navigation部分位于代码Firmware/navigator文件夹中。其中不仅仅包含navigator的代码，最主要的9种不同的飞行模式的代码，它们针对不同的飞行模式计算出不同的期望的位置，即pos_sp_triplet中的数据。navigator模块承担的更是一个调度的功能，它解析commandor模块不同的命令，然后根据现有的条件进行判断，是否能切换到制定的飞行模式，如果不行则切换到当前条件下最安全的飞行模式。
什么都不说了，直接上代码吧
Navigator::run()
{
bool have_geofence_position_data = false;
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file */
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
PX4_INFO("Loading geofence from %s", GEOFENCE_FILENAME);
_geofence.loadFromFile(GEOFENCE_FILENAME);
}
params_update();
/* wakeup source(s) */
px4_pollfd_struct_t fds[2] {};
/* Setup of loop */
//订阅最重要的两个topic即local_pos本地位置信息和vehicle_status飞机当前的状态
fds[0].fd = _local_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _vehicle_status_sub;
fds[1].events = POLLIN;
/* rate-limit position subscription to 20 Hz / 50 ms */
orb_set_interval(_local_pos_sub, 50);
hrt_abstime last_geofence_check = 0;
while (!should_exit()) {
/* wait for up to 1000ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
if (pret == 0) {
/* Let the loop run anyway, don't do `continue` here. */
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
PX4_ERR("poll error %d, %d", pret, errno);
px4_usleep(10000);
continue;
} else {
if (fds[0].revents & POLLIN) {
/* success, local pos is available */
orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
}
}
perf_begin(_loop_perf);
//拷贝无人机当前状态
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vstatus);
//gps数据更新
/* gps updated */
if (_gps_pos_sub.updated()) {
_gps_pos_sub.copy(&_gps_pos);
if (_geofence.getSource() == Geofence::GF_SOURCE_GPS) {
have_geofence_position_data = true;
}
}
//全局位置更新
/* global position updated */
if (_global_pos_sub.updated()) {
_global_pos_sub.copy(&_global_pos);
if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
have_geofence_position_data = true;
}
}
//参数更新
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
params_update();
}
_land_detected_sub.update(&_land_detected);
_position_controller_status_sub.update();
_home_pos_sub.update(&_home_pos);
//处理和导航相关的命令
if (_vehicle_command_sub.updated()) {
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s cmd{};
_vehicle_command_sub.copy(&cmd);
if (_vehicle_command_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _vehicle_command_sub.get_last_generation());
}
//处理DO_GO_AROUND命令
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND) {
// DO_GO_AROUND is currently handled by the position controller (unacknowledged)
// TODO: move DO_GO_AROUND handling to navigator
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {//处理重新定位的指令
bool reposition_valid = true;
if (have_geofence_position_data &&
((_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN))) {
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
vehicle_global_position_s test_reposition_validity {};
test_reposition_validity.lat = cmd.param5;
test_reposition_validity.lon = cmd.param6;
if (PX4_ISFINITE(cmd.param7)) {
test_reposition_validity.alt = cmd.param7;
} else {
test_reposition_validity.alt = get_global_position()->alt;
}
reposition_valid = _geofence.check(test_reposition_validity, _gps_pos, _home_pos,
home_position_valid());
}
}
if (reposition_valid) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
position_setpoint_triplet_s *curr = get_position_setpoint_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_local_position()->heading;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
// If no argument for ground speed, use default value.
if (cmd.param1 <= 0 || !PX4_ISFINITE(cmd.param1)) {
rep->current.cruising_speed = get_cruising_speed();
} else {
rep->current.cruising_speed = cmd.param1;
}
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
// Go on and check which changes had been requested
if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4;
rep->current.yaw_valid = true;
} else {
rep->current.yaw = NAN;
rep->current.yaw_valid = false;
}
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
// Position change with optional altitude change
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7;
} else {
rep->current.alt = get_global_position()->alt;
}
} else if (PX4_ISFINITE(cmd.param7)) {
// Altitude without position change
// This condition is necessary for altitude changes just after takeoff where lat and lon are still nan
if (curr->current.valid && PX4_ISFINITE(curr->current.lat) && PX4_ISFINITE(curr->current.lon)) {
rep->current.lat = curr->current.lat;
rep->current.lon = curr->current.lon;
} else {
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
}
rep->current.alt = cmd.param7;
} else {
// All three set to NaN - hold in current position
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
rep->current.alt = get_global_position()->alt;
}
rep->previous.valid = true;
rep->previous.timestamp = hrt_absolute_time();
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
rep->next.valid = false;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Reposition is outside geofence");
}
// CMD_DO_REPOSITION is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) {//处理起飞的指令
position_setpoint_triplet_s *rep = get_takeoff_triplet();
// store current position as previous position and goal as next
//将当前的位置保存为takoff_triplet的前一个点的信息
rep->previous.yaw = get_local_position()->heading;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
//如果home的位置点有效，则根据命令中传的参数4(param4)设置yaw方向，否则将当前的yaw方向作为期望的yaw
if (home_position_valid()) {
rep->current.yaw = cmd.param4;
rep->previous.valid = true;
rep->previous.timestamp = hrt_absolute_time();
} else {
rep->current.yaw = get_local_position()->heading;
rep->previous.valid = false;
}
//通过参数传递的目的经纬度有效的话，则作为起飞的目标，否则用当前位置的经纬度作为起飞的目标经纬度
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
} else {
// If one of them is non-finite set the current global position as target
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
}
//期望的起飞的高度通过参数传递，但是后面的代码分析高度还是由很多其它的因素决定
rep->current.alt = cmd.param7;
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
rep->next.valid = false;
// CMD_NAV_TAKEOFF is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_LAND_START) {//处理开始降落的指令
/* find NAV_CMD_DO_LAND_START in the mission and
* use MAV_CMD_MISSION_START to start the mission there
*/
if (_mission.land_start()) {
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.param1 = _mission.get_land_start_index();
publish_vehicle_cmd(&vcmd);
} else {
PX4_WARN("planned mission landing not available");
}
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) {//处理启动任务的指令
if (_mission_result.valid && PX4_ISFINITE(cmd.param1) && (cmd.param1 >= 0)) {
if (!_mission.set_current_mission_index(cmd.param1)) {
PX4_WARN("CMD_MISSION_START failed");
}
}
// CMD_MISSION_START is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) {//处理改变速度的指令
if (cmd.param2 > FLT_EPSILON) {
// XXX not differentiating ground and airspeed yet
set_cruising_speed(cmd.param2);
} else {
set_cruising_speed();
/* if no speed target was given try to set throttle */
if (cmd.param3 > FLT_EPSILON) {
set_cruising_throttle(cmd.param3 / 100);
} else {
set_cruising_throttle();
}
}
// TODO: handle responses for supported DO_CHANGE_SPEED options?
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI
|| cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_ROI
|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION
|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET
|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE) {
_vroi = {};
switch (cmd.command) {
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI:
case vehicle_command_s::VEHICLE_CMD_NAV_ROI:
_vroi.mode = cmd.param1;
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_LOCATION;
_vroi.lat = cmd.param5;
_vroi.lon = cmd.param6;
_vroi.alt = cmd.param7;
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_WPNEXT;
_vroi.pitch_offset = (float)cmd.param5 * M_DEG_TO_RAD_F;
_vroi.roll_offset = (float)cmd.param6 * M_DEG_TO_RAD_F;
_vroi.yaw_offset = (float)cmd.param7 * M_DEG_TO_RAD_F;
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_NONE;
break;
default:
_vroi.mode = vehicle_command_s::VEHICLE_ROI_NONE;
break;
}
_vroi.timestamp = hrt_absolute_time();
_vehicle_roi_pub.publish(_vroi);
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
}
}
/* Check for traffic */
check_traffic();
/* Check geofence violation */
if (have_geofence_position_data &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
bool inside = _geofence.check(_global_pos, _gps_pos, _home_pos,
home_position_valid());
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
_geofence_result.timestamp = hrt_absolute_time();
_geofence_result.geofence_action = _geofence.getGeofenceAction();
_geofence_result.home_required = _geofence.isHomeRequired();
if (!inside) {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = true;
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(&_mavlink_log_pub, "Geofence violation");
/* If we are already in loiter it is very likely that we are doing a reposition
* so we should block that by repositioning in the current location */
if (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN
&& get_vstatus()->nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.yaw = get_local_position()->heading;
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
rep->current.alt = get_global_position()->alt;
rep->current.valid = true;
_pos_sp_triplet_updated = true;
}
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = false;
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
_geofence_result_pub.publish(_geofence_result);
}
/* Do stuff according to navigation state set by commander */
NavigatorMode *navigation_mode_new{nullptr};
//根据飞机当前的导航状态，切换到不同的任务模式
switch (_vstatus.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_NORMAL);
navigation_mode_new = &_mission;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_loiter;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: {
_pos_sp_triplet_published_invalid_once = false;
const bool rtl_activated = _previous_nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
switch (rtl_type()) {
case RTL::RTL_LAND: // use mission landing
case RTL::RTL_CLOSEST:
if (rtl_activated) {
if (rtl_type() == RTL::RTL_LAND) {
mavlink_log_info(get_mavlink_log_pub(), "RTL LAND activated");
} else {
mavlink_log_info(get_mavlink_log_pub(), "RTL Closest landing point activated");
}
}
// if RTL is set to use a mission landing and mission has a planned landing, then use MISSION to fly there directly
if (on_mission_landing() && !get_land_detected()->landed) {
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
navigation_mode_new = &_mission;
} else {
navigation_mode_new = &_rtl;
}
break;
case RTL::RTL_MISSION:
if (_mission.get_land_start_available() && !get_land_detected()->landed) {
// the mission contains a landing spot
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
if (_navigation_mode != &_mission) {
if (_navigation_mode == nullptr) {
// switching from an manual mode, go to landing if not already landing
if (!on_mission_landing()) {
start_mission_landing();
}
} else {
// switching from an auto mode, continue the mission from the closest item
_mission.set_closest_item_as_current();
}
}
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, continue mission");
}
navigation_mode_new = &_mission;
} else {
// fly the mission in reverse if switching from a non-manual mode
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_REVERSE);
if ((_navigation_mode != nullptr && (_navigation_mode != &_rtl || _mission.get_mission_changed())) &&
(! _mission.get_mission_finished()) &&
(!get_land_detected()->landed)) {
// determine the closest mission item if switching from a non-mission mode, and we are either not already
// mission mode or the mission waypoints changed.
// The seconds condition is required so that when no mission was uploaded and one is available the closest
// mission item is determined and also that if the user changes the active mission index while rtl is active
// always that waypoint is tracked first.
if ((_navigation_mode != &_mission) && (rtl_activated || _mission.get_mission_waypoints_changed())) {
_mission.set_closest_item_as_current();
}
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly mission in reverse");
}
navigation_mode_new = &_mission;
} else {
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL Mission activated, fly to home");
}
navigation_mode_new = &_rtl;
}
}
break;
default:
if (rtl_activated) {
mavlink_log_info(get_mavlink_log_pub(), "RTL HOME activated");
}
navigation_mode_new = &_rtl;
break;
}
break;
}
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_takeoff;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_precland;
_precland.set_mode(PrecLandMode::Required);
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_engineFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_gpsFailure;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = &_follow_target;
break;
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_STAB:
default:
navigation_mode_new = nullptr;
_can_loiter_at_sp = false;
break;
}
// Do not execute any state machine while we are disarmed
if (_vstatus.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
navigation_mode_new = nullptr;
}
// update the vehicle status
_previous_nav_state = _vstatus.nav_state;
/* we have a new navigation mode: reset triplet */
if (_navigation_mode != navigation_mode_new) {
// We don't reset the triplet if we just did an auto-takeoff and are now
// going to loiter. Otherwise, we lose the takeoff altitude and end up lower
// than where we wanted to go.
//
// FIXME: a better solution would be to add reset where they are needed and remove
// this general reset here.
if (!(_navigation_mode == &_takeoff &&
navigation_mode_new == &_loiter)) {
reset_triplets();
}
}
_navigation_mode = navigation_mode_new;
/* iterate through navigation modes and set active/inactive for each */
for (unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
if (_navigation_mode_array[i]) {
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
}
/* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
_pos_sp_triplet_published_invalid_once = true;
reset_triplets();
}
if (_pos_sp_triplet_updated) {
publish_position_setpoint_triplet();
}
if (_mission_result_updated) {
publish_mission_result();
}
perf_end(_loop_perf);
}
}
由于代码内容很多，只是提供一个分析的样例，只能根据自己的实际需要，针对某个部分进行的详细的分析，从而二次开发出自己的功能
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