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nexedi
c-astral-wrapper
Commits
57830346
Commit
57830346
authored
Aug 29, 2023
by
Léo-Paul Géneau
👾
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Stop using blocking overrides
parent
6645734a
Changes
1
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24 additions
and
18 deletions
+24
-18
mavsdk_wrapper.cpp
mavsdk_wrapper.cpp
+24
-18
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mavsdk_wrapper.cpp
View file @
57830346
...
...
@@ -48,6 +48,10 @@ static Telemetry::Position origin;
static
Coordinates
targeted_destination
;
static
Coordinates
projected_destination
;
static
const
float
DEFAULT_SPEED
=
16
;
static
float
last_override_altitude
;
static
float
last_override_speed
;
// Logs functions
static
void
log
(
std
::
string
message
)
{
...
...
@@ -236,6 +240,8 @@ int start(const char * ip, int port, const char * log_file, int timeout) {
}
while
(
isnan
(
abs_altitude
)
||
abs_altitude
==
0
);
origin
=
telemetry
->
position
();
last_override_altitude
=
origin
.
absolute_altitude_m
;
last_override_speed
=
DEFAULT_SPEED
;
log
(
"MAVSDK started..."
);
mavsdk_started
=
1
;
...
...
@@ -295,7 +301,8 @@ int takeOffAndWait(void) {
while
(
telemetry
->
flight_mode
()
==
Telemetry
::
FlightMode
::
Takeoff
)
sleep_for
(
seconds
(
1
));
return
doAction
(
&
Action
::
transition_to_fixedwing
,
"Transition to fixedwing failed"
);
return
doAction
(
&
Action
::
transition_to_fixedwing
,
"Transition to fixedwing failed"
);
}
int
triggerParachute
(
void
)
{
...
...
@@ -305,7 +312,8 @@ int triggerParachute(void) {
log
(
"Landing..."
);
MavlinkPassthrough
::
CommandLong
command
;
command
.
command
=
MAV_CMD_DO_PARACHUTE
;
command
.
param1
=
2
;
//see https://mavlink.io/en/messages/common.html#PARACHUTE_ACTION
//see https://mavlink.io/en/messages/common.html#PARACHUTE_ACTION
command
.
param1
=
2
;
command
.
target_sysid
=
mavlink_passthrough
->
get_target_sysid
();
command
.
target_compid
=
mavlink_passthrough
->
get_target_compid
();
return
doMavlinkCommand
(
command
,
"Parachute release failed"
);
...
...
@@ -313,19 +321,25 @@ int triggerParachute(void) {
// Flight management functions
static
int
setAltitude
(
float
altitude
)
{
static
int
doOverride
(
float
altitude
,
float
speed
,
const
char
*
failure_msg
)
{
if
(
!
mavsdk_started
)
return
-
1
;
MavlinkPassthrough
::
CommandLong
command
;
command
.
command
=
MAV_CMD_DO_OVERRIDE
;
command
.
param1
=
1
|
2
|
4
|
8
;
command
.
param2
=
1
|
2
|
8
;
command
.
param2
=
1
|
2
|
4
|
8
;
command
.
param3
=
altitude
;
command
.
param4
=
speed
;
command
.
target_sysid
=
mavlink_passthrough
->
get_target_sysid
();
command
.
target_compid
=
mavlink_passthrough
->
get_target_compid
();
return
doMavlinkCommand
(
command
,
"Setting altitude failed"
);
return
doMavlinkCommand
(
command
,
failure_msg
);
}
static
int
setAltitude
(
float
altitude
)
{
last_override_altitude
=
altitude
;
return
doOverride
(
altitude
,
last_override_speed
,
"Setting altitude failed"
);
}
int
loiter
(
double
la
,
double
lo
,
float
a
,
float
radius
)
{
...
...
@@ -335,18 +349,9 @@ int loiter(double la, double lo, float a, float radius) {
}
int
setAirSpeed
(
float
airspeed
)
{
if
(
!
mavsdk_started
)
return
-
1
;
MavlinkPassthrough
::
CommandLong
command
;
command
.
command
=
MAV_CMD_DO_OVERRIDE
;
command
.
param1
=
1
|
2
|
4
|
8
;
command
.
param2
=
2
|
4
|
8
;
command
.
param4
=
airspeed
;
command
.
target_sysid
=
mavlink_passthrough
->
get_target_sysid
();
command
.
target_compid
=
mavlink_passthrough
->
get_target_compid
();
return
doMavlinkCommand
(
command
,
"Setting airspeed failed"
);
last_override_speed
=
airspeed
;
return
doOverride
(
last_override_altitude
,
airspeed
,
"Setting airspeed failed"
);
}
int
setTargetCoordinates
(
double
la
,
double
lo
,
float
a
)
{
...
...
@@ -405,7 +410,8 @@ double *getPositionArray(void) {
float
*
getSpeedArray
(
void
)
{
Telemetry
::
FixedwingMetrics
metrics
=
telemetry
->
fixedwing_metrics
();
float
*
speedArray
=
(
float
*
)
malloc
(
SPEED_ARRAY_SIZE
*
sizeof
(
float
));
float
*
speedArray
=
(
float
*
)
malloc
(
SPEED_ARRAY_SIZE
*
sizeof
(
float
));
speedArray
[
0
]
=
getYaw
();
speedArray
[
1
]
=
metrics
.
airspeed_m_s
;
speedArray
[
2
]
=
metrics
.
climb_rate_m_s
;
...
...
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