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/* @file enginefailure.cpp
* Helper class for a fixedwing engine failure mode
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include "navigator.h"
#include "enginefailure.h"
#define DELAY_SIGMA 0.01f
EngineFailure::EngineFailure(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_ef_state(EF_STATE_NONE)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
EngineFailure::~EngineFailure()
{
}
void
EngineFailure::on_inactive()
{
_ef_state = EF_STATE_NONE;
}
void
EngineFailure::on_activation()
{
_ef_state = EF_STATE_NONE;
advance_ef();
set_ef_item();
}
void
EngineFailure::on_active()
{
if (is_mission_item_reached()) {
advance_ef();
set_ef_item();
}
}
void
EngineFailure::set_ef_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* make sure we have the latest params */
updateParams();
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_ef_state) {
case EF_STATE_LOITERDOWN: {
//XXX create mission item at ground (below?) here
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;
//XXX setting altitude to a very low value, evaluate other options
_mission_item.altitude = _navigator->get_home_position()->alt - 1000.0f;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
default:
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
EngineFailure::advance_ef()
{
switch (_ef_state) {
case EF_STATE_NONE:
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: Engine failure. Loitering down");
_ef_state = EF_STATE_LOITERDOWN;
break;
default:
break;
}
}