takeoff.cpp

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/**
 * @file takeoff.cpp
 *
 * Helper class to Takeoff
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include "takeoff.h"
#include "navigator.h"

Takeoff::Takeoff(Navigator *navigator) :
    MissionBlock(navigator)
{
}

void
Takeoff::on_activation()
{
    set_takeoff_position();
}

void
Takeoff::on_active()
{
    struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();

    if (rep->current.valid) {
        // reset the position
        set_takeoff_position();

    } else if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) {
        _navigator->get_mission_result()->finished = true;
        _navigator->set_mission_result_updated();

        // set loiter item so position controllers stop doing takeoff logic
        set_loiter_item(&_mission_item);
        struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
        mission_apply_limitation(_mission_item);
        mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
        _navigator->set_position_setpoint_triplet_updated();
    }
}

void
Takeoff::set_takeoff_position()
{
    struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();

    float abs_altitude = 0.0f;

    float min_abs_altitude;

    if (_navigator->home_position_valid()) { //only use home position if it is valid
        min_abs_altitude = _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt();

    } else { //e.g. flow
        min_abs_altitude = _navigator->get_takeoff_min_alt();
    }

    // Use altitude if it has been set. If home position is invalid use min_abs_altitude
    if (rep->current.valid && PX4_ISFINITE(rep->current.alt) && _navigator->home_position_valid()) {
        abs_altitude = rep->current.alt;

        // If the altitude suggestion is lower than home + minimum clearance, raise it and complain.
        if (abs_altitude < min_abs_altitude) {
            if (abs_altitude < min_abs_altitude - 0.1f) { // don't complain if difference is smaller than 10cm
                mavlink_log_critical(_navigator->get_mavlink_log_pub(),
                             "Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt());
            }

            abs_altitude = min_abs_altitude;
        }

    } else {
        // Use home + minimum clearance but only notify.
        abs_altitude = min_abs_altitude;
        mavlink_log_info(_navigator->get_mavlink_log_pub(),
                 "Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt());
    }


    if (abs_altitude < _navigator->get_global_position()->alt) {
        // If the suggestion is lower than our current alt, let's not go down.
        abs_altitude = _navigator->get_global_position()->alt;
        mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already higher than takeoff altitude");
    }

    // set current mission item to takeoff
    set_takeoff_item(&_mission_item, abs_altitude);
    _navigator->get_mission_result()->finished = false;
    _navigator->set_mission_result_updated();
    reset_mission_item_reached();

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

    if (rep->current.valid) {

        // Go on and check which changes had been requested
        if (PX4_ISFINITE(rep->current.yaw)) {
            pos_sp_triplet->current.yaw = rep->current.yaw;
        }

        // Set the current latitude and longitude even if they are NAN
        // NANs are handled in FlightTaskAuto.cpp
        pos_sp_triplet->current.lat = rep->current.lat;
        pos_sp_triplet->current.lon = rep->current.lon;

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

    _navigator->set_can_loiter_at_sp(true);

    _navigator->set_position_setpoint_triplet_updated();
}