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Added state NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME #6050

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merged 2 commits into from
Dec 5, 2020
Merged

Added state NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME #6050

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833876f
Added state NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME
Airwide Aug 15, 2020
0f6318f
Merge branch 'master' into aw-waypoint-hover-above-home
Airwide Dec 5, 2020
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33 changes: 32 additions & 1 deletion src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -257,6 +257,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi
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_WAYPOINT_HOVER_ABOVE_HOME(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);
Expand Down Expand Up @@ -691,6 +692,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[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_WAYPOINT_HOVER_ABOVE_HOME] = NAV_STATE_WAYPOINT_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,
Expand Down Expand Up @@ -776,6 +778,27 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}
},

[NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOVER_ABOVE_HOME,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,
.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_HOVER_ABOVE_HOME,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME, // re-process state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D] = NAV_STATE_CRUISE_2D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D] = NAV_STATE_CRUISE_3D_INITIALIZE,
}
},

/** EMERGENCY LANDING ************************************************/
[NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
Expand Down Expand Up @@ -1592,7 +1615,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(naviga
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND;
}
else {
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_WAYPOINT_NEXT
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME;
}

case NAV_WP_ACTION_LAND:
Expand Down Expand Up @@ -1673,6 +1696,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED(navig
}
}

static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
{
UNUSED(previousState);

const navigationFSMEvent_t hoverEvent = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(previousState);
return hoverEvent;
}

static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState)
{
// TODO:
Expand Down
4 changes: 4 additions & 0 deletions src/main/navigation/navigation_private.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ typedef enum {
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_1,
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2,
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME,

NAV_FSM_EVENT_SWITCH_TO_CRUISE_2D,
NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D,
Expand Down Expand Up @@ -200,6 +201,8 @@ typedef enum {

NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME = 35,
NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME = 36,
NAV_PERSISTENT_ID_WAYPOINT_HOVER_ABOVE_HOME = 37,

} navigationPersistentId_e;

typedef enum {
Expand Down Expand Up @@ -230,6 +233,7 @@ typedef enum {
NAV_STATE_WAYPOINT_NEXT,
NAV_STATE_WAYPOINT_FINISHED,
NAV_STATE_WAYPOINT_RTH_LAND,
NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,

NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
Expand Down