaypoint;
uint32_t remaning_distance = calculateDistanceToDestination(&tmpHomePos);
int32_t landingElevation = posControl.rthState.homeTmpWaypoint.z;
if(STATE(MULTIROTOR) && (remaning_distance>MR_RTH_LAND_MARGIN_CM)){
descentVelLimited = navConfig()->general.land_minalt_vspd;
}
// A safeguard - if surface altitude sensors is available and it is reading < 50cm altitude - drop to low descend speed
else 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 = navConfig()->general.land_minalt_vspd;
} else {
// Ramp down descent velocity from 100% at maxAlt altitude to 25% from minAlt to 0cm.
float descentVelScaled = scaleRangef(navGetCurrentActualPositionAndVelocity()->pos.z,
navConfig()->general.land_slowdown_minalt + landingElevation,
navConfig()->general.land_slowdown_maxalt + landingElevation,
navConfig()->general.land_minalt_vspd, navConfig()->general.land_maxalt_vspd);
descentVelLimited = constrainf(descentVelScaled, navConfig()->general.land_minalt_vspd, navConfig()->general.land_maxalt_vspd);
}
updateClimbRateToAltitudeController(-descentVelLimited, 0, ROC_TO_ALT_CONSTANT);
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigationFSMState_t previousState)
{
UNUSED(previousState);
//On ROVER and BOAT disarm immediately
if (!STATE(ALTITUDE_CONTROL)) {
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);
if (STATE(ALTITUDE_CONTROL)) {
updateClimbRateToAltitudeController(-1.1f * navConfig()->general.land_minalt_vspd, 0, ROC_TO_ALT_CONSTANT); // 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 || !posControl.waypointListValid) {
return NAV_FSM_EVENT_ERROR;
}
// Prepare controllers
resetPositionController();
resetAltitudeController(false); // Make sure surface tracking is not enabled - WP uses global altitude, not AGL
if (posControl.activeWaypointIndex == posControl.startWpIndex || posControl.wpMissionRestart) {
/* Use p3 as the volatile jump counter, allowing embedded, rearmed jumps
Using p3 minimises the risk of saving an invalid counter if a mission is aborted */
setupJumpCounters();
posControl.activeWaypointIndex = posControl.startWpIndex;
wpHeadingControl.mode = NAV_WP_HEAD_MODE_NONE;
}
if (navConfig()->general.flags.waypoint_mission_restart == WP_MISSION_SWITCH) {
posControl.wpMissionRestart = posControl.activeWaypointIndex > posControl.startWpIndex ? !posControl.wpMissionRestart : false;
} else {
posControl.wpMissionRestart = navConfig()->general.flags.waypoint_mission_restart == WP_MISSION_START;
}
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_PRE_ACTION
}
static navigationFSMEvent_t nextForNonGeoStates(void)
{
/* simple helper for non-geographical states that just set other data */
if (isLastMissionWaypoint()) { // non-geo state is the last waypoint, switch to finish.
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
} else { // Finished non-geo, move to next WP
posControl.activeWaypointIndex++;
return NAV_FSM_EVENT_NONE; // re-process the state passing to the next WP
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(navigationFSMState_t previousState)
{
/* A helper function to do waypoint-specific action */
UNUSED(previousState);
switch ((navWaypointActions_e)posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_HOLD_TIME:
case NAV_WP_ACTION_WAYPOINT:
case NAV_WP_ACTION_LAND:
calculateAndSetActiveWaypoint(&posControl.waypointList[posControl.activeWaypointIndex]);
posControl.wpInitialDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos);
posControl.wpInitialAltitude = posControl.actualState.abs.pos.z;
posControl.wpAltitudeReached = false;
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
case NAV_WP_ACTION_JUMP:
// We use p3 as the volatile jump counter (p2 is the static value)
if (posControl.waypointList[posControl.activeWaypointIndex].p3 != -1) {
if (posControl.waypointList[posControl.activeWaypointIndex].p3 == 0) {
resetJumpCounter();
return nextForNonGeoStates();
}
else
{
posControl.waypointList[posControl.activeWaypointIndex].p3--;
}
}
posControl.activeWaypointIndex = posControl.waypointList[posControl.activeWaypointIndex].p1 + posControl.startWpIndex;
return NAV_FSM_EVENT_NONE; // re-process the state passing to the next WP
case NAV_WP_ACTION_SET_POI:
if (STATE(MULTIROTOR)) {
wpHeadingControl.mode = NAV_WP_HEAD_MODE_POI;
mapWaypointToLocalPosition(&wpHeadingControl.poi_pos,
&posControl.waypointList[posControl.activeWaypointIndex], GEO_ALT_RELATIVE);
}
return nextForNonGeoStates();
case NAV_WP_ACTION_SET_HEAD:
if (STATE(MULTIROTOR)) {
if (posControl.waypointList[posControl.activeWaypointIndex].p1 < 0 ||
posControl.waypointList[posControl.activeWaypointIndex].p1 > 359) {
wpHeadingControl.mode = NAV_WP_HEAD_MODE_NONE;
} else {
wpHeadingControl.mode = NAV_WP_HEAD_MODE_FIXED;
wpHeadingControl.heading = DEGREES_TO_CENTIDEGREES(posControl.waypointList[posControl.activeWaypointIndex].p1);
}
}
return nextForNonGeoStates();
case NAV_WP_ACTION_RTH:
posControl.wpMissionRestart = true;
return NAV_FSM_EVENT_SWITCH_TO_RTH;
};
UNREACHABLE();
}
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 ((navWaypointActions_e)posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_HOLD_TIME:
case NAV_WP_ACTION_WAYPOINT:
case NAV_WP_ACTION_LAND:
if (isWaypointReached(&posControl.activeWaypoint.pos, &posControl.activeWaypoint.bearing)) {
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_REACHED
}
else {
fpVector3_t tmpWaypoint;
tmpWaypoint.x = posControl.activeWaypoint.pos.x;
tmpWaypoint.y = posControl.activeWaypoint.pos.y;
tmpWaypoint.z = scaleRangef(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10.0f, posControl.wpInitialDistance),
posControl.wpInitialDistance, posControl.wpInitialDistance / 10.0f,
posControl.wpInitialAltitude, posControl.activeWaypoint.pos.z);
setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
if(STATE(MULTIROTOR)) {
switch (wpHeadingControl.mode) {
case NAV_WP_HEAD_MODE_NONE:
break;
case NAV_WP_HEAD_MODE_FIXED:
setDesiredPosition(NULL, wpHeadingControl.heading, NAV_POS_UPDATE_HEADING);
break;
case NAV_WP_HEAD_MODE_POI:
setDesiredPosition(&wpHeadingControl.poi_pos, 0, NAV_POS_UPDATE_BEARING);
break;
}
}
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
break;
case NAV_WP_ACTION_JUMP:
case NAV_WP_ACTION_SET_HEAD:
case NAV_WP_ACTION_SET_POI:
case NAV_WP_ACTION_RTH:
UNREACHABLE();
}
}
/* If position sensors unavailable - land immediately (wait for timeout on GPS) */
else if (checkForPositionSensorTimeout() || (posControl.flags.estHeadingStatus == EST_NONE)) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(navigationFSMState_t previousState)
{
UNUSED(previousState);
if (navConfig()->general.waypoint_enforce_altitude) {
posControl.wpAltitudeReached = isWaypointAltitudeReached();
}
switch ((navWaypointActions_e)posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_WAYPOINT:
if (navConfig()->general.waypoint_enforce_altitude && !posControl.wpAltitudeReached) {
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME;
} else {
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_WAYPOINT_NEXT
}
case NAV_WP_ACTION_JUMP:
case NAV_WP_ACTION_SET_HEAD:
case NAV_WP_ACTION_SET_POI:
case NAV_WP_ACTION_RTH:
UNREACHABLE();
case NAV_WP_ACTION_LAND:
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND;
case NAV_WP_ACTION_HOLD_TIME:
// Save the current time for the time the waypoint was reached
posControl.wpReachedTime = millis();
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME;
}
UNREACHABLE();
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navigationFSMState_t previousState)
{
UNUSED(previousState);
/* If position sensors unavailable - land immediately (wait for timeout on GPS) */
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (navConfig()->general.waypoint_enforce_altitude && !posControl.wpAltitudeReached) {
// Adjust altitude to waypoint setting
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_Z);
posControl.wpAltitudeReached = isWaypointAltitudeReached();
if (posControl.wpAltitudeReached) {
posControl.wpReachedTime = millis();
} else {
return NAV_FSM_EVENT_NONE;
}
}
timeMs_t currentTime = millis();
if (posControl.waypointList[posControl.activeWaypointIndex].p1 <= 0 ||
posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT ||
(posControl.wpReachedTime != 0 && currentTime - posControl.wpReachedTime >= (timeMs_t)posControl.waypointList[posControl.activeWaypointIndex].p1*1000L)) {
return NAV_FSM_EVENT_SUCCESS;
}
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
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);
if (isLastMissionWaypoint()) { // 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);
clearJumpCounters();
posControl.wpMissionRestart = true;
/* If position sensors unavailable - land immediately (wait for timeout on GPS) */
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState)
{
UNUSED(previousState);
if ((posControl.flags.estPosStatus >= EST_USABLE)) {
resetPositionController();
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
}
// 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)
{
UNUSED(previousState);
// Reset target position if too far away for some reason, e.g. GPS recovered since start landing.
if (posControl.flags.estPosStatus >= EST_USABLE) {
float targetPosLimit = STATE(MULTIROTOR) ? 2000.0f : navConfig()->fw.loiter_radius * 2.0f;
if (calculateDistanceToDestination(&posControl.desiredState.pos) > targetPosLimit) {
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
}
}
if (STATE(LANDING_DETECTED)) {
return NAV_FSM_EVENT_SUCCESS;
}
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED(navigationFSMState_t previousState)
{
UNUSED(previousState);
return NAV_FSM_EVENT_NONE;
}
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);
// Continue immediately to launch in progress if manual launch throttle used
if (navConfig()->fw.launch_manual_throttle) {
return NAV_FSM_EVENT_SUCCESS;
}
if (fixedWingLaunchStatus() == FW_LAUNCH_DETECTED) {
enableFixedWingLaunchController(currentTimeUs);
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_IN_PROGRESS
}
// abort NAV_LAUNCH_MODE by moving sticks with low throttle or throttle stick < launch idle throttle
if (abortLaunchAllowed() && isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband)) {
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 (fixedWingLaunchStatus() >= FW_LAUNCH_ABORTED) {
return NAV_FSM_EVENT_SUCCESS;
}
return NAV_FSM_EVENT_NONE;
}
navigationFSMState_t navMixerATPendingState = NAV_STATE_IDLE;
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_INITIALIZE(navigationFSMState_t previousState)
{
const navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
// Prepare altitude controller if idle, RTH or WP modes active or surface mode status changed
if (!(prevFlags & NAV_CTL_ALT) || (prevFlags & NAV_AUTO_RTH) || (prevFlags & NAV_AUTO_WP)) {
resetAltitudeController(false);
setupAltitudeController();
}
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
navMixerATPendingState = previousState;
return NAV_FSM_EVENT_SUCCESS;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_IN_PROGRESS(navigationFSMState_t previousState)
{
UNUSED(previousState);
mixerProfileATRequest_e required_action;
switch (navMixerATPendingState)
{
case NAV_STATE_RTH_HEAD_HOME:
required_action = MIXERAT_REQUEST_RTH;
break;
case NAV_STATE_RTH_LANDING:
required_action = MIXERAT_REQUEST_LAND;
break;
default:
required_action = MIXERAT_REQUEST_NONE;
break;
}
if (mixerATUpdateState(required_action)){
// MixerAT is done, switch to next state
resetPositionController();
resetAltitudeController(false); // Make sure surface tracking is not enabled uses global altitude, not AGL
mixerATUpdateState(MIXERAT_REQUEST_ABORT);
switch (navMixerATPendingState)
{
case NAV_STATE_RTH_HEAD_HOME:
setupAltitudeController();
return NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME;
break;
case NAV_STATE_RTH_LANDING:
setupAltitudeController();
return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING;
break;
default:
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
break;
}
}
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
return NAV_FSM_EVENT_NONE;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_ABORT(navigationFSMState_t previousState)
{
UNUSED(previousState);
mixerATUpdateState(MIXERAT_REQUEST_ABORT);
return NAV_FSM_EVENT_SUCCESS;
}
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 = NAV_STATE_UNDEFINED;
static timeMs_t lastStateProcessTime = 0;
/* Process new injected event if event defined,
* otherwise process timeout event if defined */
if (injectedEvent != NAV_FSM_EVENT_NONE && navFSM[posControl.navState].onEvent[injectedEvent] != NAV_STATE_UNDEFINED) {
/* Update state */
previousState = navSetNewFSMState(navFSM[posControl.navState].onEvent[injectedEvent]);
} else 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]);
}
if (previousState) { /* If state updated 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.activeWpIndex = posControl.activeWaypointIndex - posControl.startWpIndex;
NAV_Status.activeWpNumber = NAV_Status.activeWpIndex + 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_LEGACY) ? 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:
// if WP mission p2 > 0 use p2 value as landing elevation (in meters !) (otherwise default to takeoff home elevation)
if (FLIGHT_MODE(NAV_WP_MODE) && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND && posControl.waypointList[posControl.activeWaypointIndex].p2 != 0) {
posControl.rthState.homeTmpWaypoint.z = posControl.waypointList[posControl.activeWaypointIndex].p2 * 100; // 100 -> m to cm
if (waypointMissionAltConvMode(posControl.waypointList[posControl.activeWaypointIndex].p3) == GEO_ALT_ABSOLUTE) {
posControl.rthState.homeTmpWaypoint.z -= posControl.gpsOrigin.alt; // correct to relative if absolute SL altitude datum used
}
}
break;
}
return &posControl.rthState.homeTmpWaypoint;
}
/*-----------------------------------------------------------
* 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 = calc_length_pythagorean_2D(newVelX, newVelY);
// CASE 1: POS & VEL valid
if (estPosValid && estVelValid) {
posControl.flags.estPosStatus = EST_TRUSTED;
posControl.flags.estVelStatus = EST_TRUSTED;
posControl.flags.horizontalPositionDataNew = true;
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 = true;
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 = false;
}
//Update blackbox data
navLatestActualPosition[X] = newX;
navLatestActualPosition[Y] = newY;
navActualVelocity[X] = constrain(newVelX, -32678, 32767);
navActualVelocity[Y] = constrain(newVelY, -32678, 32767);
}
/*-----------------------------------------------------------
* Processes an update to Z-position and velocity
*-----------------------------------------------------------*/
void updateActualAltitudeAndClimbRate(bool estimateValid, float newAltitude, float newVelocity, float surfaceDistance, float surfaceVelocity, navigationEstimateStatus_e surfaceStatus, float gpsCfEstimatedAltitudeError)
{
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 = true;
posControl.lastValidAltitudeTimeMs = millis();
/* flag set if mismatch between relative GPS and estimated altitude exceeds 20m */
posControl.flags.gpsCfEstimatedAltitudeMismatch = fabsf(gpsCfEstimatedAltitudeError) > 2000;
}
else {
posControl.flags.estAltStatus = EST_NONE;
posControl.flags.estAglStatus = EST_NONE;
posControl.flags.verticalPositionDataNew = false;
posControl.flags.gpsCfEstimatedAltitudeMismatch = false;
}
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;
}
//Update blackbox data
navLatestActualPosition[Z] = navGetCurrentActualPositionAndVelocity()->pos.z;
navActualVelocity[Z] = constrain(navGetCurrentActualPositionAndVelocity()->vel.z, -32678, 32767);
}
/*-----------------------------------------------------------
* Processes an update to estimated heading
*-----------------------------------------------------------*/
void updateActualHeading(bool headingValid, int32_t newHeading, int32_t newGroundCourse)
{
/* 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;
#ifdef USE_DEV_TOOLS
if (systemConfig()->groundTestMode && STATE(AIRPLANE)) {
newEstHeading = EST_TRUSTED;
}
#endif
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.heading += fakeToRealYawOffset;
posControl.rthState.homePosition.heading = wrap_36000(posControl.rthState.homePosition.heading);
posControl.rthState.homeFlags |= NAV_HOME_VALID_HEADING;
}
posControl.actualState.yaw = newHeading;
posControl.actualState.cog = newGroundCourse;
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));
}
/*-----------------------------------------------------------
* 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 calc_length_pythagorean_2D(deltaX, 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);
}
int32_t calculateBearingBetweenLocalPositions(const fpVector3_t * startPos, const fpVector3_t * endPos)
{
const float deltaX = endPos->x - startPos->x;
const float deltaY = endPos->y - startPos->y;
return calculateBearingFromDelta(deltaX, deltaY);
}
bool navCalculatePathToDestination(navDestinationPath_t *result, const fpVector3_t * destinationPos) // NOT USED ANYWHERE
{
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;
}
static bool getLocalPosNextWaypoint(fpVector3_t * nextWpPos)
{
// Only for WP Mode not Trackback. Ignore non geo waypoints except RTH and JUMP.
if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP && !isLastMissionWaypoint()) {
navWaypointActions_e nextWpAction = posControl.waypointList[posControl.activeWaypointIndex + 1].action;
if (!(nextWpAction == NAV_WP_ACTION_SET_POI || nextWpAction == NAV_WP_ACTION_SET_HEAD)) {
uint8_t nextWpIndex = posControl.activeWaypointIndex + 1;
if (nextWpAction == NAV_WP_ACTION_JUMP) {
if (posControl.waypointList[posControl.activeWaypointIndex + 1].p3 != 0 ||
posControl.waypointList[posControl.activeWaypointIndex + 1].p2 == -1) {
nextWpIndex = posControl.waypointList[posControl.activeWaypointIndex + 1].p1 + posControl.startWpIndex;
} else if (posControl.activeWaypointIndex + 2 <= posControl.startWpIndex + posControl.waypointCount - 1) {
if (posControl.waypointList[posControl.activeWaypointIndex + 2].action != NAV_WP_ACTION_JUMP) {
nextWpIndex++;
} else {
return false; // give up - too complicated
}
}
}
mapWaypointToLocalPosition(nextWpPos, &posControl.waypointList[nextWpIndex], 0);
return true;
}
}
return false; // no position available
}
/*-----------------------------------------------------------
* Check if waypoint is/was reached.
* waypointBearing stores initial bearing to waypoint
*-----------------------------------------------------------*/
static bool isWaypointReached(const fpVector3_t * waypointPos, const int32_t * waypointBearing)
{
posControl.wpDistance = calculateDistanceToDestination(waypointPos);
// Airplane will do a circular loiter at hold waypoints and might never approach them closer than waypoint_radius
// Check within 10% margin of circular loiter radius
if (STATE(AIRPLANE) && isNavHoldPositionActive() && posControl.wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)) {
return true;
}
if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP || posControl.flags.rthTrackbackActive) {
// If WP turn smoothing CUT option used WP is reached when start of turn is initiated
if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT && posControl.flags.wpTurnSmoothingActive) {
posControl.flags.wpTurnSmoothingActive = false;
return true;
}
// Check if waypoint was missed based on bearing to WP exceeding 100 degrees relative to waypoint Yaw
// Same method for turn smoothing option but relative bearing set at 60 degrees
uint16_t relativeBearing = posControl.flags.wpTurnSmoothingActive ? 6000 : 10000;
if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearing) {
return true;
}
}
return posControl.wpDistance <= (navConfig()->general.waypoint_radius);
}
bool isWaypointAltitudeReached(void)
{
return ABS(navGetCurrentActualPositionAndVelocity()->pos.z - posControl.activeWaypoint.pos.z) < navConfig()->general.waypoint_enforce_altitude;
}
static void updateHomePositionCompatibility(void)
{
geoConvertLocalToGeodetic(&GPS_home, &posControl.gpsOrigin, &posControl.rthState.homePosition.pos);
GPS_distanceToHome = posControl.homeDistance * 0.01f;
GPS_directionToHome = posControl.homeDirection * 0.01f;
}
// Backdoor for RTH estimator
float getFinalRTHAltitude(void)
{
return posControl.rthState.rthFinalAltitude;
}
/*-----------------------------------------------------------
* Update the RTH Altitudes
*-----------------------------------------------------------*/
static void updateDesiredRTHAltitude(void)
{
if (ARMING_FLAG(ARMED)) {
if (!((navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)
|| ((navGetStateFlags(posControl.navState) & NAV_AUTO_WP) && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_RTH))) {
switch (navConfig()->general.flags.rth_climb_first_stage_mode) {
case NAV_RTH_CLIMB_STAGE_AT_LEAST:
posControl.rthState.rthClimbStageAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_climb_first_stage_altitude;
break;
case NAV_RTH_CLIMB_STAGE_EXTRA:
posControl.rthState.rthClimbStageAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_climb_first_stage_altitude;
break;
}
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.rthState.rthInitialAltitude;
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.rthState.rthInitialAltitude;
break;
case NAV_RTH_MAX_ALT:
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude, posControl.actualState.abs.pos.z);
if (navConfig()->general.rth_altitude > 0) {
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude, posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude);
}
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
break;
case NAV_RTH_AT_LEAST_ALT: // Climb to at least some predefined altitude above home
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude, posControl.actualState.abs.pos.z);
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
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.rthInitialAltitude;
}
if ((navConfig()->general.flags.rth_use_linear_descent) && (navConfig()->general.rth_home_altitude > 0) && (navConfig()->general.rth_linear_descent_start_distance == 0) ) {
posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
}
}
} else {
posControl.rthState.rthClimbStageAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.actualState.abs.pos.z;
}
}
/*-----------------------------------------------------------
* RTH sanity test logic
*-----------------------------------------------------------*/
void initializeRTHSanityChecker(void)
{
const timeMs_t currentTimeMs = millis();
posControl.rthSanityChecker.lastCheckTime = currentTimeMs;
posControl.rthSanityChecker.rthSanityOK = true;
posControl.rthSanityChecker.minimalDistanceToHome = calculateDistanceToDestination(&posControl.rthState.homePosition.pos);
}
bool validateRTHSanityChecker(void)
{
const timeMs_t currentTimeMs = millis();
// Ability to disable sanity checker
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);
posControl.rthSanityChecker.lastCheckTime = currentTimeMs;
if (currentDistanceToHome < posControl.rthSanityChecker.minimalDistanceToHome) {
posControl.rthSanityChecker.minimalDistanceToHome = currentDistanceToHome;
} else {
// If while doing RTH we got even farther away from home - RTH is doing something crazy
posControl.rthSanityChecker.rthSanityOK = (currentDistanceToHome - posControl.rthSanityChecker.minimalDistanceToHome) < navConfig()->general.rth_abort_threshold;
}
}
return posControl.rthSanityChecker.rthSanityOK;
}
/*-----------------------------------------------------------
* Reset home position to current position
*-----------------------------------------------------------*/
void setHomePosition(const fpVector3_t * pos, int32_t heading, 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.heading = heading;
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();
// Reset RTH sanity checker for new home position if RTH active
if (FLIGHT_MODE(NAV_RTH_MODE)) {
initializeRTHSanityChecker();
}
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;
}
#if defined(USE_SAFE_HOME)
void checkSafeHomeState(bool shouldBeEnabled)
{
bool safehomeNotApplicable = navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_OFF || posControl.flags.rthTrackbackActive ||
(!posControl.safehomeState.isApplied && posControl.homeDistance < navConfig()->general.min_rth_distance);
#ifdef USE_MULTI_FUNCTIONS
safehomeNotApplicable = safehomeNotApplicable || (MULTI_FUNC_FLAG(MF_SUSPEND_SAFEHOMES) && !posControl.flags.forcedRTHActivated);
#endif
if (safehomeNotApplicable) {
shouldBeEnabled = false;
} else if (navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_RTH_FS && shouldBeEnabled) {
// if safehomes are only used with failsafe and we're trying to enable safehome
// then enable the safehome only with failsafe
shouldBeEnabled = posControl.flags.forcedRTHActivated;
}
// no safe homes found when arming or safehome feature in the correct state, then we don't need to do anything
if (posControl.safehomeState.distance == 0 || posControl.safehomeState.isApplied == shouldBeEnabled) {
return;
}
if (shouldBeEnabled) {
// set home to safehome
setHomePosition(&posControl.safehomeState.nearestSafeHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
posControl.safehomeState.isApplied = true;
} else {
// set home to original arming point
setHomePosition(&posControl.rthState.originalHomePosition, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
posControl.safehomeState.isApplied = false;
}
// if we've changed the home position, update the distance and direction
updateHomePosition();
}
/***********************************************************
* See if there are any safehomes near where we are arming.
* If so, save the nearest one in case we need it later for RTH.
**********************************************************/
bool findNearestSafeHome(void)
{
posControl.safehomeState.index = -1;
uint32_t nearest_safehome_distance = navConfig()->general.safehome_max_distance + 1;
uint32_t distance_to_current;
fpVector3_t currentSafeHome;
gpsLocation_t shLLH;
shLLH.alt = 0;
for (uint8_t i = 0; i < MAX_SAFE_HOMES; i++) {
if (!safeHomeConfig(i)->enabled)
continue;
shLLH.lat = safeHomeConfig(i)->lat;
shLLH.lon = safeHomeConfig(i)->lon;
geoConvertGeodeticToLocal(&currentSafeHome, &posControl.gpsOrigin, &shLLH, GEO_ALT_RELATIVE);
distance_to_current = calculateDistanceToDestination(&currentSafeHome);
if (distance_to_current < nearest_safehome_distance) {
// this safehome is the nearest so far - keep track of it.
posControl.safehomeState.index = i;
nearest_safehome_distance = distance_to_current;
posControl.safehomeState.nearestSafeHome = currentSafeHome;
}
}
if (posControl.safehomeState.index >= 0) {
posControl.safehomeState.distance = nearest_safehome_distance;
} else {
posControl.safehomeState.distance = 0;
}
return posControl.safehomeState.distance > 0;
}
#endif
/*-----------------------------------------------------------
* Update home position, calculate distance and bearing to home
*-----------------------------------------------------------*/
void updateHomePosition(void)
{
// Disarmed and have a valid position, constantly update home before first arm (depending on setting)
// Update immediately after arming thereafter if reset on each arm (required to avoid home reset after emerg in flight rearm)
static bool setHome = false;
navSetWaypointFlags_t homeUpdateFlags = NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING;
if (!ARMING_FLAG(ARMED)) {
if (posControl.flags.estPosStatus >= EST_USABLE) {
const navigationHomeFlags_t validHomeFlags = NAV_HOME_VALID_XY | NAV_HOME_VALID_Z;
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;
}
}
}
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)) {
homeUpdateFlags = 0;
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);
setHome = true;
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();
}
setHome &= !STATE(IN_FLIGHT_EMERG_REARM); // prevent reset following emerg in flight rearm
}
if (setHome && (!ARMING_FLAG(WAS_EVER_ARMED) || ARMING_FLAG(ARMED))) {
#if defined(USE_SAFE_HOME)
findNearestSafeHome();
#endif
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
if (ARMING_FLAG(ARMED) && positionEstimationConfig()->reset_altitude_type == NAV_RESET_ON_EACH_ARM) {
posControl.rthState.homePosition.pos.z = 0; // force to 0 if reference altitude also reset every arm
}
// save the current location in case it is replaced by a safehome or HOME_RESET
posControl.rthState.originalHomePosition = posControl.rthState.homePosition.pos;
setHome = false;
}
}
/* -----------------------------------------------------------
* Override RTH preset altitude and Climb First option
* using Pitch/Roll stick held for > 1 seconds
* Climb First override limited to Fixed Wing only
* Roll also cancels RTH trackback on Fixed Wing and Multirotor
*-----------------------------------------------------------*/
static bool rthAltControlStickOverrideCheck(unsigned axis)
{
if (!navConfig()->general.flags.rth_alt_control_override || posControl.flags.forcedRTHActivated ||
(axis == ROLL && STATE(MULTIROTOR) && !posControl.flags.rthTrackbackActive)) {
return false;
}
static timeMs_t rthOverrideStickHoldStartTime[2];
if (rxGetChannelValue(axis) > rxConfig()->maxcheck) {
timeDelta_t holdTime = millis() - rthOverrideStickHoldStartTime[axis];
if (!rthOverrideStickHoldStartTime[axis]) {
rthOverrideStickHoldStartTime[axis] = millis();
} else if (ABS(1500 - holdTime) < 500) { // 1s delay to activate, activation duration limited to 1 sec
if (axis == PITCH) { // PITCH down to override preset altitude reset to current altitude
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
return true;
} else if (axis == ROLL) { // ROLL right to override climb first
return true;
}
}
} else {
rthOverrideStickHoldStartTime[axis] = 0;
}
return false;
}
/* ---------------------------------------------------
* If climb stage is being used, see if it is time to
* transiton in to turn.
* Limited to fixed wing only.
* --------------------------------------------------- */
bool rthClimbStageActiveAndComplete(void) {
if ((STATE(FIXED_WING_LEGACY) || STATE(AIRPLANE)) && (navConfig()->general.rth_climb_first_stage_altitude > 0)) {
if (posControl.actualState.abs.pos.z >= posControl.rthState.rthClimbStageAltitude) {
return true;
}
}
return false;
}
/* --------------------------------------------------------------------------------
* == RTH Trackback ==
* Saves track during flight which is used during RTH to back track
* along arrival route rather than immediately heading directly toward home.
* Max desired trackback distance set by user or limited by number of available points.
* Reverts to normal RTH heading direct to home when end of track reached.
* Trackpoints logged with precedence for course/altitude changes. Distance based changes
* only logged if no course/altitude changes logged over an extended distance.
* Tracking suspended during fixed wing loiter (PosHold and WP Mode timed hold).
* --------------------------------------------------------------------------------- */
static void updateRthTrackback(bool forceSaveTrackPoint)
{
static bool suspendTracking = false;
bool fwLoiterIsActive = STATE(AIRPLANE) && (NAV_Status.state == MW_NAV_STATE_HOLD_TIMED || FLIGHT_MODE(NAV_POSHOLD_MODE));
if (!fwLoiterIsActive && suspendTracking) {
suspendTracking = false;
}
if (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_OFF || FLIGHT_MODE(NAV_RTH_MODE) || !ARMING_FLAG(ARMED) || suspendTracking) {
return;
}
// Record trackback points based on significant change in course/altitude until
// points limit reached. Overwrite older points from then on.
if (posControl.flags.estPosStatus >= EST_USABLE && posControl.flags.estAltStatus >= EST_USABLE) {
static int32_t previousTBTripDist; // cm
static int16_t previousTBCourse; // degrees
static int16_t previousTBAltitude; // meters
static uint8_t distanceCounter = 0;
bool saveTrackpoint = forceSaveTrackPoint;
bool GPSCourseIsValid = isGPSHeadingValid();
// start recording when some distance from home, 50m seems reasonable.
if (posControl.activeRthTBPointIndex < 0) {
saveTrackpoint = posControl.homeDistance > METERS_TO_CENTIMETERS(50);
previousTBCourse = CENTIDEGREES_TO_DEGREES(posControl.actualState.cog);
previousTBTripDist = posControl.totalTripDistance;
} else {
// Minimum distance increment between course change track points when GPS course valid - set to 10m
const bool distanceIncrement = posControl.totalTripDistance - previousTBTripDist > METERS_TO_CENTIMETERS(10);
// Altitude change
if (ABS(previousTBAltitude - CENTIMETERS_TO_METERS(posControl.actualState.abs.pos.z)) > 10) { // meters
saveTrackpoint = true;
} else if (distanceIncrement && GPSCourseIsValid) {
// Course change - set to 45 degrees
if (ABS(wrap_18000(DEGREES_TO_CENTIDEGREES(DECIDEGREES_TO_DEGREES(gpsSol.groundCourse) - previousTBCourse))) > DEGREES_TO_CENTIDEGREES(45)) {
saveTrackpoint = true;
} else if (distanceCounter >= 9) {
// Distance based trackpoint logged if at least 10 distance increments occur without altitude or course change
// and deviation from projected course path > 20m
float distToPrevPoint = calculateDistanceToDestination(&posControl.rthTBPointsList[posControl.activeRthTBPointIndex]);
fpVector3_t virtualCoursePoint;
virtualCoursePoint.x = posControl.rthTBPointsList[posControl.activeRthTBPointIndex].x + distToPrevPoint * cos_approx(DEGREES_TO_RADIANS(previousTBCourse));
virtualCoursePoint.y = posControl.rthTBPointsList[posControl.activeRthTBPointIndex].y + distToPrevPoint * sin_approx(DEGREES_TO_RADIANS(previousTBCourse));
saveTrackpoint = calculateDistanceToDestination(&virtualCoursePoint) > METERS_TO_CENTIMETERS(20);
}
distanceCounter++;
previousTBTripDist = posControl.totalTripDistance;
} else if (!GPSCourseIsValid) {
// if no reliable course revert to basic distance logging based on direct distance from last point - set to 20m
saveTrackpoint = calculateDistanceToDestination(&posControl.rthTBPointsList[posControl.activeRthTBPointIndex]) > METERS_TO_CENTIMETERS(20);
previousTBTripDist = posControl.totalTripDistance;
}
// Suspend tracking during loiter on fixed wing. Save trackpoint at start of loiter.
if (distanceCounter && fwLoiterIsActive) {
saveTrackpoint = suspendTracking = true;
}
}
// when trackpoint store full, overwrite from start of store using 'rthTBWrapAroundCounter' to track overwrite position
if (saveTrackpoint) {
if (posControl.activeRthTBPointIndex == (NAV_RTH_TRACKBACK_POINTS - 1)) { // wraparound to start
posControl.rthTBWrapAroundCounter = posControl.activeRthTBPointIndex = 0;
} else {
posControl.activeRthTBPointIndex++;
if (posControl.rthTBWrapAroundCounter > -1) { // track wraparound overwrite position after store first filled
posControl.rthTBWrapAroundCounter = posControl.activeRthTBPointIndex;
}
}
posControl.rthTBPointsList[posControl.activeRthTBPointIndex] = posControl.actualState.abs.pos;
posControl.rthTBLastSavedIndex = posControl.activeRthTBPointIndex;
previousTBAltitude = CENTIMETERS_TO_METERS(posControl.actualState.abs.pos.z);
previousTBCourse = GPSCourseIsValid ? DECIDEGREES_TO_DEGREES(gpsSol.groundCourse) : previousTBCourse;
distanceCounter = 0;
}
}
}
static fpVector3_t * rthGetTrackbackPos(void)
{
// ensure trackback altitude never lower than altitude of start point
if (posControl.rthTBPointsList[posControl.activeRthTBPointIndex].z < posControl.rthTBPointsList[posControl.rthTBLastSavedIndex].z) {
posControl.rthTBPointsList[posControl.activeRthTBPointIndex].z = posControl.rthTBPointsList[posControl.rthTBLastSavedIndex].z;
}
return &posControl.rthTBPointsList[posControl.activeRthTBPointIndex];
}
/*-----------------------------------------------------------
* 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);
}
}
/*
* Total travel distance in cm
*/
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_LEGACY)) { // FIXED_WING_LEGACY
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, 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 bearing, int32_t distance)
{
farAwayPos->x = navGetCurrentActualPositionAndVelocity()->pos.x + distance * cos_approx(CENTIDEGREES_TO_RADIANS(bearing));
farAwayPos->y = navGetCurrentActualPositionAndVelocity()->pos.y + distance * sin_approx(CENTIDEGREES_TO_RADIANS(bearing));
farAwayPos->z = navGetCurrentActualPositionAndVelocity()->pos.z;
}
/*-----------------------------------------------------------
* NAV land detector
*-----------------------------------------------------------*/
void updateLandingStatus(timeMs_t currentTimeMs)
{
if (STATE(AIRPLANE) && !navConfig()->general.flags.disarm_on_landing) {
return; // no point using this with a fixed wing if not set to disarm
}
static timeMs_t lastUpdateTimeMs = 0;
if ((currentTimeMs - lastUpdateTimeMs) <= HZ2MS(100)) { // limit update to 100Hz
return;
}
lastUpdateTimeMs = currentTimeMs;
DEBUG_SET(DEBUG_LANDING, 0, landingDetectorIsActive);
DEBUG_SET(DEBUG_LANDING, 1, STATE(LANDING_DETECTED));
if (!ARMING_FLAG(ARMED)) {
if (STATE(LANDING_DETECTED)) {
landingDetectorIsActive = false;
}
resetLandingDetector();
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
}
return;
}
if (!landingDetectorIsActive) {
if (isFlightDetected()) {
landingDetectorIsActive = true;
resetLandingDetector();
}
} else if (STATE(LANDING_DETECTED)) {
pidResetErrorAccumulators();
if (navConfig()->general.flags.disarm_on_landing && !FLIGHT_MODE(FAILSAFE_MODE)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
disarm(DISARM_LANDING);
} else if (!navigationInAutomaticThrottleMode()) {
// for multirotor only - reactivate landing detector without disarm when throttle raised toward hover throttle
landingDetectorIsActive = rxGetChannelValue(THROTTLE) < (0.5 * (currentBatteryProfile->nav.mc.hover_throttle + getThrottleIdleValue()));
}
} else if (isLandingDetected()) {
ENABLE_STATE(LANDING_DETECTED);
}
}
bool isLandingDetected(void)
{
return STATE(AIRPLANE) ? isFixedWingLandingDetected() : isMulticopterLandingDetected();
}
void resetLandingDetector(void)
{
DISABLE_STATE(LANDING_DETECTED);
posControl.flags.resetLandingDetector = true;
}
void resetLandingDetectorActiveState(void)
{
landingDetectorIsActive = false;
}
bool isFlightDetected(void)
{
return STATE(AIRPLANE) ? isFixedWingFlying() : isMulticopterFlying();
}
bool isProbablyStillFlying(void)
{
bool inFlightSanityCheck;
if (STATE(MULTIROTOR)) {
inFlightSanityCheck = posControl.actualState.velXY > MC_LAND_CHECK_VEL_XY_MOVING || averageAbsGyroRates() > 4.0f;
} else {
inFlightSanityCheck = isGPSHeadingValid();
}
return landingDetectorIsActive && inFlightSanityCheck;
}
/*-----------------------------------------------------------
* Z-position controller
*-----------------------------------------------------------*/
void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAltitude, climbRateToAltitudeControllerMode_e mode)
{
#define MIN_TARGET_CLIMB_RATE 100.0f // cm/s
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 && desiredClimbRate) {
/* ROC_TO_ALT_CONSTANT - constant climb rate
* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to min rate when altitude reached
* Rate reduction starts at distance from target altitude of 5 x climb rate for FW, 1 x climb rate for MC */
if (mode == ROC_TO_ALT_TARGET && fabsf(desiredClimbRate) > MIN_TARGET_CLIMB_RATE) {
const int8_t direction = desiredClimbRate > 0 ? 1 : -1;
const float absClimbRate = fabsf(desiredClimbRate);
const uint16_t maxRateCutoffAlt = STATE(AIRPLANE) ? absClimbRate * 5 : absClimbRate;
const float verticalVelScaled = scaleRangef(navGetCurrentActualPositionAndVelocity()->pos.z - targetAltitude,
0.0f, -maxRateCutoffAlt * direction, MIN_TARGET_CLIMB_RATE, absClimbRate);
desiredClimbRate = direction * constrainf(verticalVelScaled, MIN_TARGET_CLIMB_RATE, absClimbRate);
}
/*
* If max altitude is set, reset climb rate if altitude is reached and climb rate is > 0
* In other words, when altitude is reached, allow it only to shrink
*/
if (navConfig()->general.max_altitude > 0 && altitudeToUse >= navConfig()->general.max_altitude && desiredClimbRate > 0) {
desiredClimbRate = 0;
}
if (STATE(FIXED_WING_LEGACY)) {
// Fixed wing climb rate controller is open-loop. We simply move the known altitude target
float timeDelta = US2S(currentTimeUs - lastUpdateTimeUs);
static bool targetHoldActive = false;
if (timeDelta <= HZ2S(MIN_POSITION_UPDATE_RATE_HZ) && desiredClimbRate) {
// Update target altitude only if actual altitude moving in same direction and lagging by < 5 m, otherwise hold target
if (navGetCurrentActualPositionAndVelocity()->vel.z * desiredClimbRate >= 0 && fabsf(posControl.desiredState.pos.z - altitudeToUse) < 500) {
posControl.desiredState.pos.z += desiredClimbRate * timeDelta;
targetHoldActive = false;
} else if (!targetHoldActive) { // Reset and hold target to actual + climb rate boost until actual catches up
posControl.desiredState.pos.z = altitudeToUse + desiredClimbRate;
targetHoldActive = true;
}
} else {
targetHoldActive = false;
}
}
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);
}
} else { // ROC_TO_ALT_RESET or zero desired climbrate
posControl.desiredState.pos.z = altitudeToUse;
}
lastUpdateTimeUs = currentTimeUs;
}
static void resetAltitudeController(bool useTerrainFollowing)
{
// Set terrain following flag
posControl.flags.isTerrainFollowEnabled = useTerrainFollowing;
if (STATE(FIXED_WING_LEGACY)) {
resetFixedWingAltitudeController();
}
else {
resetMulticopterAltitudeController();
}
}
static void setupAltitudeController(void)
{
if (STATE(FIXED_WING_LEGACY)) {
setupFixedWingAltitudeController();
}
else {
setupMulticopterAltitudeController();
}
}
static bool adjustAltitudeFromRCInput(void)
{
if (STATE(FIXED_WING_LEGACY)) {
return adjustFixedWingAltitudeFromRCInput();
}
else {
return adjustMulticopterAltitudeFromRCInput();
}
}
/*-----------------------------------------------------------
* Jump Counter support functions
*-----------------------------------------------------------*/
static void setupJumpCounters(void)
{
for (uint8_t wp = posControl.startWpIndex; wp < posControl.waypointCount + posControl.startWpIndex; wp++) {
if (posControl.waypointList[wp].action == NAV_WP_ACTION_JUMP){
posControl.waypointList[wp].p3 = posControl.waypointList[wp].p2;
}
}
}
static void resetJumpCounter(void)
{
// reset the volatile counter from the set / static value
posControl.waypointList[posControl.activeWaypointIndex].p3 = posControl.waypointList[posControl.activeWaypointIndex].p2;
}
static void clearJumpCounters(void)
{
for (uint8_t wp = posControl.startWpIndex; wp < posControl.waypointCount + posControl.startWpIndex; wp++) {
if (posControl.waypointList[wp].action == NAV_WP_ACTION_JUMP) {
posControl.waypointList[wp].p3 = 0;
}
}
}
/*-----------------------------------------------------------
* Heading controller (pass-through to MAG mode)
*-----------------------------------------------------------*/
static void resetHeadingController(void)
{
if (STATE(FIXED_WING_LEGACY)) {
resetFixedWingHeadingController();
}
else {
resetMulticopterHeadingController();
}
}
static bool adjustHeadingFromRCInput(void)
{
if (STATE(FIXED_WING_LEGACY)) {
return adjustFixedWingHeadingFromRCInput();
}
else {
return adjustMulticopterHeadingFromRCInput();
}
}
/*-----------------------------------------------------------
* XY Position controller
*-----------------------------------------------------------*/
static void resetPositionController(void)
{
if (STATE(FIXED_WING_LEGACY)) {
resetFixedWingPositionController();
}
else {
resetMulticopterPositionController();
resetMulticopterBrakingMode();
}
}
static bool adjustPositionFromRCInput(void)
{
bool retValue;
if (STATE(FIXED_WING_LEGACY)) {
retValue = adjustFixedWingPositionFromRCInput();
}
else {
const int16_t rcPitchAdjustment = applyDeadbandRescaled(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband, -500, 500);
const int16_t rcRollAdjustment = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500);
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 #254 - special waypoint - get desiredPosition that was set by ground control station if in 3D-guided mode
else if (wpNumber == 254) {
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if ((posControl.gpsOrigin.valid) && (navStateFlags & NAV_CTL_ALT) && (navStateFlags & NAV_CTL_POS)) {
gpsLocation_t wpLLH;
geoConvertLocalToGeodetic(&wpLLH, &posControl.gpsOrigin, &posControl.desiredState.pos);
wpData->lat = wpLLH.lat;
wpData->lon = wpLLH.lon;
wpData->alt = wpLLH.alt;
}
}
// WP #1 - #60 - common waypoints - pre-programmed mission
else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS)) {
if (wpNumber <= getWaypointCount()) {
*wpData = posControl.waypointList[wpNumber - 1 + (ARMING_FLAG(ARMED) ? posControl.startWpIndex : 0)];
if(wpData->action == NAV_WP_ACTION_JUMP) {
wpData->p1 += 1; // make WP # (vice index)
}
}
}
}
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 - #NAV_MAX_WAYPOINTS - 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_JUMP || wpData->action == NAV_WP_ACTION_RTH || wpData->action == NAV_WP_ACTION_HOLD_TIME || wpData->action == NAV_WP_ACTION_LAND || wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD ) {
// Only allow upload next waypoint (continue upload mission) or first waypoint (new mission)
static int8_t nonGeoWaypointCount = 0;
if (wpNumber == (posControl.waypointCount + 1) || wpNumber == 1) {
if (wpNumber == 1) {
resetWaypointList();
}
posControl.waypointList[wpNumber - 1] = *wpData;
if(wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD || wpData->action == NAV_WP_ACTION_JUMP) {
nonGeoWaypointCount += 1;
if(wpData->action == NAV_WP_ACTION_JUMP) {
posControl.waypointList[wpNumber - 1].p1 -= 1; // make index (vice WP #)
}
}
posControl.waypointCount = wpNumber;
posControl.waypointListValid = (wpData->flag == NAV_WP_FLAG_LAST);
posControl.geoWaypointCount = posControl.waypointCount - nonGeoWaypointCount;
if (posControl.waypointListValid) {
nonGeoWaypointCount = 0;
}
}
}
}
}
void resetWaypointList(void)
{
posControl.waypointCount = 0;
posControl.waypointListValid = false;
posControl.geoWaypointCount = 0;
posControl.startWpIndex = 0;
#ifdef USE_MULTI_MISSION
posControl.totalMultiMissionWpCount = 0;
posControl.loadedMultiMissionIndex = 0;
posControl.multiMissionCount = 0;
#endif
}
bool isWaypointListValid(void)
{
return posControl.waypointListValid;
}
int getWaypointCount(void)
{
uint8_t waypointCount = posControl.waypointCount;
#ifdef USE_MULTI_MISSION
if (!ARMING_FLAG(ARMED) && posControl.totalMultiMissionWpCount) {
waypointCount = posControl.totalMultiMissionWpCount;
}
#endif
return waypointCount;
}
#ifdef USE_MULTI_MISSION
void selectMultiMissionIndex(int8_t increment)
{
if (posControl.multiMissionCount > 1) { // stick selection only active when multi mission loaded
navConfigMutable()->general.waypoint_multi_mission_index = constrain(navConfigMutable()->general.waypoint_multi_mission_index + increment, 1, posControl.multiMissionCount);
}
}
void loadSelectedMultiMission(uint8_t missionIndex)
{
uint8_t missionCount = 1;
posControl.waypointCount = 0;
posControl.geoWaypointCount = 0;
for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
if (missionCount == missionIndex) {
/* store details of selected mission: start wp index, mission wp count, geo wp count */
if (!(posControl.waypointList[i].action == NAV_WP_ACTION_SET_POI ||
posControl.waypointList[i].action == NAV_WP_ACTION_SET_HEAD ||
posControl.waypointList[i].action == NAV_WP_ACTION_JUMP)) {
posControl.geoWaypointCount++;
}
// mission start WP
if (posControl.waypointCount == 0) {
posControl.waypointCount = 1; // start marker only, value unimportant (but not 0)
posControl.startWpIndex = i;
}
// mission end WP
if (posControl.waypointList[i].flag == NAV_WP_FLAG_LAST) {
posControl.waypointCount = i - posControl.startWpIndex + 1;
break;
}
} else if (posControl.waypointList[i].flag == NAV_WP_FLAG_LAST) {
missionCount++;
}
}
posControl.loadedMultiMissionIndex = posControl.multiMissionCount ? missionIndex : 0;
posControl.activeWaypointIndex = posControl.startWpIndex;
}
bool updateWpMissionChange(void)
{
/* Function only called when ARMED */
if (posControl.multiMissionCount < 2 || posControl.wpPlannerActiveWPIndex || FLIGHT_MODE(NAV_WP_MODE)) {
return true;
}
uint8_t setMissionIndex = navConfig()->general.waypoint_multi_mission_index;
if (!(IS_RC_MODE_ACTIVE(BOXCHANGEMISSION) || isAdjustmentFunctionSelected(ADJUSTMENT_NAV_WP_MULTI_MISSION_INDEX))) {
/* reload mission if mission index changed */
if (posControl.loadedMultiMissionIndex != setMissionIndex) {
loadSelectedMultiMission(setMissionIndex);
}
return true;
}
static bool toggleFlag = false;
if (IS_RC_MODE_ACTIVE(BOXNAVWP) && toggleFlag) {
if (setMissionIndex == posControl.multiMissionCount) {
navConfigMutable()->general.waypoint_multi_mission_index = 1;
} else {
selectMultiMissionIndex(1);
}
toggleFlag = false;
} else if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
toggleFlag = true;
}
return false; // block WP mode while changing mission when armed
}
bool checkMissionCount(int8_t waypoint)
{
if (nonVolatileWaypointList(waypoint)->flag == NAV_WP_FLAG_LAST) {
posControl.multiMissionCount += 1; // count up no missions in multi mission WP file
if (waypoint != NAV_MAX_WAYPOINTS - 1) {
return (nonVolatileWaypointList(waypoint + 1)->flag == NAV_WP_FLAG_LAST &&
nonVolatileWaypointList(waypoint + 1)->action ==NAV_WP_ACTION_RTH);
// end of multi mission file if successive NAV_WP_FLAG_LAST and default action (RTH)
}
}
return false;
}
#endif // multi mission
#ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
bool loadNonVolatileWaypointList(bool clearIfLoaded)
{
/* Don't load if armed or mission planner active */
if (ARMING_FLAG(ARMED) || posControl.wpPlannerActiveWPIndex) {
return false;
}
// if forced and waypoints are already loaded, just unload them.
if (clearIfLoaded && posControl.waypointCount > 0) {
resetWaypointList();
return false;
}
#ifdef USE_MULTI_MISSION
/* Reset multi mission index to 1 if exceeds number of available missions */
if (navConfig()->general.waypoint_multi_mission_index > posControl.multiMissionCount) {
navConfigMutable()->general.waypoint_multi_mission_index = 1;
}
#endif
for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
setWaypoint(i + 1, nonVolatileWaypointList(i));
#ifdef USE_MULTI_MISSION
/* count up number of missions and exit after last multi mission */
if (checkMissionCount(i)) {
break;
}
}
posControl.totalMultiMissionWpCount = posControl.waypointCount;
loadSelectedMultiMission(navConfig()->general.waypoint_multi_mission_index);
/* Mission sanity check failed - reset the list
* Also reset if no selected mission loaded (shouldn't happen) */
if (!posControl.waypointListValid || !posControl.waypointCount) {
#else
// check this is the last waypoint
if (nonVolatileWaypointList(i)->flag == NAV_WP_FLAG_LAST) {
break;
}
}
// Mission sanity check failed - reset the list
if (!posControl.waypointListValid) {
#endif
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));
}
#ifdef USE_MULTI_MISSION
navConfigMutable()->general.waypoint_multi_mission_index = 1; // reset selected mission to 1 when new entries saved
#endif
saveConfigAndNotify();
return true;
}
#endif
#if defined(USE_SAFE_HOME)
void resetSafeHomes(void)
{
memset(safeHomeConfigMutable(0), 0, sizeof(navSafeHome_t) * MAX_SAFE_HOMES);
}
#endif
static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint, geoAltitudeConversionMode_e altConv)
{
gpsLocation_t wpLLH;
/* Default to home position if lat & lon = 0 or HOME flag set
* Applicable to WAYPOINT, HOLD_TIME & LANDING WP types */
if ((waypoint->lat == 0 && waypoint->lon == 0) || waypoint->flag == NAV_WP_FLAG_HOME) {
wpLLH.lat = GPS_home.lat;
wpLLH.lon = GPS_home.lon;
} else {
wpLLH.lat = waypoint->lat;
wpLLH.lon = waypoint->lon;
}
wpLLH.alt = waypoint->alt;
geoConvertGeodeticToLocal(localPos, &posControl.gpsOrigin, &wpLLH, altConv);
}
static void calculateAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos)
{
// Calculate bearing towards waypoint and store it in waypoint bearing parameter (this will further be used to detect missed waypoints)
if (isWaypointNavTrackingActive() && !(posControl.activeWaypoint.pos.x == pos->x && posControl.activeWaypoint.pos.y == pos->y)) {
posControl.activeWaypoint.bearing = calculateBearingBetweenLocalPositions(&posControl.activeWaypoint.pos, pos);
} else {
posControl.activeWaypoint.bearing = calculateBearingToDestination(pos);
}
posControl.activeWaypoint.nextTurnAngle = -1; // no turn angle set (-1), will be set by WP mode as required
posControl.activeWaypoint.pos = *pos;
// Set desired position to next waypoint (XYZ-controller)
setDesiredPosition(&posControl.activeWaypoint.pos, posControl.activeWaypoint.bearing, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
}
geoAltitudeConversionMode_e waypointMissionAltConvMode(geoAltitudeDatumFlag_e datumFlag)
{
return ((datumFlag & NAV_WP_MSL_DATUM) == NAV_WP_MSL_DATUM) ? GEO_ALT_ABSOLUTE : GEO_ALT_RELATIVE;
}
static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint)
{
fpVector3_t localPos;
mapWaypointToLocalPosition(&localPos, waypoint, waypointMissionAltConvMode(waypoint->p3));
calculateAndSetActiveWaypointToLocalPosition(&localPos);
if (navConfig()->fw.wp_turn_smoothing) {
fpVector3_t posNextWp;
if (getLocalPosNextWaypoint(&posNextWp)) {
int32_t bearingToNextWp = calculateBearingBetweenLocalPositions(&posControl.activeWaypoint.pos, &posNextWp);
posControl.activeWaypoint.nextTurnAngle = wrap_18000(bearingToNextWp - posControl.activeWaypoint.bearing);
}
}
}
/* Checks if active waypoint is last in mission */
bool isLastMissionWaypoint(void)
{
return FLIGHT_MODE(NAV_WP_MODE) && (posControl.activeWaypointIndex >= (posControl.startWpIndex + posControl.waypointCount - 1) ||
(posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST));
}
/* Checks if Nav hold position is active */
bool isNavHoldPositionActive(void)
{
// WP mode last WP hold and Timed hold positions
if (FLIGHT_MODE(NAV_WP_MODE)) {
return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED;
}
// RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
// Also hold position during emergency landing if position valid
return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
FLIGHT_MODE(NAV_POSHOLD_MODE) ||
navigationIsExecutingAnEmergencyLanding();
}
float getActiveSpeed(void)
{
/* Currently only applicable for multicopter */
// Speed limit for modes where speed manually controlled
if (posControl.flags.isAdjustingPosition || FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
return navConfig()->general.max_manual_speed;
}
uint16_t waypointSpeed = navConfig()->general.auto_speed;
if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) {
if (posControl.waypointCount > 0 && (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND)) {
float wpSpecificSpeed = 0.0f;
if(posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME)
wpSpecificSpeed = posControl.waypointList[posControl.activeWaypointIndex].p2; // P1 is hold time
else
wpSpecificSpeed = posControl.waypointList[posControl.activeWaypointIndex].p1; // default case
if (wpSpecificSpeed >= 50.0f && wpSpecificSpeed <= navConfig()->general.max_auto_speed) {
waypointSpeed = wpSpecificSpeed;
} else if (wpSpecificSpeed > navConfig()->general.max_auto_speed) {
waypointSpeed = navConfig()->general.max_auto_speed;
}
}
}
return waypointSpeed;
}
bool isWaypointNavTrackingActive(void)
{
// NAV_WP_MODE flag used rather than state flag NAV_AUTO_WP to ensure heading to initial waypoint
// is set from current position not previous WP. Works for WP Restart intermediate WP as well as first mission WP.
// (NAV_WP_MODE flag isn't set until WP initialisation is finished, i.e. after calculateAndSetActiveWaypoint called)
return FLIGHT_MODE(NAV_WP_MODE) || (posControl.flags.rthTrackbackActive && posControl.activeRthTBPointIndex != posControl.rthTBLastSavedIndex);
}
/*-----------------------------------------------------------
* 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 (FLIGHT_MODE(FAILSAFE_MODE)) {
if (STATE(MULTIROTOR) && navStateFlags & NAV_RC_POS) {
resetMulticopterBrakingMode();
}
posControl.flags.isAdjustingAltitude = false;
posControl.flags.isAdjustingPosition = false;
posControl.flags.isAdjustingHeading = false;
return;
}
posControl.flags.isAdjustingAltitude = (navStateFlags & NAV_RC_ALT) && adjustAltitudeFromRCInput();
posControl.flags.isAdjustingPosition = (navStateFlags & NAV_RC_POS) && adjustPositionFromRCInput();
posControl.flags.isAdjustingHeading = (navStateFlags & NAV_RC_YAW) && adjustHeadingFromRCInput();
}
/*-----------------------------------------------------------
* A main function to call position controllers at loop rate
*-----------------------------------------------------------*/
void applyWaypointNavigationAndAltitudeHold(void)
{
const timeUs_t currentTimeUs = micros();
//Updata blackbox data
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);
// 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 or Emergency Landing
posControl.flags.forcedRTHActivated = false;
posControl.flags.forcedEmergLandingActivated = false;
posControl.flags.manualEmergLandActive = false;
// ensure WP missions always restart from first waypoint after disarm
posControl.activeWaypointIndex = posControl.startWpIndex;
// Reset RTH trackback
posControl.activeRthTBPointIndex = -1;
posControl.flags.rthTrackbackActive = false;
posControl.rthTBWrapAroundCounter = -1;
return;
}
/* Reset flags */
posControl.flags.horizontalPositionDataConsumed = false;
posControl.flags.verticalPositionDataConsumed = false;
/* Process controllers */
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if (STATE(ROVER) || STATE(BOAT)) {
applyRoverBoatNavigationController(navStateFlags, currentTimeUs);
} else if (STATE(FIXED_WING_LEGACY)) {
applyFixedWingNavigationController(navStateFlags, currentTimeUs);
}
else {
applyMulticopterNavigationController(navStateFlags, currentTimeUs);
}
/* Consume position data */
if (posControl.flags.horizontalPositionDataConsumed)
posControl.flags.horizontalPositionDataNew = false;
if (posControl.flags.verticalPositionDataConsumed)
posControl.flags.verticalPositionDataNew = false;
//Update blackbox data
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);
navDesiredHeading = wrap_36000(posControl.desiredState.yaw);
}
/*-----------------------------------------------------------
* 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_COURSE_HOLD_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 bool isWaypointMissionValid(void)
{
return posControl.waypointListValid && (posControl.waypointCount > 0);
}
void checkManualEmergencyLandingControl(bool forcedActivation)
{
static timeMs_t timeout = 0;
static int8_t counter = 0;
static bool toggle;
timeMs_t currentTimeMs = millis();
if (timeout && currentTimeMs > timeout) {
timeout += 1000;
counter -= counter ? 1 : 0;
if (!counter) {
timeout = 0;
}
}
if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD)) {
if (!timeout && toggle) {
timeout = currentTimeMs + 4000;
}
counter += toggle;
toggle = false;
} else {
toggle = true;
}
// Emergency landing toggled ON or OFF after 5 cycles of Poshold mode @ 1Hz minimum rate
if (counter >= 5 || forcedActivation) {
counter = 0;
posControl.flags.manualEmergLandActive = !posControl.flags.manualEmergLandActive;
if (!posControl.flags.manualEmergLandActive) {
navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
}
}
}
static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
{
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)
const bool canActivateAltHold = canActivateAltHoldMode();
const bool canActivatePosHold = canActivatePosHoldMode();
const bool canActivateNavigation = canActivateNavigationModes();
const bool isExecutingRTH = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
#ifdef USE_SAFE_HOME
checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
#endif
// deactivate rth trackback if RTH not active
if (posControl.flags.rthTrackbackActive) {
posControl.flags.rthTrackbackActive = isExecutingRTH;
}
/* Emergency landing controlled manually by rapid switching of Poshold mode.
* Landing toggled ON or OFF for each Poshold activation sequence */
checkManualEmergencyLandingControl(false);
/* Emergency landing triggered by failsafe Landing or manually initiated */
if (posControl.flags.forcedEmergLandingActivated || posControl.flags.manualEmergLandActive) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
/* Keep Emergency landing mode active once triggered.
* If caused by sensor failure - landing auto cancelled if sensors working again or when WP and RTH deselected or if Althold selected.
* If caused by RTH Sanity Checking - landing cancelled if RTH deselected.
* Remains active if failsafe active regardless of mode selections */
if (navigationIsExecutingAnEmergencyLanding()) {
bool autonomousNavIsPossible = canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME);
bool emergLandingCancel = (!autonomousNavIsPossible &&
((IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && canActivateAltHold) || !(IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVRTH)))) ||
(autonomousNavIsPossible && !IS_RC_MODE_ACTIVE(BOXNAVRTH));
if ((!posControl.rthSanityChecker.rthSanityOK || !autonomousNavIsPossible) && (!emergLandingCancel || FLIGHT_MODE(FAILSAFE_MODE))) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
}
posControl.rthSanityChecker.rthSanityOK = true;
/* WP mission activation control:
* canActivateWaypoint & waypointWasActivated are used to prevent WP mission
* auto restarting after interruption by Manual or RTH modes.
* WP mode must be deselected before it can be reactivated again. */
static bool waypointWasActivated = false;
const bool isWpMissionLoaded = isWaypointMissionValid();
bool canActivateWaypoint = isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive; // Block activation if using WP Mission Planner
if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
canActivateWaypoint = false;
if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
canActivateWaypoint = true;
waypointWasActivated = false;
}
}
/* Airplane specific modes */
if (STATE(AIRPLANE)) {
// LAUNCH mode has priority over any other NAV mode
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 or throttle stick < launch idle throttle
if (FLIGHT_MODE(NAV_LAUNCH_MODE)) {
if (abortLaunchAllowed()) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
} else {
return NAV_FSM_EVENT_NONE;
}
}
}
/* Soaring mode, disables altitude control in Position hold and Course hold modes.
* Pitch allowed to freefloat within defined Angle mode deadband */
if (IS_RC_MODE_ACTIVE(BOXSOARING) && (FLIGHT_MODE(NAV_POSHOLD_MODE) || FLIGHT_MODE(NAV_COURSE_HOLD_MODE))) {
ENABLE_FLIGHT_MODE(SOARING_MODE);
} else {
DISABLE_FLIGHT_MODE(SOARING_MODE);
}
}
/* If we request forced RTH - attempt to activate it no matter what
* This might switch to emergency landing controller if GPS is unavailable */
if (posControl.flags.forcedRTHActivated) {
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
/* Pilot-triggered RTH, also fall-back for WP if there is no mission loaded.
* WP prevented from falling back to RTH if WP mission planner is active */
const bool wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive;
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || wpRthFallbackIsActive) {
// Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
// Without this loss of any of the canActivateNavigation && canActivateAltHold
// will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
// logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc)
if (isExecutingRTH || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
}
// MANUAL mode has priority over WP/PH/AH
if (IS_RC_MODE_ACTIVE(BOXMANUAL)) {
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
// Pilot-activated waypoint mission. Fall-back to RTH if no mission loaded.
// Also check multimission mission change status before activating WP mode.
#ifdef USE_MULTI_MISSION
if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
#else
if (IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
#endif
if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
waypointWasActivated = true;
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
}
}
if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD)) {
if (FLIGHT_MODE(NAV_POSHOLD_MODE) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D;
}
// CRUISE has priority over COURSE_HOLD and AH
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
if ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
// PH has priority over COURSE_HOLD
// CRUISE has priority on AH
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD)) {
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))) {
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || (canActivatePosHold)) {
return NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD;
}
}
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
if ((FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_ALTHOLD;
}
} else {
// 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() && (!sensors(SENSOR_GPS) || (sensors(SENSOR_GPS) && !isGPSHeadingValid()));
}
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
/*-----------------------------------------------------------
* An indicator that throttle tilt compensation is forced
*-----------------------------------------------------------*/
bool navigationRequiresThrottleTiltCompensation(void)
{
return !STATE(FIXED_WING_LEGACY) && (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_LEGACY));
}
/*-----------------------------------------------------------
* An indicator that TURN ASSISTANCE is required for navigation
*-----------------------------------------------------------*/
bool navigationRequiresTurnAssistance(void)
{
const navigationFSMStateFlags_t currentState = navGetStateFlags(posControl.navState);
if (STATE(FIXED_WING_LEGACY)) {
// For airplanes turn assistant is always required when controlling position
return (currentState & (NAV_CTL_POS | NAV_CTL_ALT));
}
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_LEGACY)) {
return NAV_HEADING_CONTROL_MANUAL;
}
// For multirotors it depends on navigation system mode
// Course hold requires Auto Control to update heading hold target whilst RC adjustment active
if (navGetStateFlags(posControl.navState) & NAV_REQUIRE_MAGHOLD) {
if (posControl.flags.isAdjustingHeading && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
return NAV_HEADING_CONTROL_MANUAL;
}
return NAV_HEADING_CONTROL_AUTO;
}
return NAV_HEADING_CONTROL_NONE;
}
bool navigationTerrainFollowingEnabled(void)
{
return posControl.flags.isTerrainFollowEnabled;
}
uint32_t distanceToFirstWP(void)
{
fpVector3_t startingWaypointPos;
mapWaypointToLocalPosition(&startingWaypointPos, &posControl.waypointList[posControl.startWpIndex], GEO_ALT_RELATIVE);
return calculateDistanceToDestination(&startingWaypointPos);
}
bool navigationPositionEstimateIsHealthy(void)
{
return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME);
}
navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
{
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) ||
IS_RC_MODE_ACTIVE(BOXNAVCRUISE) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
if (usedBypass) {
*usedBypass = false;
}
// Apply extra arming safety only if pilot has any of GPS modes configured
if ((isUsingNavigationModes() || failsafeMayRequireNavigationMode()) && !navigationPositionEstimateIsHealthy()) {
if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_ALLOW_BYPASS &&
(STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED) || checkStickPosition(YAW_HI))) {
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) {
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) && (navConfig()->general.waypoint_safe_distance != 0)) {
if (distanceToFirstWP() > METERS_TO_CENTIMETERS(navConfig()->general.waypoint_safe_distance) && !checkStickPosition(YAW_HI)) {
return NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR;
}
}
/*
* Don't allow arming if any of JUMP waypoint has invalid settings
* First WP can't be JUMP
* Can't jump to immediately adjacent WPs (pointless)
* Can't jump beyond WP list
* Only jump to geo-referenced WP types
*/
if (posControl.waypointCount) {
for (uint8_t wp = posControl.startWpIndex; wp < posControl.waypointCount + posControl.startWpIndex; wp++){
if (posControl.waypointList[wp].action == NAV_WP_ACTION_JUMP){
if (wp == posControl.startWpIndex || posControl.waypointList[wp].p1 >= posControl.waypointCount ||
(posControl.waypointList[wp].p1 > (wp - posControl.startWpIndex - 2) && posControl.waypointList[wp].p1 < (wp - posControl.startWpIndex + 2)) || posControl.waypointList[wp].p2 < -1) {
return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR;
}
/* check for target geo-ref sanity */
uint16_t target = posControl.waypointList[wp].p1 + posControl.startWpIndex;
if (!(posControl.waypointList[target].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[target].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[target].action == NAV_WP_ACTION_LAND)) {
return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR;
}
}
}
}
return NAV_ARMING_BLOCKER_NONE;
}
/**
* 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);
}
/* On the fly WP mission planner mode allows WP missions to be setup during navigation.
* Uses the WP mode switch to save WP at current location (WP mode disabled when active)
* Mission can be flown after mission planner mode switched off and saved after disarm. */
void updateWpMissionPlanner(void)
{
static timeMs_t resetTimerStart = 0;
if (IS_RC_MODE_ACTIVE(BOXPLANWPMISSION) && !(FLIGHT_MODE(NAV_WP_MODE) || isWaypointMissionRTHActive())) {
const bool positionTrusted = posControl.flags.estAltStatus == EST_TRUSTED && posControl.flags.estPosStatus == EST_TRUSTED && STATE(GPS_FIX);
posControl.flags.wpMissionPlannerActive = true;
if (millis() - resetTimerStart < 1000 && navConfig()->general.flags.mission_planner_reset) {
posControl.waypointCount = posControl.wpPlannerActiveWPIndex = 0;
posControl.waypointListValid = false;
posControl.wpMissionPlannerStatus = WP_PLAN_WAIT;
}
if (positionTrusted && posControl.wpMissionPlannerStatus != WP_PLAN_FULL) {
missionPlannerSetWaypoint();
} else {
posControl.wpMissionPlannerStatus = posControl.wpMissionPlannerStatus == WP_PLAN_FULL ? WP_PLAN_FULL : WP_PLAN_WAIT;
}
} else if (posControl.flags.wpMissionPlannerActive) {
posControl.flags.wpMissionPlannerActive = false;
posControl.activeWaypointIndex = 0;
resetTimerStart = millis();
}
}
void missionPlannerSetWaypoint(void)
{
static bool boxWPModeIsReset = true;
boxWPModeIsReset = !boxWPModeIsReset ? !IS_RC_MODE_ACTIVE(BOXNAVWP) : boxWPModeIsReset; // only able to save new WP when WP mode reset
posControl.wpMissionPlannerStatus = boxWPModeIsReset ? boxWPModeIsReset : posControl.wpMissionPlannerStatus; // hold save status until WP mode reset
if (!boxWPModeIsReset || !IS_RC_MODE_ACTIVE(BOXNAVWP)) {
return;
}
if (!posControl.wpPlannerActiveWPIndex) { // reset existing mission data before adding first WP
resetWaypointList();
}
gpsLocation_t wpLLH;
geoConvertLocalToGeodetic(&wpLLH, &posControl.gpsOrigin, &navGetCurrentActualPositionAndVelocity()->pos);
posControl.waypointList[posControl.wpPlannerActiveWPIndex].action = 1;
posControl.waypointList[posControl.wpPlannerActiveWPIndex].lat = wpLLH.lat;
posControl.waypointList[posControl.wpPlannerActiveWPIndex].lon = wpLLH.lon;
posControl.waypointList[posControl.wpPlannerActiveWPIndex].alt = wpLLH.alt;
posControl.waypointList[posControl.wpPlannerActiveWPIndex].p1 = posControl.waypointList[posControl.wpPlannerActiveWPIndex].p2 = 0;
posControl.waypointList[posControl.wpPlannerActiveWPIndex].p3 |= NAV_WP_ALTMODE; // use absolute altitude datum
posControl.waypointList[posControl.wpPlannerActiveWPIndex].flag = NAV_WP_FLAG_LAST;
posControl.waypointListValid = true;
if (posControl.wpPlannerActiveWPIndex) {
posControl.waypointList[posControl.wpPlannerActiveWPIndex - 1].flag = 0; // rollling reset of previous end of mission flag when new WP added
}
posControl.wpPlannerActiveWPIndex += 1;
posControl.waypointCount = posControl.geoWaypointCount = posControl.wpPlannerActiveWPIndex;
posControl.wpMissionPlannerStatus = posControl.waypointCount == NAV_MAX_WAYPOINTS ? WP_PLAN_FULL : WP_PLAN_OK;
boxWPModeIsReset = false;
}
/**
* 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();
// Update WP mission planner
updateWpMissionPlanner();
// Update RTH trackback
updateRthTrackback(false);
//Update Blackbox data
navCurrentState = (int16_t)posControl.navPersistentId;
}
/*-----------------------------------------------------------
* 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,
0.0f
);
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,
0.0f
);
}
/*
* Set coefficients used in MC VEL_XY
*/
multicopterPosXyCoefficients.dTermAttenuation = pidProfile()->navVelXyDtermAttenuation / 100.0f;
multicopterPosXyCoefficients.dTermAttenuationStart = pidProfile()->navVelXyDtermAttenuationStart / 100.0f;
multicopterPosXyCoefficients.dTermAttenuationEnd = pidProfile()->navVelXyDtermAttenuationEnd / 100.0f;
#ifdef USE_MR_BRAKING_MODE
multicopterPosXyCoefficients.breakingBoostFactor = (float) navConfig()->mc.braking_boost_factor / 100.0f;
#endif
// 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,
0.0f
);
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_VEL_Z_DERIVATIVE_CUT_HZ,
NAV_VEL_Z_ERROR_CUT_HZ
);
// Initialize surface tracking PID
navPidInit(&posControl.pids.surface, 2.0f,
0.0f,
0.0f,
0.0f,
NAV_DTERM_CUT_HZ,
0.0f
);
/** 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,
0.0f
);
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,
0.0f
);
navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 100.0f,
0.0f,
2.0f,
0.0f
);
}
void navigationInit(void)
{
/* Initial state */
posControl.navState = NAV_STATE_IDLE;
posControl.flags.horizontalPositionDataNew = false;
posControl.flags.verticalPositionDataNew = false;
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 = false;
posControl.flags.forcedEmergLandingActivated = false;
posControl.waypointCount = 0;
posControl.activeWaypointIndex = 0;
posControl.waypointListValid = false;
posControl.wpPlannerActiveWPIndex = 0;
posControl.flags.wpMissionPlannerActive = false;
posControl.startWpIndex = 0;
posControl.safehomeState.isApplied = false;
#ifdef USE_MULTI_MISSION
posControl.multiMissionCount = 0;
#endif
/* Set initial surface invalid */
posControl.actualState.surfaceMin = -1.0f;
/* Reset statistics */
posControl.totalTripDistance = 0.0f;
/* Use system config */
navigationUsePIDs();
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
/* configure WP missions at boot */
#ifdef USE_MULTI_MISSION
for (int8_t i = 0; i < NAV_MAX_WAYPOINTS; i++) { // check number missions in NVM
if (checkMissionCount(i)) {
break;
}
}
/* set index to 1 if saved mission index > available missions */
if (navConfig()->general.waypoint_multi_mission_index > posControl.multiMissionCount) {
navConfigMutable()->general.waypoint_multi_mission_index = 1;
}
#endif
/* load mission on boot */
if (navConfig()->general.waypoint_load_on_boot) {
loadNonVolatileWaypointList(false);
}
#endif
}
/*-----------------------------------------------------------
* 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)
{
abortFixedWingLaunch();
posControl.flags.forcedRTHActivated = true;
#ifdef USE_SAFE_HOME
checkSafeHomeState(true);
#endif
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;
#ifdef USE_SAFE_HOME
checkSafeHomeState(false);
#endif
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 | NAV_MIXERAT))) {
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;
}
}
/*-----------------------------------------------------------
* Ability to execute Emergency Landing on external event
*-----------------------------------------------------------*/
void activateForcedEmergLanding(void)
{
abortFixedWingLaunch();
posControl.flags.forcedEmergLandingActivated = true;
navProcessFSMEvents(selectNavEventFromBoxModeInput());
}
void abortForcedEmergLanding(void)
{
// Disable emergency landing and make sure we back out of navigation mode to IDLE
// If any navigation mode was active prior to emergency landing it will be re-enabled with next RX update
posControl.flags.forcedEmergLandingActivated = false;
navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
}
emergLandState_e getStateOfForcedEmergLanding(void)
{
/* If forced emergency landing activated and in EMERG state */
if (posControl.flags.forcedEmergLandingActivated && (navGetStateFlags(posControl.navState) & NAV_CTL_EMERG)) {
if (posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED) {
return EMERG_LAND_HAS_LANDED;
} else {
return EMERG_LAND_IN_PROGRESS;
}
} else {
return EMERG_LAND_IDLE;
}
}
bool isWaypointMissionRTHActive(void)
{
return (navGetStateFlags(posControl.navState) & NAV_AUTO_RTH) && IS_RC_MODE_ACTIVE(BOXNAVWP) &&
!(IS_RC_MODE_ACTIVE(BOXNAVRTH) || posControl.flags.forcedRTHActivated);
}
bool navigationIsExecutingAnEmergencyLanding(void)
{
return navGetCurrentStateFlags() & NAV_CTL_EMERG;
}
bool navigationInAutomaticThrottleMode(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAND)) ||
((stateFlags & NAV_CTL_LAUNCH) && !navConfig()->fw.launch_manual_throttle);
}
bool navigationIsControllingThrottle(void)
{
// Note that this makes a detour into mixer code to evaluate actual motor status
return navigationInAutomaticThrottleMode() && getMotorStatus() != MOTOR_STOPPED_USER && !FLIGHT_MODE(SOARING_MODE);
}
bool navigationIsControllingAltitude(void) {
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & NAV_CTL_ALT);
}
bool navigationIsFlyingAutonomousMode(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return (stateFlags & (NAV_AUTO_RTH | NAV_AUTO_WP));
}
bool navigationRTHAllowsLanding(void)
{
// WP mission RTH landing setting
if (isWaypointMissionRTHActive() && isWaypointMissionValid()) {
return posControl.waypointList[posControl.startWpIndex + posControl.waypointCount - 1].p1 > 0;
}
// normal RTH landing setting
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 isNavLaunchEnabled(void)
{
return (IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH)) && STATE(AIRPLANE);
}
bool abortLaunchAllowed(void)
{
// allow NAV_LAUNCH_MODE to be aborted if throttle is low or throttle stick position is < launch idle throttle setting
return throttleStickIsLow() || throttleStickMixedValue() < currentBatteryProfile->nav.fw.launch_idle_throttle;
}
int32_t navigationGetHomeHeading(void)
{
return posControl.rthState.homePosition.heading;
}
// returns m/s
float calculateAverageSpeed(void) {
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.course - posControl.cruise.previousCourse);
}
int32_t navigationGetHeadingError(void)
{
return wrap_18000(posControl.desiredState.yaw - posControl.actualState.cog);
}
int8_t navCheckActiveAngleHoldAxis(void)
{
int8_t activeAxis = -1;
if (IS_RC_MODE_ACTIVE(BOXANGLEHOLD)) {
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
bool altholdActive = stateFlags & NAV_REQUIRE_ANGLE_FW && !(stateFlags & NAV_REQUIRE_ANGLE);
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && !FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
activeAxis = FD_PITCH;
} else if (altholdActive) {
activeAxis = FD_ROLL;
}
}
return activeAxis;
}
uint8_t getActiveWpNumber(void)
{
return NAV_Status.activeWpNumber;
}
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