loiter.cpp

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/**
 * @file loiter.cpp
 *
 * Helper class to loiter
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include "loiter.h"
#include "navigator.h"

Loiter::Loiter(Navigator *navigator) :
    MissionBlock(navigator),
    ModuleParams(navigator)
{
}

void
Loiter::on_inactive()
{
    _loiter_pos_set = false;
}

void
Loiter::on_activation()
{
    if (_navigator->get_reposition_triplet()->current.valid) {
        reposition();

    } else {
        set_loiter_position();
    }
}

void
Loiter::on_active()
{
    if (_navigator->get_reposition_triplet()->current.valid) {
        reposition();
    }

    // reset the loiter position if we get disarmed
    if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
        _loiter_pos_set = false;
    }
}

void
Loiter::set_loiter_position()
{
    if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED &&
        _navigator->get_land_detected()->landed) {

        // Not setting loiter position if disarmed and landed, instead mark the current
        // setpoint as invalid and idle (both, just to be sure).

        _navigator->set_can_loiter_at_sp(false);
        _navigator->get_position_setpoint_triplet()->current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
        _navigator->set_position_setpoint_triplet_updated();
        _loiter_pos_set = false;
        return;

    } else if (_loiter_pos_set) {
        // Already set, nothing to do.
        return;
    }

    _loiter_pos_set = true;

    // set current mission item to loiter
    set_loiter_item(&_mission_item, _navigator->get_loiter_min_alt());

    // convert mission item to current setpoint
    struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
    pos_sp_triplet->current.velocity_valid = false;
    pos_sp_triplet->previous.valid = false;
    mission_apply_limitation(_mission_item);
    mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
    pos_sp_triplet->next.valid = false;

    _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
    _navigator->set_position_setpoint_triplet_updated();
}

void
Loiter::reposition()
{
    // we can't reposition if we are not armed yet
    if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
        return;
    }

    struct position_setpoint_triplet_s *rep = _navigator->get_reposition_triplet();

    if (rep->current.valid) {
        // set loiter position based on reposition command

        // convert mission item to current setpoint
        struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
        pos_sp_triplet->current.velocity_valid = false;
        pos_sp_triplet->previous.yaw = _navigator->get_global_position()->yaw;
        pos_sp_triplet->previous.lat = _navigator->get_global_position()->lat;
        pos_sp_triplet->previous.lon = _navigator->get_global_position()->lon;
        pos_sp_triplet->previous.alt = _navigator->get_global_position()->alt;
        memcpy(&pos_sp_triplet->current, &rep->current, sizeof(rep->current));
        pos_sp_triplet->next.valid = false;

        _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
        _navigator->set_position_setpoint_triplet_updated();

        // mark this as done
        memset(rep, 0, sizeof(*rep));
    }
}