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text:
/**
 * @file navigator_mission.cpp
 *
 * Helper class to access missions
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Ban Siesta <bansiesta@gmail.com>
 * @author Simon Wilks <simon@uaventure.com>
 * @author Andreas Antener <andreas@uaventure.com>
 * @author Sander Smeets <sander@droneslab.com>
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include "mission.h"
#include "navigator.h"

#include <string.h>
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <lib/ecl/geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>

Mission::Mission(Navigator *navigator) :
	MissionBlock(navigator),
	ModuleParams(navigator)
{
}

void
Mission::on_inactive()
{
	/* We need to reset the mission cruising speed, otherwise the
	 * mission velocity which might have been set using mission items
	 * is used for missions such as RTL. */
	_navigator->set_cruising_speed();

	/* Without home a mission can't be valid yet anyway, let's wait. */
	if (!_navigator->home_position_valid()) {
		return;
	}

	if (_inited) {
		if (_mission_sub.updated()) {
			update_mission();

			if (_mission_type == MISSION_TYPE_NONE && _mission.count > 0) {
				_mission_type = MISSION_TYPE_MISSION;
			}
		}

		/* reset the current mission if needed */
		if (need_to_reset_mission(false)) {
			reset_mission(_mission);
			update_mission();
			_navigator->reset_cruising_speed();
		}

	} else {

		/* load missions from storage */
		mission_s mission_state = {};

		dm_lock(DM_KEY_MISSION_STATE);

		/* read current state */
		int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

		dm_unlock(DM_KEY_MISSION_STATE);

		if (read_res == sizeof(mission_s)) {
			_mission.dataman_id = mission_state.dataman_id;
			_mission.count = mission_state.count;
			_current_mission_index = mission_state.current_seq;

			// find and store landing start marker (if available)
			find_mission_land_start();
		}

		/* On init let's check the mission, maybe there is already one available. */
		check_mission_valid(false);

		_inited = true;
	}

	/* require takeoff after non-loiter or landing */
	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
		_need_takeoff = true;
	}

	/* reset so current mission item gets restarted if mission was paused */
	_work_item_type = WORK_ITEM_TYPE_DEFAULT;

	/* reset so MISSION_ITEM_REACHED isn't published */
	_navigator->get_mission_result()->seq_reached = -1;
}

void
Mission::on_inactivation()
{
	// Disable camera trigger
	vehicle_command_s cmd = {};
	cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
	// Pause trigger
	cmd.param1 = -1.0f;
	cmd.param3 = 1.0f;
	_navigator->publish_vehicle_cmd(&cmd);
}

void
Mission::on_activation()
{
	if (_mission_waypoints_changed) {
		// do not set the closest mission item in the normal mission mode
		if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) {
			_current_mission_index = index_closest_mission_item();
		}

		_mission_waypoints_changed = false;
	}

	// we already reset the mission items
	_execution_mode_changed = false;

	set_mission_items();

	// unpause triggering if it was paused
	vehicle_command_s cmd = {};
	cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
	// unpause trigger
	cmd.param1 = -1.0f;
	cmd.param3 = 0.0f;
	_navigator->publish_vehicle_cmd(&cmd);
}

void
Mission::on_active()
{
	check_mission_valid(false);

	/* check if anything has changed */
	bool mission_sub_updated = _mission_sub.updated();

	if (mission_sub_updated) {
		update_mission();
	}

	/* reset the current mission if needed */
	if (need_to_reset_mission(true)) {
		reset_mission(_mission);
		update_mission();
		_navigator->reset_cruising_speed();
		mission_sub_updated = true;
	}

	_mission_changed = false;

	/* reset mission items if needed */
	if (mission_sub_updated || _mission_waypoints_changed || _execution_mode_changed) {
		if (_mission_waypoints_changed) {
			// do not set the closest mission item in the normal mission mode
			if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_NORMAL) {
				_current_mission_index = index_closest_mission_item();
			}

			_mission_waypoints_changed = false;
		}

		_execution_mode_changed = false;
		set_mission_items();
	}

	/* lets check if we reached the current mission item */
	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
		/* If we just completed a takeoff which was inserted before the right waypoint,
		   there is no need to report that we reached it because we didn't. */
		if (_work_item_type != WORK_ITEM_TYPE_TAKEOFF) {
			set_mission_item_reached();
		}

		if (_mission_item.autocontinue) {
			/* switch to next waypoint if 'autocontinue' flag set */
			advance_mission();
			set_mission_items();
		}

	} else if (_mission_type != MISSION_TYPE_NONE && _param_mis_altmode.get() == MISSION_ALTMODE_FOH) {

		altitude_sp_foh_update();

	} else {
		/* if waypoint position reached allow loiter on the setpoint */
		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
			_navigator->set_can_loiter_at_sp(true);
		}
	}

	/* check if a cruise speed change has been commanded */
	if (_mission_type != MISSION_TYPE_NONE) {
		cruising_speed_sp_update();
	}

	/* see if we need to update the current yaw heading */
	if (!_param_mis_mnt_yaw_ctl.get()
	    && (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
	    && (_navigator->get_vroi().mode != vehicle_roi_s::ROI_NONE)
	    && !(_mission_item.nav_cmd == NAV_CMD_TAKEOFF
		 || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
		 || _mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
		 || _mission_item.nav_cmd == NAV_CMD_LAND
		 || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
		 || _work_item_type == WORK_ITEM_TYPE_ALIGN)) {
		// Mount control is disabled If the vehicle is in ROI-mode, the vehicle
		// needs to rotate such that ROI is in the field of view.
		// ROI only makes sense for multicopters.
		heading_sp_update();
	}

	// TODO: Add vtol heading update method if required.
	// Question: Why does vtol ever have to update heading?

	/* check if landing needs to be aborted */
	if ((_mission_item.nav_cmd == NAV_CMD_LAND)
	    && (_navigator->abort_landing())) {

		do_abort_landing();
	}

	if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) {
		// switch out of precision land once landed
		if (_navigator->get_land_detected()->landed) {
			_navigator->get_precland()->on_inactivation();
			_work_item_type = WORK_ITEM_TYPE_DEFAULT;

		} else {
			_navigator->get_precland()->on_active();
		}
	}
}

bool
Mission::set_current_mission_index(uint16_t index)
{
	if (_navigator->get_mission_result()->valid &&
	    (index != _current_mission_index) && (index < _mission.count)) {

		_current_mission_index = index;

		// a mission index is set manually which has the higher priority than the closest mission item
		// as it is set by the user
		_mission_waypoints_changed = false;

		// update mission items if already in active mission
		if (_navigator->is_planned_mission()) {
			// prevent following "previous - current" line
			_navigator->get_position_setpoint_triplet()->previous.valid = false;
			_navigator->get_position_setpoint_triplet()->current.valid = false;
			_navigator->get_position_setpoint_triplet()->next.valid = false;
			set_mission_items();
		}

		return true;
	}

	return false;
}

void
Mission::set_closest_item_as_current()
{
	_current_mission_index = index_closest_mission_item();
}

void
Mission::set_execution_mode(const uint8_t mode)
{
	if (_mission_execution_mode != mode) {
		_execution_mode_changed = true;
		_navigator->get_mission_result()->execution_mode = mode;

		switch (_mission_execution_mode) {
		case mission_result_s::MISSION_EXECUTION_MODE_NORMAL:
		case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD:
			if (mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) {
				// command a transition if in vtol mc mode
				if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
				    _navigator->get_vstatus()->is_vtol &&
				    !_navigator->get_land_detected()->landed) {

					set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);

					position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
					pos_sp_triplet->previous = pos_sp_triplet->current;
					generate_waypoint_from_heading(&pos_sp_triplet->current, _mission_item.yaw);
					_navigator->set_position_setpoint_triplet_updated();
					issue_command(_mission_item);
				}

				if (_mission_type == MISSION_TYPE_NONE && _mission.count > 0) {
					_mission_type = MISSION_TYPE_MISSION;
				}

				if (_current_mission_index > _mission.count - 1) {
					_current_mission_index = _mission.count - 1;

				} else if (_current_mission_index > 0) {
					--_current_mission_index;
				}

				_work_item_type = WORK_ITEM_TYPE_DEFAULT;
			}

			break;

		case mission_result_s::MISSION_EXECUTION_MODE_REVERSE:
			if ((mode == mission_result_s::MISSION_EXECUTION_MODE_NORMAL) ||
			    (mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD)) {
				// handle switch from reverse to forward mission
				if (_current_mission_index < 0) {
					_current_mission_index = 0;

				} else if (_current_mission_index < _mission.count - 1) {
					++_current_mission_index;
				}

				_work_item_type = WORK_ITEM_TYPE_DEFAULT;
			}

			break;

		}

		_mission_execution_mode = mode;
	}
}

bool
Mission::find_mission_land_start()
{
	/* return true if a MAV_CMD_DO_LAND_START is found and internally save the index
	 *  return false if not found
	 *
	 * TODO: implement full spec and find closest landing point geographically
	 */

	const dm_item_t dm_current = (dm_item_t)_mission.dataman_id;

	for (size_t i = 0; i < _mission.count; i++) {
		struct mission_item_s missionitem = {};
		const ssize_t len = sizeof(missionitem);

		if (dm_read(dm_current, i, &missionitem, len) != len) {
			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
			PX4_ERR("dataman read failure");
			break;
		}

		if ((missionitem.nav_cmd == NAV_CMD_DO_LAND_START) ||
		    ((missionitem.nav_cmd == NAV_CMD_VTOL_LAND) && _navigator->get_vstatus()->is_vtol) ||
		    (missionitem.nav_cmd == NAV_CMD_LAND)) {
			_land_start_available = true;
			_land_start_index = i;
			return true;
		}
	}

	_land_start_available = false;
	return false;
}

bool
Mission::land_start()
{
	// if not currently landing, jump to do_land_start
	if (_land_start_available) {
		if (landing()) {
			return true;

		} else {
			set_current_mission_index(get_land_start_index());
			return landing();
		}
	}

	return false;
}

bool
Mission::landing()
{
	// vehicle is currently landing if
	//  mission valid, still flying, and in the landing portion of mission

	const bool mission_valid = _navigator->get_mission_result()->valid;
	const bool on_landing_stage = _land_start_available && (_current_mission_index >= get_land_start_index());

	return mission_valid && on_landing_stage;
}

void
Mission::update_mission()
{

	bool failed = true;

	/* reset triplets */
	_navigator->reset_triplets();

	/* Reset vehicle_roi
	 * Missions that do not explicitly configure ROI would not override
	 * an existing ROI setting from previous missions */
	_navigator->reset_vroi();

	const mission_s old_mission = _mission;

	if (_mission_sub.copy(&_mission)) {
		/* determine current index */
		if (_mission.current_seq >= 0 && _mission.current_seq < (int)_mission.count) {
			_current_mission_index = _mission.current_seq;

		} else {
			/* if less items available, reset to first item */
			if (_current_mission_index >= (int)_mission.count) {
				_current_mission_index = 0;

			} else if (_current_mission_index < 0) {
				/* if not initialized, set it to 0 */
				_current_mission_index = 0;
			}

			/* otherwise, just leave it */
		}

		check_mission_valid(true);

		failed = !_navigator->get_mission_result()->valid;

		if (!failed) {
			/* reset mission failure if we have an updated valid mission */
			_navigator->get_mission_result()->failure = false;

			/* reset sequence info as well */
			_navigator->get_mission_result()->seq_reached = -1;
			_navigator->get_mission_result()->seq_total = _mission.count;

			/* reset work item if new mission has been accepted */
			_work_item_type = WORK_ITEM_TYPE_DEFAULT;
			_mission_changed = true;
		}

		/* check if the mission waypoints changed while the vehicle is in air
		 * TODO add a flag to mission_s which actually tracks if the position of the waypoint changed */
		if (((_mission.count != old_mission.count) ||
		     (_mission.dataman_id != old_mission.dataman_id)) &&
		    !_navigator->get_land_detected()->landed) {
			_mission_waypoints_changed = true;
		}

	} else {
		PX4_ERR("mission update failed");
	}

	if (failed) {
		_mission.count = 0;
		_mission.current_seq = 0;
		_current_mission_index = 0;

		PX4_ERR("mission check failed");
	}

	// find and store landing start marker (if available)
	find_mission_land_start();

	set_current_mission_item();
}

void
Mission::advance_mission()
{
	/* do not advance mission item if we're processing sub mission work items */
	if (_work_item_type != WORK_ITEM_TYPE_DEFAULT) {
		return;
	}

	switch (_mission_type) {
	case MISSION_TYPE_MISSION:
		switch (_mission_execution_mode) {
		case mission_result_s::MISSION_EXECUTION_MODE_NORMAL:
		case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: {
				_current_mission_index++;
				break;
			}

		case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: {
				// find next position item in reverse order
				dm_item_t dm_current = (dm_item_t)(_mission.dataman_id);

				for (int32_t i = _current_mission_index - 1; i >= 0; i--) {
					struct mission_item_s missionitem = {};
					const ssize_t len = sizeof(missionitem);

					if (dm_read(dm_current, i, &missionitem, len) != len) {
						/* not supposed to happen unless the datamanager can't access the SD card, etc. */
						PX4_ERR("dataman read failure");
						break;
					}

					if (item_contains_position(missionitem)) {
						_current_mission_index = i;
						return;
					}
				}

				// finished flying back the mission
				_current_mission_index = -1;
				break;
			}

		default:
			_current_mission_index++;
		}

		break;

	case MISSION_TYPE_NONE:
	default:
		break;
	}
}

void
Mission::set_mission_items()
{
	/* reset the altitude foh (first order hold) logic, if altitude foh is enabled (param) a new foh element starts now */
	_min_current_sp_distance_xy = FLT_MAX;

	/* the home dist check provides user feedback, so we initialize it to this */
	bool user_feedback_done = false;

	/* mission item that comes after current if available */
	struct mission_item_s mission_item_next_position;
	bool has_next_position_item = false;

	work_item_type new_work_item_type = WORK_ITEM_TYPE_DEFAULT;

	if (prepare_mission_items(&_mission_item, &mission_item_next_position, &has_next_position_item)) {
		/* if mission type changed, notify */
		if (_mission_type != MISSION_TYPE_MISSION) {
			mavlink_log_info(_navigator->get_mavlink_log_pub(),
					 _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE ? "Executing Reverse Mission" :
					 "Executing Mission");
			user_feedback_done = true;
		}

		_mission_type = MISSION_TYPE_MISSION;

	} else {
		/* no mission available or mission finished, switch to loiter */
		if (_mission_type != MISSION_TYPE_NONE) {

			if (_navigator->get_land_detected()->landed) {
				mavlink_log_info(_navigator->get_mavlink_log_pub(),
						 _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE ? "Reverse Mission finished, landed" :
						 "Mission finished, landed.");

			} else {
				/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
				mavlink_log_info(_navigator->get_mavlink_log_pub(),
						 _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE ? "Reverse Mission finished, loitering" :
						 "Mission finished, loitering.");

				/* use last setpoint for loiter */
				_navigator->set_can_loiter_at_sp(true);
			}

			user_feedback_done = true;
		}

		_mission_type = MISSION_TYPE_NONE;

		/* set loiter mission item and ensure that there is a minimum clearance from home */
		set_loiter_item(&_mission_item, _navigator->get_takeoff_min_alt());

		/* update position setpoint triplet  */
		position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
		pos_sp_triplet->previous.valid = false;
		mission_apply_limitation(_mission_item);
		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
		pos_sp_triplet->next.valid = false;

		/* reuse setpoint for LOITER only if it's not IDLE */
		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);

		// set mission finished
		_navigator->get_mission_result()->finished = true;
		_navigator->set_mission_result_updated();

		if (!user_feedback_done) {
			/* only tell users that we got no mission if there has not been any
			 * better, more specific feedback yet
			 * https://en.wikipedia.org/wiki/Loiter_(aeronautics)
			 */

			if (_navigator->get_land_detected()->landed) {
				/* landed, refusing to take off without a mission */
				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, refusing takeoff.");

			} else {
				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "No valid mission available, loitering.");
			}

			user_feedback_done = true;
		}

		_navigator->set_position_setpoint_triplet_updated();
		return;
	}

	/*********************************** handle mission item *********************************************/

	/* handle mission items depending on the mode */

	const position_setpoint_s current_setpoint_copy = _navigator->get_position_setpoint_triplet()->current;

	if (item_contains_position(_mission_item)) {
		switch (_mission_execution_mode) {
		case mission_result_s::MISSION_EXECUTION_MODE_NORMAL:
		case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: {
				/* force vtol land */
				if (_navigator->force_vtol() && _mission_item.nav_cmd == NAV_CMD_LAND) {
					_mission_item.nav_cmd = NAV_CMD_VTOL_LAND;
				}

				position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

				// allow weather vane in mission
				pos_sp_triplet->current.allow_weather_vane = true;

				/* do takeoff before going to setpoint if needed and not already in takeoff */
				/* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */
				if (do_need_vertical_takeoff() &&
				    _work_item_type == WORK_ITEM_TYPE_DEFAULT &&
				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {

					new_work_item_type = WORK_ITEM_TYPE_TAKEOFF;

					/* use current mission item as next position item */
					mission_item_next_position = _mission_item;
					mission_item_next_position.nav_cmd = NAV_CMD_WAYPOINT;
					has_next_position_item = true;

					float takeoff_alt = calculate_takeoff_altitude(&_mission_item);

					mavlink_log_info(_navigator->get_mavlink_log_pub(), "Takeoff to %.1f meters above home.",
							 (double)(takeoff_alt - _navigator->get_home_position()->alt));

					_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
					_mission_item.lat = _navigator->get_global_position()->lat;
					_mission_item.lon = _navigator->get_global_position()->lon;
					/* hold heading for takeoff items */
					_mission_item.yaw = _navigator->get_global_position()->yaw;
					_mission_item.altitude = takeoff_alt;
					_mission_item.altitude_is_relative = false;
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;

				} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
					   && _work_item_type == WORK_ITEM_TYPE_DEFAULT
					   && new_work_item_type == WORK_ITEM_TYPE_DEFAULT
					   && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {

					/* if there is no need to do a takeoff but we have a takeoff item, treat is as waypoint */
					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
					_mission_item.yaw = NAN;
					/* since _mission_item.time_inside and and _mission_item.pitch_min build a union, we need to set time_inside to zero
					 * since in NAV_CMD_TAKEOFF mode there is currently no time_inside.
					 * Note also that resetting time_inside to zero will cause pitch_min to be zero as well.
					 */
					_mission_item.time_inside = 0.0f;

				} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
					   && _work_item_type == WORK_ITEM_TYPE_DEFAULT
					   && new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {

					if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
						/* haven't transitioned yet, trigger vtol takeoff logic below */
						_work_item_type = WORK_ITEM_TYPE_TAKEOFF;

					} else {
						/* already in fixed-wing, go to waypoint */
						_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					}

					/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
					_mission_item.yaw = NAN;
				}

				/* if we just did a normal takeoff navigate to the actual waypoint now */
				if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF &&
				    _work_item_type == WORK_ITEM_TYPE_TAKEOFF &&
				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {

					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
					_mission_item.yaw = NAN;
					/* since _mission_item.time_inside and and _mission_item.pitch_min build a union, we need to set time_inside to zero
					 * since in NAV_CMD_TAKEOFF mode there is currently no time_inside.
					 */
					_mission_item.time_inside = 0.0f;
				}

				/* if we just did a VTOL takeoff, prepare transition */
				if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF &&
				    _work_item_type == WORK_ITEM_TYPE_TAKEOFF &&
				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT &&
				    _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
				    !_navigator->get_land_detected()->landed) {

					/* disable weathervane before front transition for allowing yaw to align */
					pos_sp_triplet->current.allow_weather_vane = false;

					/* set yaw setpoint to heading of VTOL_TAKEOFF wp against current position */
					_mission_item.yaw = get_bearing_to_next_waypoint(
								    _navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
								    _mission_item.lat, _mission_item.lon);

					_mission_item.force_heading = true;

					new_work_item_type = WORK_ITEM_TYPE_ALIGN;

					/* set position setpoint to current while aligning */
					_mission_item.lat = _navigator->get_global_position()->lat;
					_mission_item.lon = _navigator->get_global_position()->lon;
				}

				/* heading is aligned now, prepare transition */
				if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF &&
				    _work_item_type == WORK_ITEM_TYPE_ALIGN &&
				    _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
				    !_navigator->get_land_detected()->landed) {

					/* check if the vtol_takeoff waypoint is on top of us */
					if (do_need_move_to_takeoff()) {
						new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
					}

					set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);

					/* set position setpoint to target during the transition */
					// TODO: if has_next_position_item and use_next set next, or if use_heading set generated
					generate_waypoint_from_heading(&pos_sp_triplet->current, _mission_item.yaw);
				}

				/* takeoff completed and transitioned, move to takeoff wp as fixed wing */
				if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
				    && _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF
				    && new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {

					new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;
				}

				/* move to land wp as fixed wing */
				if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
				    && _work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && new_work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && !_navigator->get_land_detected()->landed) {

					new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND;

					/* use current mission item as next position item */
					mission_item_next_position = _mission_item;
					has_next_position_item = true;

					float altitude = _navigator->get_global_position()->alt;

					if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) {
						altitude = pos_sp_triplet->current.alt;
					}

					_mission_item.altitude = altitude;
					_mission_item.altitude_is_relative = false;
					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;
					_mission_item.vtol_back_transition = true;
				}

				/* transition to MC */
				if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
				    && _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND
				    && new_work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
				    && !_navigator->get_land_detected()->landed) {

					set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);

					new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION;
				}

				/* move to landing waypoint before descent if necessary */
				if (do_need_move_to_land() &&
				    (_work_item_type == WORK_ITEM_TYPE_DEFAULT ||
				     _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION) &&
				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {

					new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND;

					/* use current mission item as next position item */
					mission_item_next_position = _mission_item;
					has_next_position_item = true;

					/*
					 * Ignoring waypoint altitude:
					 * Set altitude to the same as we have now to prevent descending too fast into
					 * the ground. Actual landing will descend anyway until it touches down.
					 * XXX: We might want to change that at some point if it is clear to the user
					 * what the altitude means on this waypoint type.
					 */
					float altitude = _navigator->get_global_position()->alt;

					if (pos_sp_triplet->current.valid
					    && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) {
						altitude = pos_sp_triplet->current.alt;
					}

					_mission_item.altitude = altitude;
					_mission_item.altitude_is_relative = false;
					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;

				} else if (_mission_item.nav_cmd == NAV_CMD_LAND && _work_item_type == WORK_ITEM_TYPE_DEFAULT) {
					if (_mission_item.land_precision > 0 && _mission_item.land_precision < 3) {
						new_work_item_type = WORK_ITEM_TYPE_PRECISION_LAND;

						if (_mission_item.land_precision == 1) {
							_navigator->get_precland()->set_mode(PrecLandMode::Opportunistic);

						} else { //_mission_item.land_precision == 2
							_navigator->get_precland()->set_mode(PrecLandMode::Required);
						}

						_navigator->get_precland()->on_activation();

					}
				}

				/* we just moved to the landing waypoint, now descend */
				if (_work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND &&
				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {

					if (_mission_item.land_precision > 0 && _mission_item.land_precision < 3) {
						new_work_item_type = WORK_ITEM_TYPE_PRECISION_LAND;

						if (_mission_item.land_precision == 1) {
							_navigator->get_precland()->set_mode(PrecLandMode::Opportunistic);

						} else { //_mission_item.land_precision == 2
							_navigator->get_precland()->set_mode(PrecLandMode::Required);
						}

						_navigator->get_precland()->on_activation();

					}

				}

				/* ignore yaw for landing items */
				/* XXX: if specified heading for landing is desired we could add another step before the descent
				 * that aligns the vehicle first */
				if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) {
					_mission_item.yaw = NAN;
				}

				// for fast forward convert certain types to simple waypoint
				// XXX: add other types which should be ignored in fast forward
				if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD &&
				    ((_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) ||
				     (_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT))) {
					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;
				}

				break;
			}

		case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: {
				if (item_contains_position(_mission_item)) {
					// convert mission item to a simple waypoint
					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;

				} else {
					mavlink_log_critical(_navigator->get_mavlink_log_pub(), "MissionReverse: Got a non-position mission item, ignoring it");
				}

				break;
			}
		}

	} else {
		/* handle non-position mission items such as commands */
		switch (_mission_execution_mode) {
		case mission_result_s::MISSION_EXECUTION_MODE_NORMAL:
		case mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD: {
				position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

				/* turn towards next waypoint before MC to FW transition */
				if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
				    && _work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && new_work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
				    && !_navigator->get_land_detected()->landed
				    && has_next_position_item) {

					/* disable weathervane before front transition for allowing yaw to align */
					pos_sp_triplet->current.allow_weather_vane = false;

					new_work_item_type = WORK_ITEM_TYPE_ALIGN;

					set_align_mission_item(&_mission_item, &mission_item_next_position);

					/* set position setpoint to target during the transition */
					mission_apply_limitation(_mission_item);
					mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current);
				}

				/* yaw is aligned now */
				if (_work_item_type == WORK_ITEM_TYPE_ALIGN &&
				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {

					new_work_item_type = WORK_ITEM_TYPE_DEFAULT;

					/* set position setpoint to target during the transition */
					pos_sp_triplet->previous = pos_sp_triplet->current;
					generate_waypoint_from_heading(&pos_sp_triplet->current, pos_sp_triplet->current.yaw);
				}

				/* don't advance mission after FW to MC command */
				if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
				    && _work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && new_work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
				    && !_navigator->get_land_detected()->landed
				    && pos_sp_triplet->current.valid) {

					new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE;
				}

				/* after FW to MC transition finish moving to the waypoint */
				if (_work_item_type == WORK_ITEM_TYPE_CMD_BEFORE_MOVE &&
				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT
				    && pos_sp_triplet->current.valid) {

					new_work_item_type = WORK_ITEM_TYPE_DEFAULT;

					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
					copy_position_if_valid(&_mission_item, &pos_sp_triplet->current);
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;
				}

				// ignore certain commands in mission fast forward
				if ((_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD) &&
				    (_mission_item.nav_cmd == NAV_CMD_DELAY)) {
					_mission_item.autocontinue = true;
					_mission_item.time_inside = 0.0f;
				}

				break;
			}

		case mission_result_s::MISSION_EXECUTION_MODE_REVERSE: {
				// nothing to do, all commands are ignored
				break;
			}
		}
	}

	/*********************************** set setpoints and check next *********************************************/

	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

	/* set current position setpoint from mission item (is protected against non-position items) */
	if (new_work_item_type != WORK_ITEM_TYPE_PRECISION_LAND) {
		mission_apply_limitation(_mission_item);
		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
	}

	/* only set the previous position item if the current one really changed */
	if ((_work_item_type != WORK_ITEM_TYPE_MOVE_TO_LAND) &&
	    !position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
		pos_sp_triplet->previous = current_setpoint_copy;
	}

	/* issue command if ready (will do nothing for position mission items) */
	issue_command(_mission_item);

	/* set current work item type */
	_work_item_type = new_work_item_type;

	/* require takeoff after landing or idle */
	if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
	    || pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {

		_need_takeoff = true;
	}

	_navigator->set_can_loiter_at_sp(false);
	reset_mission_item_reached();

	if (_mission_type == MISSION_TYPE_MISSION) {
		set_current_mission_item();
	}

	if (_mission_item.autocontinue && get_time_inside(_mission_item) < FLT_EPSILON) {
		/* try to process next mission item */
		if (has_next_position_item) {
			/* got next mission item, update setpoint triplet */
			mission_apply_limitation(mission_item_next_position);
			mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->next);

		} else {
			/* next mission item is not available */
			pos_sp_triplet->next.valid = false;
		}

	} else {
		/* vehicle will be paused on current waypoint, don't set next item */
		pos_sp_triplet->next.valid = false;
	}

	/* Save the distance between the current sp and the previous one */
	if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) {

		_distance_current_previous = get_distance_to_next_waypoint(
						     pos_sp_triplet->current.lat, pos_sp_triplet->current.lon,
						     pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon);
	}

	_navigator->set_position_setpoint_triplet_updated();
}

bool
Mission::do_need_vertical_takeoff()
{
	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {

		float takeoff_alt = calculate_takeoff_altitude(&_mission_item);

		if (_navigator->get_land_detected()->landed) {
			/* force takeoff if landed (additional protection) */
			_need_takeoff = true;

		} else if (_navigator->get_global_position()->alt > takeoff_alt - _navigator->get_altitude_acceptance_radius()) {
			/* if in-air and already above takeoff height, don't do takeoff */
			_need_takeoff = false;

		} else if (_navigator->get_global_position()->alt <= takeoff_alt - _navigator->get_altitude_acceptance_radius()
			   && (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
			       || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)) {
			/* if in-air but below takeoff height and we have a takeoff item */
			_need_takeoff = true;
		}

		/* check if current mission item is one that requires takeoff before */
		if (_need_takeoff && (
			    _mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
			    _mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
			    _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
			    _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
			    _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) {

			_need_takeoff = false;
			return true;
		}
	}

	return false;
}

bool
Mission::do_need_move_to_land()
{
	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
	    && (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND)) {

		float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
				  _navigator->get_global_position()->lat, _navigator->get_global_position()->lon);

		return d_current > _navigator->get_acceptance_radius();
	}

	return false;
}

bool
Mission::do_need_move_to_takeoff()
{
	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
	    && _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) {

		float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
				  _navigator->get_global_position()->lat, _navigator->get_global_position()->lon);

		return d_current > _navigator->get_acceptance_radius();
	}

	return false;
}

void
Mission::copy_position_if_valid(struct mission_item_s *mission_item, struct position_setpoint_s *setpoint)
{
	if (setpoint->valid && setpoint->type == position_setpoint_s::SETPOINT_TYPE_POSITION) {
		mission_item->lat = setpoint->lat;
		mission_item->lon = setpoint->lon;
		mission_item->altitude = setpoint->alt;

	} else {
		mission_item->lat = _navigator->get_global_position()->lat;
		mission_item->lon = _navigator->get_global_position()->lon;
		mission_item->altitude = _navigator->get_global_position()->alt;
	}

	mission_item->altitude_is_relative = false;
}

void
Mission::set_align_mission_item(struct mission_item_s *mission_item, struct mission_item_s *mission_item_next)
{
	mission_item->nav_cmd = NAV_CMD_WAYPOINT;
	copy_position_if_valid(mission_item, &(_navigator->get_position_setpoint_triplet()->current));
	mission_item->altitude_is_relative = false;
	mission_item->autocontinue = true;
	mission_item->time_inside = 0.0f;
	mission_item->yaw = get_bearing_to_next_waypoint(
				    _navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
				    mission_item_next->lat, mission_item_next->lon);
	mission_item->force_heading = true;
}

float
Mission::calculate_takeoff_altitude(struct mission_item_s *mission_item)
{
	/* calculate takeoff altitude */
	float takeoff_alt = get_absolute_altitude_for_item(*mission_item);

	/* takeoff to at least MIS_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
	if (_navigator->get_land_detected()->landed) {
		takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt());

	} else {
		takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _navigator->get_takeoff_min_alt());
	}

	return takeoff_alt;
}

void
Mission::heading_sp_update()
{
	struct position_setpoint_triplet_s *pos_sp_triplet =
		_navigator->get_position_setpoint_triplet();

	// Only update if current triplet is valid
	if (pos_sp_triplet->current.valid) {

		double point_from_latlon[2] = { _navigator->get_global_position()->lat,
						_navigator->get_global_position()->lon
					      };
		double point_to_latlon[2] = { _navigator->get_global_position()->lat,
					      _navigator->get_global_position()->lon
					    };
		float yaw_offset = 0.0f;

		// Depending on ROI-mode, update heading
		switch (_navigator->get_vroi().mode) {
		case vehicle_roi_s::ROI_LOCATION: {
				// ROI is a fixed location. Vehicle needs to point towards that location
				point_to_latlon[0] = _navigator->get_vroi().lat;
				point_to_latlon[1] = _navigator->get_vroi().lon;
				// No yaw offset required
				yaw_offset = 0.0f;
				break;
			}

		case vehicle_roi_s::ROI_WPNEXT: {
				// ROI is current waypoint. Vehcile needs to point towards current waypoint
				point_to_latlon[0] = pos_sp_triplet->current.lat;
				point_to_latlon[1] = pos_sp_triplet->current.lon;
				// Add the gimbal's yaw offset
				yaw_offset = _navigator->get_vroi().yaw_offset;
				break;
			}

		case vehicle_roi_s::ROI_NONE:
		case vehicle_roi_s::ROI_WPINDEX:
		case vehicle_roi_s::ROI_TARGET:
		case vehicle_roi_s::ROI_ENUM_END:
		default: {
			}
		}

		// Get desired heading and update it.
		// However, only update if distance to desired heading is
		// larger than acceptance radius to prevent excessive yawing
		float d_current = get_distance_to_next_waypoint(point_from_latlon[0],
				  point_from_latlon[1], point_to_latlon[0], point_to_latlon[1]);

		if (d_current > _navigator->get_acceptance_radius()) {
			float yaw = matrix::wrap_pi(
					    get_bearing_to_next_waypoint(point_from_latlon[0],
							    point_from_latlon[1], point_to_latlon[0],
							    point_to_latlon[1]) + yaw_offset);

			_mission_item.yaw = yaw;
			pos_sp_triplet->current.yaw = _mission_item.yaw;
		}

		// we set yaw directly so we can run this in parallel to the FOH update
		_navigator->set_position_setpoint_triplet_updated();
	}
}

void
Mission::altitude_sp_foh_update()
{
	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

	/* Don't change setpoint if last and current waypoint are not valid
	 * or if the previous altitude isn't from a position or loiter setpoint or
	 * if rotary wing since that is handled in the mc_pos_control
	 */

	if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid || !PX4_ISFINITE(pos_sp_triplet->previous.alt)
	    || !(pos_sp_triplet->previous.type == position_setpoint_s::SETPOINT_TYPE_POSITION ||
		 pos_sp_triplet->previous.type == position_setpoint_s::SETPOINT_TYPE_LOITER) ||
	    _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {

		return;
	}

	// Calculate acceptance radius, i.e. the radius within which we do not perform a first order hold anymore
	float acc_rad = _navigator->get_acceptance_radius(_mission_item.acceptance_radius);

	if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
		acc_rad = _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f);
	}

	/* Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one */
	if (_distance_current_previous - acc_rad < FLT_EPSILON) {
		return;
	}

	/* Don't do FOH for non-missions, landing and takeoff waypoints, the ground may be near
	 * and the FW controller has a custom landing logic
	 *
	 * NAV_CMD_LOITER_TO_ALT doesn't change altitude until reaching desired lat/lon
	 * */
	if (_mission_item.nav_cmd == NAV_CMD_LAND
	    || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
	    || _mission_item.nav_cmd == NAV_CMD_TAKEOFF
	    || _mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT
	    || !_navigator->is_planned_mission()) {

		return;
	}

	/* Calculate distance to current waypoint */
	float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
			  _navigator->get_global_position()->lat, _navigator->get_global_position()->lon);

	/* Save distance to waypoint if it is the smallest ever achieved, however make sure that
	 * _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */
	_min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy),
						_distance_current_previous);

	/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
	 * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
	if (_min_current_sp_distance_xy < acc_rad) {
		pos_sp_triplet->current.alt = get_absolute_altitude_for_item(_mission_item);

	} else {
		/* update the altitude sp of the 'current' item in the sp triplet, but do not update the altitude sp
		 * of the mission item as it is used to check if the mission item is reached
		 * The setpoint is set linearly and such that the system reaches the current altitude at the acceptance
		 * radius around the current waypoint
		 **/
		float delta_alt = (get_absolute_altitude_for_item(_mission_item) - pos_sp_triplet->previous.alt);
		float grad = -delta_alt / (_distance_current_previous - acc_rad);
		float a = pos_sp_triplet->previous.alt - grad * _distance_current_previous;
		pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
	}

	// we set altitude directly so we can run this in parallel to the heading update
	_navigator->set_position_setpoint_triplet_updated();
}

void
Mission::cruising_speed_sp_update()
{
	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

	const float cruising_speed = _navigator->get_cruising_speed();

	/* Don't change setpoint if the current waypoint is not valid */
	if (!pos_sp_triplet->current.valid ||
	    fabsf(pos_sp_triplet->current.cruising_speed - cruising_speed) < FLT_EPSILON) {
		return;
	}

	pos_sp_triplet->current.cruising_speed = cruising_speed;

	_navigator->set_position_setpoint_triplet_updated();
}

void
Mission::do_abort_landing()
{
	// Abort FW landing
	//  first climb out then loiter over intended landing location

	if (_mission_item.nav_cmd != NAV_CMD_LAND) {
		return;
	}

	// loiter at the larger of MIS_LTRMIN_ALT above the landing point
	//  or 2 * FW_CLMBOUT_DIFF above the current altitude
	const float alt_landing = get_absolute_altitude_for_item(_mission_item);
	const float alt_sp = math::max(alt_landing + _navigator->get_loiter_min_alt(),
				       _navigator->get_global_position()->alt + 20.0f);

	// turn current landing waypoint into an indefinite loiter
	_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
	_mission_item.altitude_is_relative = false;
	_mission_item.altitude = alt_sp;
	_mission_item.loiter_radius = _navigator->get_loiter_radius();
	_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
	_mission_item.autocontinue = false;
	_mission_item.origin = ORIGIN_ONBOARD;

	mission_apply_limitation(_mission_item);
	mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current);
	_navigator->set_position_setpoint_triplet_updated();

	mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing.",
				     (int)(alt_sp - alt_landing));

	// reset mission index to start of landing
	if (_land_start_available) {
		_current_mission_index = get_land_start_index();

	} else {
		// move mission index back (landing approach point)
		_current_mission_index -= 1;
	}

	// send reposition cmd to get out of mission
	vehicle_command_s vcmd = {};

	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
	vcmd.param1 = -1;
	vcmd.param2 = 1;
	vcmd.param5 = _mission_item.lat;
	vcmd.param6 = _mission_item.lon;
	vcmd.param7 = alt_sp;

	_navigator->publish_vehicle_cmd(&vcmd);
}

bool
Mission::prepare_mission_items(mission_item_s *mission_item,
			       mission_item_s *next_position_mission_item, bool *has_next_position_item)
{
	*has_next_position_item = false;
	bool first_res = false;
	int offset = 1;

	if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) {
		offset = -1;
	}

	if (read_mission_item(0, mission_item)) {

		first_res = true;

		/* trying to find next position mission item */
		while (read_mission_item(offset, next_position_mission_item)) {

			if (item_contains_position(*next_position_mission_item)) {
				*has_next_position_item = true;
				break;
			}

			if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) {
				offset--;

			} else {
				offset++;

			}
		}
	}

	return first_res;
}

bool
Mission::read_mission_item(int offset, struct mission_item_s *mission_item)
{
	/* select mission */
	const int current_index = _current_mission_index;
	int index_to_read = current_index + offset;

	int *mission_index_ptr = (offset == 0) ? &_current_mission_index : &index_to_read;
	const dm_item_t dm_item = (dm_item_t)_mission.dataman_id;

	/* do not work on empty missions */
	if (_mission.count == 0) {
		return false;
	}

	/* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after
	 * 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */
	for (int i = 0; i < 10; i++) {
		if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)_mission.count) {
			/* mission item index out of bounds - if they are equal, we just reached the end */
			if ((*mission_index_ptr != (int)_mission.count) && (*mission_index_ptr != -1)) {
				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission item index out of bound, index: %d, max: %d.",
						     *mission_index_ptr, _mission.count);
			}

			return false;
		}

		const ssize_t len = sizeof(struct mission_item_s);

		/* read mission item to temp storage first to not overwrite current mission item if data damaged */
		struct mission_item_s mission_item_tmp;

		/* read mission item from datamanager */
		if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Waypoint could not be read.");
			return false;
		}

		/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
		if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) {
			const bool execute_jumps = _mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_NORMAL;

			/* do DO_JUMP as many times as requested if not in reverse mode */
			if ((mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) && execute_jumps) {

				/* only raise the repeat count if this is for the current mission item
				 * but not for the read ahead mission item */
				if (offset == 0) {
					(mission_item_tmp.do_jump_current_count)++;

					/* save repeat count */
					if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET, &mission_item_tmp, len) != len) {
						/* not supposed to happen unless the datamanager can't access the dataman */
						mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP waypoint could not be written.");
						return false;
					}

					report_do_jump_mission_changed(*mission_index_ptr, mission_item_tmp.do_jump_repeat_count);
				}

				/* set new mission item index and repeat
				 * we don't have to validate here, if it's invalid, we should realize this later .*/
				*mission_index_ptr = mission_item_tmp.do_jump_mission_index;

			} else {
				if (offset == 0 && execute_jumps) {
					mavlink_log_info(_navigator->get_mavlink_log_pub(), "DO JUMP repetitions completed.");
				}

				/* no more DO_JUMPS, therefore just try to continue with next mission item */
				if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) {
					(*mission_index_ptr)--;

				} else {
					(*mission_index_ptr)++;
				}
			}

		} else {
			/* if it's not a DO_JUMP, then we were successful */
			memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s));
			return true;
		}
	}

	/* we have given up, we don't want to cycle forever */
	mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP is cycling, giving up.");
	return false;
}

void
Mission::save_mission_state()
{
	mission_s mission_state = {};

	/* lock MISSION_STATE item */
	int dm_lock_ret = dm_lock(DM_KEY_MISSION_STATE);

	if (dm_lock_ret != 0) {
		PX4_ERR("DM_KEY_MISSION_STATE lock failed");
	}

	/* read current state */
	int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));

	if (read_res == sizeof(mission_s)) {
		/* data read successfully, check dataman ID and items count */
		if (mission_state.dataman_id == _mission.dataman_id && mission_state.count == _mission.count) {
			/* navigator may modify only sequence, write modified state only if it changed */
			if (mission_state.current_seq != _current_mission_index) {
				mission_state.timestamp = hrt_absolute_time();

				if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
					     sizeof(mission_s)) != sizeof(mission_s)) {

					PX4_ERR("Can't save mission state");
				}
			}
		}

	} else {
		/* invalid data, this must not happen and indicates error in mission publisher */
		mission_state.timestamp = hrt_absolute_time();
		mission_state.dataman_id = _mission.dataman_id;
		mission_state.count = _mission.count;
		mission_state.current_seq = _current_mission_index;

		mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Invalid mission state.");

		/* write modified state only if changed */
		if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
			     sizeof(mission_s)) != sizeof(mission_s)) {

			PX4_ERR("Can't save mission state");
		}
	}

	/* unlock MISSION_STATE item */
	if (dm_lock_ret == 0) {
		dm_unlock(DM_KEY_MISSION_STATE);
	}
}

void
Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining)
{
	/* inform about the change */
	_navigator->get_mission_result()->item_do_jump_changed = true;
	_navigator->get_mission_result()->item_changed_index = index;
	_navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining;

	_navigator->set_mission_result_updated();
}

void
Mission::set_mission_item_reached()
{
	_navigator->get_mission_result()->seq_reached = _current_mission_index;
	_navigator->set_mission_result_updated();

	reset_mission_item_reached();
}

void
Mission::set_current_mission_item()
{
	_navigator->get_mission_result()->finished = false;
	_navigator->get_mission_result()->seq_current = _current_mission_index;

	_navigator->set_mission_result_updated();

	save_mission_state();
}

void
Mission::check_mission_valid(bool force)
{
	if ((!_home_inited && _navigator->home_position_valid()) || force) {

		MissionFeasibilityChecker _missionFeasibilityChecker(_navigator);

		_navigator->get_mission_result()->valid =
			_missionFeasibilityChecker.checkMissionFeasible(_mission,
					_param_mis_dist_1wp.get(),
					_param_mis_dist_wps.get(),
					_navigator->mission_landing_required());

		_navigator->get_mission_result()->seq_total = _mission.count;
		_navigator->increment_mission_instance_count();
		_navigator->set_mission_result_updated();
		_home_inited = _navigator->home_position_valid();

		// find and store landing start marker (if available)
		find_mission_land_start();
	}
}

void
Mission::reset_mission(struct mission_s &mission)
{
	dm_lock(DM_KEY_MISSION_STATE);

	if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
		if (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) {
			/* set current item to 0 */
			mission.current_seq = 0;

			/* reset jump counters */
			if (mission.count > 0) {
				const dm_item_t dm_current = (dm_item_t)mission.dataman_id;

				for (unsigned index = 0; index < mission.count; index++) {
					struct mission_item_s item;
					const ssize_t len = sizeof(struct mission_item_s);

					if (dm_read(dm_current, index, &item, len) != len) {
						PX4_WARN("could not read mission item during reset");
						break;
					}

					if (item.nav_cmd == NAV_CMD_DO_JUMP) {
						item.do_jump_current_count = 0;

						if (dm_write(dm_current, index, DM_PERSIST_POWER_ON_RESET, &item, len) != len) {
							PX4_WARN("could not save mission item during reset");
							break;
						}
					}
				}
			}

		} else {
			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Could not read mission.");

			/* initialize mission state in dataman */
			mission.timestamp = hrt_absolute_time();
			mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
			mission.count = 0;
			mission.current_seq = 0;
		}

		dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
	}

	dm_unlock(DM_KEY_MISSION_STATE);
}

bool
Mission::need_to_reset_mission(bool active)
{
	/* reset mission state when disarmed */
	if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED && _need_mission_reset) {
		_need_mission_reset = false;
		return true;

	} else if (_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED && active) {
		/* mission is running, need reset after disarm */
		_need_mission_reset = true;
	}

	return false;
}

void
Mission::generate_waypoint_from_heading(struct position_setpoint_s *setpoint, float yaw)
{
	waypoint_from_heading_and_distance(
		_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
		yaw, 1000000.0f,
		&(setpoint->lat), &(setpoint->lon));
	setpoint->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
	setpoint->yaw = yaw;
}

int32_t
Mission::index_closest_mission_item() const
{
	int32_t min_dist_index(0);
	float min_dist(FLT_MAX), dist_xy(FLT_MAX), dist_z(FLT_MAX);

	dm_item_t dm_current = (dm_item_t)(_mission.dataman_id);

	for (size_t i = 0; i < _mission.count; i++) {
		struct mission_item_s missionitem = {};
		const ssize_t len = sizeof(missionitem);

		if (dm_read(dm_current, i, &missionitem, len) != len) {
			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
			PX4_ERR("dataman read failure");
			break;
		}

		if (item_contains_position(missionitem)) {
			// do not consider land waypoints for a fw
			if (!((missionitem.nav_cmd == NAV_CMD_LAND) &&
			      (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) &&
			      (!_navigator->get_vstatus()->is_vtol))) {
				float dist = get_distance_to_point_global_wgs84(missionitem.lat, missionitem.lon,
						get_absolute_altitude_for_item(missionitem),
						_navigator->get_global_position()->lat,
						_navigator->get_global_position()->lon,
						_navigator->get_global_position()->alt,
						&dist_xy, &dist_z);

				if (dist < min_dist) {
					min_dist = dist;
					min_dist_index = i;
				}
			}
		}
	}

	// for mission reverse also consider the home position
	if (_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_REVERSE) {
		float dist = get_distance_to_point_global_wgs84(
				     _navigator->get_home_position()->lat,
				     _navigator->get_home_position()->lon,
				     _navigator->get_home_position()->alt,
				     _navigator->get_global_position()->lat,
				     _navigator->get_global_position()->lon,
				     _navigator->get_global_position()->alt,
				     &dist_xy, &dist_z);

		if (dist < min_dist) {
			min_dist = dist;
			min_dist_index = -1;
		}
	}

	return min_dist_index;
}

bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const
{
	return ((p1->valid == p2->valid) &&
		(p1->type == p2->type) &&
		(fabsf(p1->x - p2->x) < FLT_EPSILON) &&
		(fabsf(p1->y - p2->y) < FLT_EPSILON) &&
		(fabsf(p1->z - p2->z) < FLT_EPSILON) &&
		(p1->position_valid == p2->position_valid) &&
		(fabsf(p1->vx - p2->vx) < FLT_EPSILON) &&
		(fabsf(p1->vy - p2->vy) < FLT_EPSILON) &&
		(fabsf(p1->vz - p2->vz) < FLT_EPSILON) &&
		(p1->velocity_valid == p2->velocity_valid) &&
		(p1->velocity_frame == p2->velocity_frame) &&
		(p1->alt_valid == p2->alt_valid) &&
		(fabs(p1->lat - p2->lat) < DBL_EPSILON) &&
		(fabs(p1->lon - p2->lon) < DBL_EPSILON) &&
		(fabsf(p1->alt - p2->alt) < FLT_EPSILON) &&
		((fabsf(p1->yaw - p2->yaw) < FLT_EPSILON) || (!PX4_ISFINITE(p1->yaw) && !PX4_ISFINITE(p2->yaw))) &&
		(p1->yaw_valid == p2->yaw_valid) &&
		(fabsf(p1->yawspeed - p2->yawspeed) < FLT_EPSILON) &&
		(p1->yawspeed_valid == p2->yawspeed_valid) &&
		(fabsf(p1->loiter_radius - p2->loiter_radius) < FLT_EPSILON) &&
		(p1->loiter_direction == p2->loiter_direction) &&
		(fabsf(p1->pitch_min - p2->pitch_min) < FLT_EPSILON) &&
		(fabsf(p1->a_x - p2->a_x) < FLT_EPSILON) &&
		(fabsf(p1->a_y - p2->a_y) < FLT_EPSILON) &&
		(fabsf(p1->a_z - p2->a_z) < FLT_EPSILON) &&
		(p1->acceleration_valid == p2->acceleration_valid) &&
		(p1->acceleration_is_force == p2->acceleration_is_force) &&
		(fabsf(p1->acceptance_radius - p2->acceptance_radius) < FLT_EPSILON) &&
		(fabsf(p1->cruising_speed - p2->cruising_speed) < FLT_EPSILON) &&
		(fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON));

}

redpajama_set_name: RedPajamaGithub


text:
Q: Chrome//kendoUI/jQuery: Maximum call stack size exceeded I am working hottowell template to create spa application and I am getting a nice error from jquery. Basically my problem start at the moment to try bind my view from
viewModelBinder.js (from durandal library).
viewModelBinder.beforeBind(obj, view);
action();
viewModelBinder.afterBind(obj, view);

at the moment to call beforeBind this code is executed (main.js of my own app)
kendo.ns = "kendo-";
viewModelBinder.beforeBind = function (obj, view) {
    kendo.bind(view, obj.viewModel || obj);
};

where kendo.bind is something like (kendo.web.js from kendo ui library):
function bind(dom, object) {
    var idx, length, roles = kendo.rolesFromNamespaces([].slice.call(arguments, 2));
    object = kendo.observable(object);
    dom = $(dom);
    for (idx = 0, length = dom.length; idx < length; idx++) {
        bindElement(dom[idx], object, roles);
    }
}

From here when i am runing the line
        object = kendo.observable(object); // where object it's my viewmodel as far i see in the debuger.

I am getting a lot of exceptions from line 4224 of file jquery-1.9.1.js
div.querySelectorAll("*,:x");

and line 4242 of file jquery-1.9.1.js
matches.call( div, "[s!='']:x" );

These exceptions are causing the error in the console:"Maximum Call Stack Size Exceeded"
My suspicion is my html view, maybe some html element it's triggering this problem . Other interesting comment is that the problem is present when the element inside of html view change from visible :false to visible:true (my view it's a html table what is able to show or hide detail for the selected row)

A: What data object are you trying to bind? The "call stack exceeded" error often occurs when binding a Kendo UI component to a data object that has circular references (e.g., customer -> orders[0] -> customer). All breeze entities have circular references (e.g., customer.entityAspect.entity which points back to customer).
Therefore, you need to either train the component to ignore certain paths or insert an intermediary object that clips those paths. If you're just presenting (not updating) the object, you can make a safe copy with JSON.stringify, passing in a replacer function to exclude the circular paths.
This is a bigger topic than I have time for in this answer. Kendo UI is not the only one with this problem, I hasten to add.

redpajama_set_name: RedPajamaStackExchange


text:
Where Did Tommy Wiseau get his Money And what is his Net Worth?
Tommy Wiseau's Net Worth:
How Tommy Managed $6 Million to Create "The Room."
The Car Accident:
By selling clothes:
We know many people are interested to learn about Tommy Wiseau's net worth and where Tommy Wiseau gets his money. He's not only an actor but also a writer, producer, and director.
"Tommy Wiseau"by Al Pavangkanan under licensed CC BY 2.0
He was born on October 3, 1955, but he was accused of giving false information about his age. However, he claimed that he lived in France a long time ago and was raised in New Orleans, Louisiana. But the truth is, he is Polish and used to live in the city of Pozna?.
As an actor, he made his debut in 2003 in the movie "The Room," and as per critics' opinion, this movie is considered one of the worst movies in history. The following year he co-directed another movie named "Homeless in America."
Because Tommy lives a luxurious life and spends so much money on his movies, people usually wonder about Tommy's income source.
We hardly know about his early life. The public doesn't trust what Tommy Wiseau says. From his background, we know he wasn't a wealthy person earlier in his life. He used to work simple jobs as a worker in a restaurant and in hospitals.
So how did Tommy Wiseau become rich and where did he get all the money?
"Tommy Wiseau"by Tommy Wiseau under licensed CC0 1.0
To know the exact truth, you have to stay with us. Because now, we will talk about Tommy Wiseau's net worth and how he generates his money.
Tommy Wiseau's Net Worth:
As we already mentioned, Tommy wasn't a wealthy man at all. He used to struggle for money. But, Tommy's net worth is $4 million by today's date.
And that is huge for a man like Wiseau, who used to work to survive. So where and how does he get paid and what is his income source?
Though he's a media personality, Tommy isn't like others who earn very well in the movie industry.
His first movie was a flop, and the following movies couldn't hit the box office. But the actor continues to invest a large amount of money in his films.
He reached success in the movie named "The Disaster Artist," released in 2017. That film made 30 million USD at the box office.
How Tommy Managed $6 Million to Create "The Room."
On the Wiki, it's mentioned that the budget of the movie "The Room" was 6 Million USD. And it was nearly impossible to manage this amount of money at that time by Tommy Wiseau. Therefore, most people think that was illegal money.
Tommy earned money by selling drugs or by doing something illegal. However, Wiseau was never clear about his source of income.
"Tommy Wiseau"by daryl_mitchell under licensed CC BY-SA 2.0
Some people assume it would be the real estate business in San Francisco that made Wiseau so rich. Maybe his fortune took a U-turn and he made a huge profit.
Then he invested that money to make the movie in 2003 because Tommy had always wanted to work in the movie industry.
Tommy had a serious car accident in California with a rich Hollywood producer. Wiseau was admitted to the hospital for a long time.
People claimed that the accident changed his life. He got a decent amount of money to settle the matter. Though he never accepted this claim.
Tommy sells leather jackets and other clothing items. Wiseau mentioned that he started this business in 1990. He also said,
"I tell you a little bit, but that's it," he told Entertainment Weekly in 2008. "We import from Korea the jackets that we design here in America. If you work, you have to save money, right? I didn't get money from the sky – I was preparing, let's put it this way."
Tommy isn't a trustworthy person. He was caught lying several times. That's why it isn't easy to believe what he says.

redpajama_set_name: RedPajamaCommonCrawl


You can vote if you are a Canadian citizen, you are over the age of 18, and you either live in or rent/own property in Peterborough. You also cannot be prohibited from voting, but that's pretty obvious.
Unlike any other election, you can actually vote in multiple municipalities if your principal residence is in one and your renting address is in another. For instance, most students still list their principal address as their parent's address. Wherever that happens to be, you can vote there! However, you cannot vote in multiple wards in the same city. So if your family is from East City but you're living in a downtown apartment, you've got to choose one or the other.
Assuming you aren't already on the Voters List (you can find out if you are on Peterborough's website), and you haven't received a Notice of Registration Card, then you will need to register.
You can actually do it entirely online. Simply go to the "Update Your Voter Information" page on Peterborough's website and complete the form. You'll have to fill out a short contact form and attach a scanned copy of valid identification showing your name and address.
All you have to do is wait for city staff to review and verify your information. They'll email you with your Voter ID Number and Information Sheet.
You can also do the very same thing in person at the City Clerk's Office.
If you're a real late bloomer and it slipped your mind until Election Day that's not a problem. Just show up at any Voting Location with ID showing proof of your name and qualifying address.
The Peterborough website lists 29 separate documents as valid ID. If your address is listed on your driver's license or health card you can use that.
That's rarely the case for students. Instead, you can use a bill, a credit card statement, a bank account statement, a pay stub, a transcript from a post-secondary school, your lease agreement, a cancelled personal cheque, and many more. The whole list is available online.
Who Do I Get to Vote For?
Who you can vote for depends on where you live in the city, but everyone gets to vote for one mayor, two councillors in their ward, and either one or two School Board Trustees. It's too hard to describe in writing the boundaries of each ward, but there are all sorts of maps at your disposal, like the one at the bottom of this page. Or give the city a call and ask!
Here are some profiles of the mayoral candidates, as well as the councillor candidates in Town, Ashburnham, and Northcrest Wards.
If you registered in advance and have your Voter Notification Card, literally show up to any poll in the city with your Card and Valid ID and you can vote. Voting locations are listed on Peterborough's website.
If you haven't registered by Election Day, you can still show up at a poll with a valid ID and vote. There will be some paperwork to fill out though.
In order to vote online there is a separate registration process you must complete in addition to the one above. Once you receive your Voter Notification Card, and after October 14 at midnight, you can go to the city's website and register.
On your Voter Notification Card there will be an Elector ID number which you will need to enter. The site will generate a username and a password for you. That, along with directions on how to vote, will be emailed to you. Then simply vote whenever you feel like it! You can literally vote while naked. Online voting opens Tuesday October 14 at midnight and closes on voting day, Monday October 27, at 8pm. The registration period ends one hour earlier that day at 7pm.
Advance Voting Day is Saturday October 18. There is at least one voting location in each ward, which you can find on the Peterborough website (bottom of the page).
On Election Day you can go to St. Paul's Church, 120 Murray St, from 10am – 8pm if you require an accessible voting location with assistive devices. You can also vote at City Hall, 500 George St N, weekdays between October 14 and 24 anytime between 9am and 4pm.
You can proxy your vote to another eligible elector in the City of Peterborough. Your proxy must go to the City Clerk's Office and apply to do so by filling out a form, along with providing copies of both your and their Valid ID.


While an acting squad leader of Company B, 22d Infantry, on 27 November 1944, near Grosshau, Germany, he single-handedly assaulted 2 enemy machinegun emplacements. Attacking prepared positions on a wooded hill, which could be approached only through meager cover, his company was pinned down by intense machinegun fire and subjected to a concentrated artillery and mortar barrage.
Although painfully wounded, he refused to be evacuated and on his own initiative crawled forward alone until he reached a position near an enemy emplacement. Hurling grenades, he boldly assaulted the position, destroyed the gun, and with his rifle killed 3 of the enemy who attempted to escape.
When he rejoined his company, a second machinegun opened fire and again the intrepid soldier went forward, utterly disregarding his own safety. He stormed the position and destroyed the gun, killed 3 more Germans, and captured 4 prisoners. He fought on with his unit until the objective was taken and only then did he permit himself to be removed for medical care.
S/Sgt. (then private) Garcia's conspicuous heroism, his inspiring, courageous conduct, and his complete disregard for his personal safety wiped out 2 enemy emplacements and enabled his company to advance and secure its objective.
Information on Staff Sergeant Garcia and text of citation were obtained from official records made available by the United States Department of Defense.