基于最新版本px4的takeoff代码分析

    takeoff是px4的一种飞行模式，跟之前分析的lotier部分是一种类型。

    takeoff模式也是由navigator部分进行调用的，所以也就印证了上一篇说navigator相当于一个分发器的说法。

    各种飞行模式实际上是根据不同的模式计算出期望的位置点，即sp_setpoint，有了这个基调，可以得出takeoff的基本功能就是获取当前位置的经纬度信息作为期望点的经纬度，然后用设置的起飞高度值作为期望点的高度。下面就看代码吧，看看代码是不是按照这个思路写的（当然是，我就是看完代码才这么说的，哈哈哈哈哈）

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

on_activation函数是飞行模式切换时候首次执行的函数，由此可知，takeoff模式刚切换就是调用set_takoff_position函数

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()
{
	//首先获取takeoff的triplet指针
	struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();

	float abs_altitude = 0.0f;

	float min_abs_altitude;
	//如果home的位置信息有效的话，最小的高度就是当前高度加上起飞的最小高度（个人觉得应该是home的高度加上起飞高度，但是鉴于起飞时的高度和home的高度相同，所以也可以用）
	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
	//如果起飞的triplet有效的话，用起飞的triplet的高度作为绝对高度。（该高度在navigator中指定）
	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) {//有一点去抖的意思
			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.
		//前面的条件不满足的话，则用最小绝对高度作为起飞高度
		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());
	}

	//如果算出来的高度还比当前高度小，则用当前高度作为起飞高度
	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_takdoff_item函数根据abs_altitude填空_mission_item结构体
	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();
	//对_mission_item结构体进行参数的限制
	mission_apply_limitation(_mission_item);
	//根据_mission_item的值对pos_sp_triplet->current进行赋值
	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;
	//如果设置的takeoff期望位置有效时，则执行下面函数
	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
		//将navigator中设置的takeoff_triplet的经纬度信息作为期望的位置
		pos_sp_triplet->current.lat = rep->current.lat;
		pos_sp_triplet->current.lon = rep->current.lon;

		// mark this as done
		//清除rep内容，之后没有模块发送takeoff命令时，takeoff_triplet都是无效状态
		memset(rep, 0, sizeof(*rep));
	}

	if (PX4_ISFINITE(pos_sp_triplet->current.lat) && PX4_ISFINITE(pos_sp_triplet->current.lon)) {
		_navigator->set_can_loiter_at_sp(true);

	} else {
		_navigator->set_can_loiter_at_sp(false);
	}

	_navigator->set_position_setpoint_triplet_updated();
}

刚切换到takeoff模式执行完on_activation函数之后，执行on_active函数。

void
Takeoff::on_active()
{
	struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();
	//如果又发布了新的takeoff位置信息，则takeoff_triplet会变成有效状态，再次执行set_takeoff_position函数
	if (rep->current.valid) {
		// reset the position
		set_takeoff_position();

	} else if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) {//如果任务地点已经达到，但是任务还没结束时，转成悬停模式
		_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();
	}
}