MAVLinkSimulationWaypointPlanner.cc 43.5 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
/*======================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009-2011 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK 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.

    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

========================================================================*/

/**
*   @file
*   @brief a program to manage waypoints and exchange them with the ground station
*
*   @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
*   @author Benjamin Knecht <bknecht@student.ethz.ch>
*   @author Christian Schluchter <schluchc@ee.ethz.ch>
*/

#include <cmath>

#include "MAVLinkSimulationWaypointPlanner.h"
#include "QGC.h"
37
#include <QDebug>
38

39 40 41 42
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

43 44 45 46 47 48 49 50 51 52
class PxMatrix3x3;


/**
 * @brief Pixhawk 3D vector class, can be cast to a local OpenCV CvMat.
 *
 */
class PxVector3
{
public:
53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72
    /** @brief standard constructor */
    PxVector3(void) {}
    /** @brief copy constructor */
    PxVector3(const PxVector3 &v) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = v.m_vec[i];
        }
    }
    /** @brief x,y,z constructor */
    PxVector3(const float _x, const float _y, const float _z) {
        m_vec[0] = _x;
        m_vec[1] = _y;
        m_vec[2] = _z;
    }
    /** @brief broadcast constructor */
    PxVector3(const float _f) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = _f;
        }
    }
73 74

private:
75 76 77 78 79 80
    /** @brief private constructor (not used here, for SSE compatibility) */
    PxVector3(const float (&_vec)[3]) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = _vec[i];
        }
    }
81 82

public:
83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235
    /** @brief assignment operator */
    void operator= (const PxVector3 &r) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = r.m_vec[i];
        }
    }
    /** @brief const element access */
    float operator[] (const int i) const {
        return m_vec[i];
    }
    /** @brief element access */
    float &operator[] (const int i) {
        return m_vec[i];
    }

    // === arithmetic operators ===
    /** @brief element-wise negation */
    friend PxVector3 operator- (const PxVector3 &v) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = -v.m_vec[i];
        }
        return ret;
    }
    friend PxVector3 operator+ (const PxVector3 &l, const PxVector3 &r) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] + r.m_vec[i];
        }
        return ret;
    }
    friend PxVector3 operator- (const PxVector3 &l, const PxVector3 &r) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] - r.m_vec[i];
        }
        return ret;
    }
    friend PxVector3 operator* (const PxVector3 &l, const PxVector3 &r) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] * r.m_vec[i];
        }
        return ret;
    }
    friend PxVector3 operator/ (const PxVector3 &l, const PxVector3 &r) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] / r.m_vec[i];
        }
        return ret;
    }

    friend void operator+= (PxVector3 &l, const PxVector3 &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] + r.m_vec[i];
        }
    }
    friend void operator-= (PxVector3 &l, const PxVector3 &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] - r.m_vec[i];
        }
    }
    friend void operator*= (PxVector3 &l, const PxVector3 &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] * r.m_vec[i];
        }
    }
    friend void operator/= (PxVector3 &l, const PxVector3 &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] / r.m_vec[i];
        }
    }

    friend PxVector3 operator+ (const PxVector3 &l, float f) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] + f;
        }
        return ret;
    }
    friend PxVector3 operator- (const PxVector3 &l, float f) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] - f;
        }
        return ret;
    }
    friend PxVector3 operator* (const PxVector3 &l, float f) {
        PxVector3 ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] * f;
        }
        return ret;
    }
    friend PxVector3 operator/ (const PxVector3 &l, float f) {
        PxVector3 ret;
        float inv = 1.f/f;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] * inv;
        }
        return ret;
    }

    friend void operator+= (PxVector3 &l, float f) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] + f;
        }
    }
    friend void operator-= (PxVector3 &l, float f) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] - f;
        }
    }
    friend void operator*= (PxVector3 &l, float f) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] * f;
        }
    }
    friend void operator/= (PxVector3 &l, float f) {
        float inv = 1.f/f;
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] * inv;
        }
    }

    // === vector operators ===
    /** @brief dot product */
    float	dot(const PxVector3 &v) const {
        return m_vec[0]*v.m_vec[0] + m_vec[1]*v.m_vec[1] + m_vec[2]*v.m_vec[2];
    }
    /** @brief length squared of the vector */
    float	lengthSquared(void) const {
        return m_vec[0]*m_vec[0] + m_vec[1]*m_vec[1] + m_vec[2]*m_vec[2];
    }
    /** @brief length of the vector */
    float	length(void) const {
        return sqrt(lengthSquared());
    }
    /** @brief cross product */
    PxVector3 cross(const PxVector3 &v) const {
        return PxVector3(m_vec[1]*v.m_vec[2] - m_vec[2]*v.m_vec[1], m_vec[2]*v.m_vec[0] - m_vec[0]*v.m_vec[2], m_vec[0]*v.m_vec[1] - m_vec[1]*v.m_vec[0]);
    }
    /** @brief normalizes the vector */
    PxVector3 &normalize(void) {
        const float l = 1.f / length();
        for (int i=0; i < 3; i++) {
            m_vec[i] *= l;
        }
        return *this;
    }

    friend class PxMatrix3x3;
236
protected:
237
    float m_vec[3];
238 239 240 241 242 243 244 245 246
};

/**
 * @brief Pixhawk 3D vector class in double precision, can be cast to a local OpenCV CvMat.
 *
 */
class PxVector3Double
{
public:
247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266
    /** @brief standard constructor */
    PxVector3Double(void) {}
    /** @brief copy constructor */
    PxVector3Double(const PxVector3Double &v) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = v.m_vec[i];
        }
    }
    /** @brief x,y,z constructor */
    PxVector3Double(const double _x, const double _y, const double _z) {
        m_vec[0] = _x;
        m_vec[1] = _y;
        m_vec[2] = _z;
    }
    /** @brief broadcast constructor */
    PxVector3Double(const double _f) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = _f;
        }
    }
267 268

private:
269 270 271 272 273 274
    /** @brief private constructor (not used here, for SSE compatibility) */
    PxVector3Double(const double (&_vec)[3]) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = _vec[i];
        }
    }
275 276

public:
277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429
    /** @brief assignment operator */
    void operator= (const PxVector3Double &r) {
        for (int i=0; i < 3; i++) {
            m_vec[i] = r.m_vec[i];
        }
    }
    /** @brief const element access */
    double operator[] (const int i) const {
        return m_vec[i];
    }
    /** @brief element access */
    double &operator[] (const int i) {
        return m_vec[i];
    }

    // === arithmetic operators ===
    /** @brief element-wise negation */
    friend PxVector3Double operator- (const PxVector3Double &v) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = -v.m_vec[i];
        }
        return ret;
    }
    friend PxVector3Double operator+ (const PxVector3Double &l, const PxVector3Double &r) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] + r.m_vec[i];
        }
        return ret;
    }
    friend PxVector3Double operator- (const PxVector3Double &l, const PxVector3Double &r) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] - r.m_vec[i];
        }
        return ret;
    }
    friend PxVector3Double operator* (const PxVector3Double &l, const PxVector3Double &r) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] * r.m_vec[i];
        }
        return ret;
    }
    friend PxVector3Double operator/ (const PxVector3Double &l, const PxVector3Double &r) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] / r.m_vec[i];
        }
        return ret;
    }

    friend void operator+= (PxVector3Double &l, const PxVector3Double &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] + r.m_vec[i];
        }
    }
    friend void operator-= (PxVector3Double &l, const PxVector3Double &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] - r.m_vec[i];
        }
    }
    friend void operator*= (PxVector3Double &l, const PxVector3Double &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] * r.m_vec[i];
        }
    }
    friend void operator/= (PxVector3Double &l, const PxVector3Double &r) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] / r.m_vec[i];
        }
    }

    friend PxVector3Double operator+ (const PxVector3Double &l, double f) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] + f;
        }
        return ret;
    }
    friend PxVector3Double operator- (const PxVector3Double &l, double f) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] - f;
        }
        return ret;
    }
    friend PxVector3Double operator* (const PxVector3Double &l, double f) {
        PxVector3Double ret;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] * f;
        }
        return ret;
    }
    friend PxVector3Double operator/ (const PxVector3Double &l, double f) {
        PxVector3Double ret;
        double inv = 1.f/f;
        for (int i=0; i < 3; i++) {
            ret.m_vec[i] = l.m_vec[i] * inv;
        }
        return ret;
    }

    friend void operator+= (PxVector3Double &l, double f) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] + f;
        }
    }
    friend void operator-= (PxVector3Double &l, double f) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] - f;
        }
    }
    friend void operator*= (PxVector3Double &l, double f) {
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] * f;
        }
    }
    friend void operator/= (PxVector3Double &l, double f) {
        double inv = 1.f/f;
        for (int i=0; i < 3; i++) {
            l.m_vec[i] = l.m_vec[i] * inv;
        }
    }

    // === vector operators ===
    /** @brief dot product */
    double	dot(const PxVector3Double &v) const {
        return m_vec[0]*v.m_vec[0] + m_vec[1]*v.m_vec[1] + m_vec[2]*v.m_vec[2];
    }
    /** @brief length squared of the vector */
    double	lengthSquared(void) const {
        return m_vec[0]*m_vec[0] + m_vec[1]*m_vec[1] + m_vec[2]*m_vec[2];
    }
    /** @brief length of the vector */
    double	length(void) const {
        return sqrt(lengthSquared());
    }
    /** @brief cross product */
    PxVector3Double cross(const PxVector3Double &v) const {
        return PxVector3Double(m_vec[1]*v.m_vec[2] - m_vec[2]*v.m_vec[1], m_vec[2]*v.m_vec[0] - m_vec[0]*v.m_vec[2], m_vec[0]*v.m_vec[1] - m_vec[1]*v.m_vec[0]);
    }
    /** @brief normalizes the vector */
    PxVector3Double &normalize(void) {
        const double l = 1.f / length();
        for (int i=0; i < 3; i++) {
            m_vec[i] *= l;
        }
        return *this;
    }

    friend class PxMatrix3x3;
430
protected:
431
    double m_vec[3];
432 433 434 435 436 437 438
};

MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimulationLink *parent, int sysid) :
    QObject(parent),
    link(parent),
    idle(false),
    current_active_wp_id(-1),
439 440
    yawReached(false),
    posReached(false),
441 442 443 444 445 446 447 448 449 450 451 452 453
    timestamp_lastoutside_orbit(0),
    timestamp_firstinside_orbit(0),
    waypoints(&waypoints1),
    waypoints_receive_buffer(&waypoints2),
    current_state(PX_WPP_IDLE),
    protocol_current_wp_id(0),
    protocol_current_count(0),
    protocol_current_partner_systemid(0),
    protocol_current_partner_compid(0),
    protocol_timestamp_lastaction(0),
    protocol_timeout(1000),
    timestamp_last_send_setpoint(0),
    systemid(sysid),
lm's avatar
lm committed
454
    compid(MAV_COMP_ID_MISSIONPLANNER),
455 456 457 458 459 460 461
    setpointDelay(10),
    yawTolerance(0.4f),
    verbose(true),
    debug(false),
    silent(false)
{
    connect(parent, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t)));
462
    qDebug() << "PLANNER FOR SYSTEM" << systemid << "INITIALIZED";
463 464 465 466 467 468 469 470 471
}



/*
*  @brief Sends an waypoint ack message
*/
void MAVLinkSimulationWaypointPlanner::send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type)
{
472
    mavlink_message_t msg;
lm's avatar
lm committed
473
    mavlink_mission_ack_t wpa;
474

475 476 477
    wpa.target_system = target_systemid;
    wpa.target_component = target_compid;
    wpa.type = type;
478

lm's avatar
lm committed
479
    mavlink_msg_mission_ack_encode(systemid, compid, &msg, &wpa);
480
    link->sendMAVLinkMessage(&msg);
481 482 483



484
    if (verbose) qDebug("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system);
485 486 487 488 489 490 491 492 493 494 495 496 497
}

/*
*  @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
*  This function broadcasts its new active waypoint sequence number and
*  sends a message to the controller, advising it to fly to the coordinates
*  of the waypoint with a given orientation
*
*  @param seq The waypoint sequence number the MAV should fly to.
*/
void MAVLinkSimulationWaypointPlanner::send_waypoint_current(uint16_t seq)
{
498
    if(seq < waypoints->size()) {
lm's avatar
lm committed
499
        mavlink_mission_item_t *cur = waypoints->at(seq);
500

501
        mavlink_message_t msg;
lm's avatar
lm committed
502
        mavlink_mission_current_t wpc;
503

504
        wpc.seq = cur->seq;
505

lm's avatar
lm committed
506
        mavlink_msg_mission_current_encode(systemid, compid, &msg, &wpc);
507
        link->sendMAVLinkMessage(&msg);
508 509 510



511 512
        if (verbose) qDebug("Broadcasted new current waypoint %u\n", wpc.seq);
    }
513 514 515 516 517 518 519 520 521 522 523 524
}

/*
*  @brief Directs the MAV to fly to a position
*
*  Sends a message to the controller, advising it to fly to the coordinates
*  of the waypoint with a given orientation
*
*  @param seq The waypoint sequence number the MAV should fly to.
*/
void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
{
525
    Q_UNUSED(seq);
526 527 528 529
}

void MAVLinkSimulationWaypointPlanner::send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count)
{
530
    mavlink_message_t msg;
lm's avatar
lm committed
531
    mavlink_mission_count_t wpc;
532

533 534 535
    wpc.target_system = target_systemid;
    wpc.target_component = target_compid;
    wpc.count = count;
536

lm's avatar
lm committed
537
    mavlink_msg_mission_count_encode(systemid, compid, &msg, &wpc);
538
    link->sendMAVLinkMessage(&msg);
539

540
    if (verbose) qDebug("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system);
541 542 543 544 545 546


}

void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq)
{
547 548
    if (seq < waypoints->size()) {
        mavlink_message_t msg;
lm's avatar
lm committed
549
        mavlink_mission_item_t *wp = waypoints->at(seq);
550 551
        wp->target_system = target_systemid;
        wp->target_component = target_compid;
552

553
        if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->command, wp->param3, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue);
554

lm's avatar
lm committed
555
        mavlink_msg_mission_item_encode(systemid, compid, &msg, wp);
556 557
        link->sendMAVLinkMessage(&msg);
        if (verbose) qDebug("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system);
558 559


560 561 562
    } else {
        if (verbose) qDebug("ERROR: index out of bounds\n");
    }
563 564 565 566
}

void MAVLinkSimulationWaypointPlanner::send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq)
{
567
    mavlink_message_t msg;
lm's avatar
lm committed
568
    mavlink_mission_request_t wpr;
569 570 571
    wpr.target_system = target_systemid;
    wpr.target_component = target_compid;
    wpr.seq = seq;
lm's avatar
lm committed
572
    mavlink_msg_mission_request_encode(systemid, compid, &msg, &wpr);
573 574
    link->sendMAVLinkMessage(&msg);
    if (verbose) qDebug("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system);
575 576 577 578 579 580 581 582 583 584 585 586 587


}

/*
*  @brief emits a message that a waypoint reached
*
*  This function broadcasts a message that a waypoint is reached.
*
*  @param seq The waypoint sequence number the MAV has reached.
*/
void MAVLinkSimulationWaypointPlanner::send_waypoint_reached(uint16_t seq)
{
588
    mavlink_message_t msg;
lm's avatar
lm committed
589
    mavlink_mission_item_reached_t wp_reached;
590

591
    wp_reached.seq = seq;
592

lm's avatar
lm committed
593
    mavlink_msg_mission_item_reached_encode(systemid, compid, &msg, &wp_reached);
594
    link->sendMAVLinkMessage(&msg);
595

596
    if (verbose) qDebug("Sent waypoint %u reached message\n", wp_reached.seq);
597 598 599 600 601 602


}

float MAVLinkSimulationWaypointPlanner::distanceToSegment(uint16_t seq, float x, float y, float z)
{
603
    if (seq < waypoints->size()) {
lm's avatar
lm committed
604
        mavlink_mission_item_t *cur = waypoints->at(seq);
605 606 607 608 609 610

        const PxVector3 A(cur->x, cur->y, cur->z);
        const PxVector3 C(x, y, z);

        // seq not the second last waypoint
        if ((uint16_t)(seq+1) < waypoints->size()) {
lm's avatar
lm committed
611
            mavlink_mission_item_t *next = waypoints->at(seq+1);
612 613 614 615 616 617 618 619 620 621 622 623
            const PxVector3 B(next->x, next->y, next->z);
            const float r = (B-A).dot(C-A) / (B-A).lengthSquared();
            if (r >= 0 && r <= 1) {
                const PxVector3 P(A + r*(B-A));
                return (P-C).length();
            } else if (r < 0.f) {
                return (C-A).length();
            } else {
                return (C-B).length();
            }
        } else {
            return (C-A).length();
624
        }
625 626
    }
    return -1.f;
627 628 629 630
}

float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y, float z)
{
631
    if (seq < waypoints->size()) {
lm's avatar
lm committed
632
        mavlink_mission_item_t *cur = waypoints->at(seq);
633

634 635
        const PxVector3 A(cur->x, cur->y, cur->z);
        const PxVector3 C(x, y, z);
636

637 638 639
        return (C-A).length();
    }
    return -1.f;
640 641
}

pixhawk's avatar
pixhawk committed
642 643
float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y)
{
644
    if (seq < waypoints->size()) {
lm's avatar
lm committed
645
        mavlink_mission_item_t *cur = waypoints->at(seq);
pixhawk's avatar
pixhawk committed
646

647 648
        const PxVector3 A(cur->x, cur->y, 0);
        const PxVector3 C(x, y, 0);
pixhawk's avatar
pixhawk committed
649

650 651 652
        return (C-A).length();
    }
    return -1.f;
pixhawk's avatar
pixhawk committed
653 654
}

655 656 657 658 659 660 661
void MAVLinkSimulationWaypointPlanner::handleMessage(const mavlink_message_t& msg)
{
    mavlink_handler(&msg);
}

void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* msg)
{
662
    // Handle param messages
663 664
//        paramClient->handleMAVLinkPacket(msg);

665
    //check for timed-out operations
666

667
    //qDebug() << "MAV: %d WAYPOINTPLANNER GOT MESSAGE" << systemid;
668

669
    uint64_t now = QGC::groundTimeMilliseconds();
670 671 672 673 674 675 676 677 678 679
    if (now-protocol_timestamp_lastaction > protocol_timeout && current_state != PX_WPP_IDLE) {
        if (verbose) qDebug() << "Last operation (state=%u) timed out, changing state to PX_WPP_IDLE" << current_state;
        current_state = PX_WPP_IDLE;
        protocol_current_count = 0;
        protocol_current_partner_systemid = 0;
        protocol_current_partner_compid = 0;
        protocol_current_wp_id = -1;

        if(waypoints->size() == 0) {
            current_active_wp_id = -1;
680
        }
681 682 683 684 685 686 687 688 689
    }

    if(now-timestamp_last_send_setpoint > setpointDelay) {
        send_setpoint(current_active_wp_id);
    }

    switch(msg->msgid) {
    case MAVLINK_MSG_ID_ATTITUDE: {
        if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) {
lm's avatar
lm committed
690
            mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id);
691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709
            if(wp->frame == 1) {
                mavlink_attitude_t att;
                mavlink_msg_attitude_decode(msg, &att);
                float yaw_tolerance = yawTolerance;
                //compare current yaw
                if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI) {
                    if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
                        yawReached = true;
                } else if(att.yaw - yaw_tolerance < 0.0f) {
                    float lowerBound = 360.0f + att.yaw - yaw_tolerance;
                    if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
                        yawReached = true;
                } else {
                    float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI;
                    if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
                        yawReached = true;
                }

                // FIXME HACK: Ignore yaw:
710

711 712
                yawReached = true;
            }
713
        }
714 715
        break;
    }
716

lm's avatar
lm committed
717
    case MAVLINK_MSG_ID_LOCAL_POSITION_NED: {
718
        if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) {
lm's avatar
lm committed
719
            mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id);
720 721

            if(wp->frame == 1) {
lm's avatar
lm committed
722 723
                mavlink_local_position_ned_t pos;
                mavlink_msg_local_position_ned_decode(msg, &pos);
724 725 726 727 728 729 730 731 732 733 734 735
                //qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z;

                posReached = false;

                // compare current position (given in message) with current waypoint
                float orbit = wp->param1;

                float dist;
                if (wp->param2 == 0) {
                    dist = distanceToSegment(current_active_wp_id, pos.x, pos.y, pos.z);
                } else {
                    dist = distanceToPoint(current_active_wp_id, pos.x, pos.y, pos.z);
736 737
                }

738 739
                if (dist >= 0.f && dist <= orbit && yawReached) {
                    posReached = true;
740
                }
741 742 743 744
            }
        }
        break;
    }
745

746 747
    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
        if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) {
lm's avatar
lm committed
748
            mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id);
pixhawk's avatar
pixhawk committed
749

750 751 752
            if(wp->frame == 0) {
                mavlink_global_position_int_t pos;
                mavlink_msg_global_position_int_decode(msg, &pos);
pixhawk's avatar
pixhawk committed
753

754 755 756
                float x = static_cast<double>(pos.lat)/1E7;
                float y = static_cast<double>(pos.lon)/1E7;
                //float z = static_cast<double>(pos.alt)/1000;
pixhawk's avatar
pixhawk committed
757

758
                //qDebug() << "Received new position: x:" << x << "| y:" << y << "| z:" << z;
pixhawk's avatar
pixhawk committed
759

760 761
                posReached = false;
                yawReached = true;
pixhawk's avatar
pixhawk committed
762

763 764 765
                // FIXME big hack for simulation!
                //float oneDegreeOfLatMeters = 111131.745f;
                float orbit = 0.00008f;
pixhawk's avatar
pixhawk committed
766

767 768
                // compare current position (given in message) with current waypoint
                //float orbit = wp->param1;
pixhawk's avatar
pixhawk committed
769

770
                // Convert to degrees
pixhawk's avatar
pixhawk committed
771 772


773 774
                float dist;
                dist = distanceToPoint(current_active_wp_id, x, y);
pixhawk's avatar
pixhawk committed
775

776 777 778
                if (dist >= 0.f && dist <= orbit && yawReached) {
                    posReached = true;
                    qDebug() << "WP PLANNER: REACHED POSITION";
pixhawk's avatar
pixhawk committed
779
                }
780
            }
pixhawk's avatar
pixhawk committed
781
        }
782 783 784
        break;
    }

pixhawk's avatar
pixhawk committed
785
    case MAVLINK_MSG_ID_COMMAND_LONG:
786
    { // special action from ground station
pixhawk's avatar
pixhawk committed
787 788
        mavlink_command_long_t action;
        mavlink_msg_command_long_decode(msg, &action);
LM's avatar
LM committed
789 790
        if(action.target_system == systemid) {
            if (verbose) qDebug("Waypoint: received message with action %d\n", action.command);
791
//            switch (action.action) {
792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817
//				case MAV_ACTION_LAUNCH:
//					if (verbose) std::cerr << "Launch received" << std::endl;
//					current_active_wp_id = 0;
//					if (waypoints->size()>0)
//					{
//						setActive(waypoints[current_active_wp_id]);
//					}
//					else
//						if (verbose) std::cerr << "No launch, waypointList empty" << std::endl;
//					break;

//				case MAV_ACTION_CONTINUE:
//					if (verbose) std::c
//					err << "Continue received" << std::endl;
//					idle = false;
//					setActive(waypoints[current_active_wp_id]);
//					break;

//				case MAV_ACTION_HALT:
//					if (verbose) std::cerr << "Halt received" << std::endl;
//					idle = true;
//					break;

//				default:
//					if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl;
//					break;
818
//            }
819 820
        }
        break;
821
	}
822

lm's avatar
lm committed
823 824 825
    case MAVLINK_MSG_ID_MISSION_ACK: {
        mavlink_mission_ack_t wpa;
        mavlink_msg_mission_ack_decode(msg, &wpa);
826

827 828
        if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wpa.target_system == systemid && wpa.target_component == compid)) {
            protocol_timestamp_lastaction = now;
829

830 831 832 833 834
            if (current_state == PX_WPP_SENDLIST || current_state == PX_WPP_SENDLIST_SENDWPS) {
                if (protocol_current_wp_id == waypoints->size()-1) {
                    if (verbose) qDebug("Received Ack after having sent last waypoint, going to state PX_WPP_IDLE\n");
                    current_state = PX_WPP_IDLE;
                    protocol_current_wp_id = 0;
835
                }
836 837 838 839 840
            }
        }
        break;
    }

lm's avatar
lm committed
841 842 843
    case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
        mavlink_mission_set_current_t wpc;
        mavlink_msg_mission_set_current_decode(msg, &wpc);
844 845 846 847 848 849

        if(wpc.target_system == systemid && wpc.target_component == compid) {
            protocol_timestamp_lastaction = now;

            if (current_state == PX_WPP_IDLE) {
                if (wpc.seq < waypoints->size()) {
lm's avatar
lm committed
850
                    if (verbose) qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n");
851 852 853 854 855 856 857
                    current_active_wp_id = wpc.seq;
                    uint32_t i;
                    for(i = 0; i < waypoints->size(); i++) {
                        if (i == current_active_wp_id) {
                            waypoints->at(i)->current = true;
                        } else {
                            waypoints->at(i)->current = false;
858
                        }
859 860 861 862 863 864 865 866
                    }
                    if (verbose) qDebug("New current waypoint %u\n", current_active_wp_id);
                    yawReached = false;
                    posReached = false;
                    send_waypoint_current(current_active_wp_id);
                    send_setpoint(current_active_wp_id);
                    timestamp_firstinside_orbit = 0;
                } else {
lm's avatar
lm committed
867
                    if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n");
868
                }
869 870 871 872 873 874 875
            }
        } else {
            qDebug() << "SYSTEM / COMPONENT ID MISMATCH: target sys:" << wpc.target_system << "this system:" << systemid << "target comp:" << wpc.target_component << "this comp:" << compid;
        }
        break;
    }

lm's avatar
lm committed
876 877 878
    case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
        mavlink_mission_request_list_t wprl;
        mavlink_msg_mission_request_list_decode(msg, &wprl);
879 880 881 882 883
        if(wprl.target_system == systemid && wprl.target_component == compid) {
            protocol_timestamp_lastaction = now;

            if (current_state == PX_WPP_IDLE || current_state == PX_WPP_SENDLIST) {
                if (waypoints->size() > 0) {
lm's avatar
lm committed
884 885
                    if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to PX_WPP_SENDLIST\n", msg->sysid);
                    if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state PX_WPP_SENDLIST\n", msg->sysid);
886 887 888 889 890
                    current_state = PX_WPP_SENDLIST;
                    protocol_current_wp_id = 0;
                    protocol_current_partner_systemid = msg->sysid;
                    protocol_current_partner_compid = msg->compid;
                } else {
lm's avatar
lm committed
891
                    if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
892
                }
893 894 895
                protocol_current_count = waypoints->size();
                send_waypoint_count(msg->sysid,msg->compid, protocol_current_count);
            } else {
lm's avatar
lm committed
896
                if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", current_state);
897 898
            }
        } else {
lm's avatar
lm committed
899
            if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because not my systemid or compid.\n");
900 901 902
        }
        break;
    }
903

lm's avatar
lm committed
904 905 906
    case MAVLINK_MSG_ID_MISSION_REQUEST: {
        mavlink_mission_request_t wpr;
        mavlink_msg_mission_request_decode(msg, &wpr);
907 908 909 910 911
        if(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid && wpr.target_system == systemid && wpr.target_component == compid) {
            protocol_timestamp_lastaction = now;

            //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
            if ((current_state == PX_WPP_SENDLIST && wpr.seq == 0) || (current_state == PX_WPP_SENDLIST_SENDWPS && (wpr.seq == protocol_current_wp_id || wpr.seq == protocol_current_wp_id + 1) && wpr.seq < waypoints->size())) {
lm's avatar
lm committed
912 913 914
                if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
                if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id + 1) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
                if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
915 916 917 918 919 920 921

                current_state = PX_WPP_SENDLIST_SENDWPS;
                protocol_current_wp_id = wpr.seq;
                send_waypoint(protocol_current_partner_systemid, protocol_current_partner_compid, wpr.seq);
            } else {
                if (verbose) {
                    if (!(current_state == PX_WPP_SENDLIST || current_state == PX_WPP_SENDLIST_SENDWPS)) {
lm's avatar
lm committed
922
                        qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", current_state);
923
                        break;
924
                    } else if (current_state == PX_WPP_SENDLIST) {
lm's avatar
lm committed
925
                        if (wpr.seq != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq);
926
                    } else if (current_state == PX_WPP_SENDLIST_SENDWPS) {
lm's avatar
lm committed
927 928 929
                        if (wpr.seq != protocol_current_wp_id && wpr.seq != protocol_current_wp_id + 1) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, protocol_current_wp_id, protocol_current_wp_id+1);
                        else if (wpr.seq >= waypoints->size()) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq);
                    } else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n");
930
                }
931 932 933 934
            }
        } else {
            //we we're target but already communicating with someone else
            if((wpr.target_system == systemid && wpr.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid)) {
lm's avatar
lm committed
935
                if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, protocol_current_partner_systemid);
936 937 938 939
            }
        }
        break;
    }
940

lm's avatar
lm committed
941 942 943
    case MAVLINK_MSG_ID_MISSION_COUNT: {
        mavlink_mission_count_t wpc;
        mavlink_msg_mission_count_decode(msg, &wpc);
944 945 946 947 948
        if(wpc.target_system == systemid && wpc.target_component == compid) {
            protocol_timestamp_lastaction = now;

            if (current_state == PX_WPP_IDLE || (current_state == PX_WPP_GETLIST && protocol_current_wp_id == 0)) {
                if (wpc.count > 0) {
lm's avatar
lm committed
949 950
                    if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) from %u changing state to PX_WPP_GETLIST\n", wpc.count, msg->sysid);
                    if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) again from %u\n", wpc.count, msg->sysid);
951 952 953 954 955 956 957 958 959 960 961 962 963 964 965

                    current_state = PX_WPP_GETLIST;
                    protocol_current_wp_id = 0;
                    protocol_current_partner_systemid = msg->sysid;
                    protocol_current_partner_compid = msg->compid;
                    protocol_current_count = wpc.count;

                    qDebug("clearing receive buffer and readying for receiving waypoints\n");
                    while(waypoints_receive_buffer->size() > 0) {
                        delete waypoints_receive_buffer->back();
                        waypoints_receive_buffer->pop_back();
                    }

                    send_waypoint_request(protocol_current_partner_systemid, protocol_current_partner_compid, protocol_current_wp_id);
                } else {
lm's avatar
lm committed
966
                    if (verbose) qDebug("Ignoring MAVLINK_MSG_ID_MISSION_COUNT from %u with count of %u\n", msg->sysid, wpc.count);
967
                }
968
            } else {
lm's avatar
lm committed
969 970 971
                if (verbose && !(current_state == PX_WPP_IDLE || current_state == PX_WPP_GETLIST)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm doing something else already (state=%i).\n", current_state);
                else if (verbose && current_state == PX_WPP_GETLIST && protocol_current_wp_id != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm already receiving waypoint %u.\n", protocol_current_wp_id);
                else qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT - FIXME: missed error description\n");
972
            }
973
        }
974 975 976
        break;
    }

lm's avatar
lm committed
977 978 979
    case MAVLINK_MSG_ID_MISSION_ITEM: {
        mavlink_mission_item_t wp;
        mavlink_msg_mission_item_decode(msg, &wp);
980 981 982 983 984 985

        if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wp.target_system == systemid && wp.target_component == compid)) {
            protocol_timestamp_lastaction = now;

            //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids
            if ((current_state == PX_WPP_GETLIST && wp.seq == 0) || (current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id && wp.seq < protocol_current_count)) {
lm's avatar
lm committed
986 987 988
                if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to PX_WPP_GETLIST_GETWPS\n", wp.seq, msg->sysid);
                if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid);
                if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq-1 == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid);
989 990 991

                current_state = PX_WPP_GETLIST_GETWPS;
                protocol_current_wp_id = wp.seq + 1;
lm's avatar
lm committed
992 993
                mavlink_mission_item_t* newwp = new mavlink_mission_item_t;
                memcpy(newwp, &wp, sizeof(mavlink_mission_item_t));
994 995 996 997 998 999 1000 1001 1002 1003 1004 1005
                waypoints_receive_buffer->push_back(newwp);

                if(protocol_current_wp_id == protocol_current_count && current_state == PX_WPP_GETLIST_GETWPS) {
                    if (verbose) qDebug("Got all %u waypoints, changing state to PX_WPP_IDLE\n", protocol_current_count);

                    send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0);

                    if (current_active_wp_id > waypoints_receive_buffer->size()-1) {
                        current_active_wp_id = waypoints_receive_buffer->size() - 1;
                    }

                    // switch the waypoints list
lm's avatar
lm committed
1006
                    std::vector<mavlink_mission_item_t*>* waypoints_temp = waypoints;
1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021
                    waypoints = waypoints_receive_buffer;
                    waypoints_receive_buffer = waypoints_temp;

                    //get the new current waypoint
                    uint32_t i;
                    for(i = 0; i < waypoints->size(); i++) {
                        if (waypoints->at(i)->current == 1) {
                            current_active_wp_id = i;
                            //if (verbose) qDebug("New current waypoint %u\n", current_active_wp_id);
                            yawReached = false;
                            posReached = false;
                            send_waypoint_current(current_active_wp_id);
                            send_setpoint(current_active_wp_id);
                            timestamp_firstinside_orbit = 0;
                            break;
1022
                        }
1023
                    }
1024

1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039
                    if (i == waypoints->size()) {
                        current_active_wp_id = -1;
                        yawReached = false;
                        posReached = false;
                        timestamp_firstinside_orbit = 0;
                    }

                    current_state = PX_WPP_IDLE;
                } else {
                    send_waypoint_request(protocol_current_partner_systemid, protocol_current_partner_compid, protocol_current_wp_id);
                }
            } else {
                if (current_state == PX_WPP_IDLE) {
                    //we're done receiving waypoints, answer with ack.
                    send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0);
lm's avatar
lm committed
1040
                    qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM while state=PX_WPP_IDLE, answered with WAYPOINT_ACK.\n");
1041
                }
1042 1043
                if (verbose) {
                    if (!(current_state == PX_WPP_GETLIST || current_state == PX_WPP_GETLIST_GETWPS)) {
lm's avatar
lm committed
1044
                        qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, current_state);
1045 1046
                        break;
                    } else if (current_state == PX_WPP_GETLIST) {
lm's avatar
lm committed
1047 1048
                        if(!(wp.seq == 0)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq);
                        else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
1049
                    } else if (current_state == PX_WPP_GETLIST_GETWPS) {
lm's avatar
lm committed
1050 1051 1052 1053
                        if (!(wp.seq == protocol_current_wp_id)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, protocol_current_wp_id);
                        else if (!(wp.seq < protocol_current_count)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq);
                        else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
                    } else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
1054 1055 1056 1057 1058
                }
            }
        } else {
            // We're target but already communicating with someone else
            if((wp.target_system == systemid && wp.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && current_state != PX_WPP_IDLE) {
lm's avatar
lm committed
1059
                if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, protocol_current_partner_systemid);
1060
            } else if(wp.target_system == systemid && wp.target_component == compid) {
lm's avatar
lm committed
1061
                if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid);
1062
            }
1063
        }
1064 1065 1066
        break;
    }

lm's avatar
lm committed
1067 1068 1069
    case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
        mavlink_mission_clear_all_t wpca;
        mavlink_msg_mission_clear_all_decode(msg, &wpca);
1070 1071 1072 1073

        if(wpca.target_system == systemid && wpca.target_component == compid && current_state == PX_WPP_IDLE) {
            protocol_timestamp_lastaction = now;

lm's avatar
lm committed
1074
            if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
1075 1076 1077 1078 1079 1080
            while(waypoints->size() > 0) {
                delete waypoints->back();
                waypoints->pop_back();
            }
            current_active_wp_id = -1;
        } else if (wpca.target_system == systemid && wpca.target_component == compid && current_state != PX_WPP_IDLE) {
lm's avatar
lm committed
1081
            if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, current_state);
1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094
        }
        break;
    }

    default: {
        if (debug) qDebug("Waypoint: received message of unknown type\n");
        break;
    }
    }

    //check if the current waypoint was reached
    if ((posReached && /*yawReached &&*/ !idle)) {
        if (current_active_wp_id < waypoints->size()) {
lm's avatar
lm committed
1095
            mavlink_mission_item_t *cur_wp = waypoints->at(current_active_wp_id);
1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126

            if (timestamp_firstinside_orbit == 0) {
                // Announce that last waypoint was reached
                if (verbose) qDebug("*** Reached waypoint %u ***\n", cur_wp->seq);
                send_waypoint_reached(cur_wp->seq);
                timestamp_firstinside_orbit = now;
            }

            // check if the MAV was long enough inside the waypoint orbit
            //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
            if(now-timestamp_firstinside_orbit >= cur_wp->param2*1000) {
                if (cur_wp->autocontinue) {
                    cur_wp->current = 0;
                    if (current_active_wp_id == waypoints->size() - 1 && waypoints->size() > 0) {
                        //the last waypoint was reached, if auto continue is
                        //activated restart the waypoint list from the beginning
                        current_active_wp_id = 0;
                    } else {
                        current_active_wp_id++;
                    }

                    // Fly to next waypoint
                    timestamp_firstinside_orbit = 0;
                    send_waypoint_current(current_active_wp_id);
                    send_setpoint(current_active_wp_id);
                    waypoints->at(current_active_wp_id)->current = true;
                    posReached = false;
                    //yawReached = false;
                    if (verbose) qDebug("Set new waypoint (%u)\n", current_active_wp_id);
                }
            }
1127
        }
1128 1129 1130
    } else {
        timestamp_lastoutside_orbit = now;
    }
1131
}