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/**
* @file gpsfailure.cpp
* Helper class for gpsfailure mode according to the OBC rules
*
* @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 <uORB/topics/home_position.h>
#include "navigator.h"
#include "gpsfailure.h"
#define DELAY_SIGMA 0.01f
GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_loitertime(this, "LT"),
_param_openlooploiter_roll(this, "R"),
_param_openlooploiter_pitch(this, "P"),
_param_openlooploiter_thrust(this, "TR"),
_gpsf_state(GPSF_STATE_NONE),
_timestamp_activation(0)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
GpsFailure::~GpsFailure()
{
}
void
GpsFailure::on_inactive()
{
/* reset GPSF state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_gpsf_state = GPSF_STATE_NONE;
}
}
void
GpsFailure::on_activation()
{
_gpsf_state = GPSF_STATE_NONE;
_timestamp_activation = hrt_absolute_time();
updateParams();
advance_gpsf();
set_gpsf_item();
}
void
GpsFailure::on_active()
{
switch (_gpsf_state) {
case GPSF_STATE_LOITER: {
/* Position controller does not run in this mode:
* navigator has to publish an attitude setpoint */
_navigator->get_att_sp()->roll_body = M_DEG_TO_RAD_F * _param_openlooploiter_roll.get();
_navigator->get_att_sp()->pitch_body = M_DEG_TO_RAD_F * _param_openlooploiter_pitch.get();
_navigator->get_att_sp()->thrust = _param_openlooploiter_thrust.get();
_navigator->publish_att_sp();
/* Measure time */
hrt_abstime elapsed = hrt_elapsed_time(&_timestamp_activation);
//warnx("open loop loiter, posctl enabled %u, elapsed %.1fs, thrust %.2f",
//_navigator->get_control_mode()->flag_control_position_enabled, elapsed * 1e-6, (double)_param_openlooploiter_thrust.get());
if (elapsed > _param_loitertime.get() * 1e6f) {
/* no recovery, adavance the state machine */
warnx("gps not recovered, switch to next state");
advance_gpsf();
}
break;
}
case GPSF_STATE_TERMINATE:
set_gpsf_item();
advance_gpsf();
break;
default:
break;
}
}
void
GpsFailure::set_gpsf_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* Set pos sp triplet to invalid to stop pos controller */
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
switch (_gpsf_state) {
case GPSF_STATE_TERMINATE: {
/* Request flight termination from the commander */
pos_sp_triplet->flight_termination = true;
warnx("request flight termination");
}
default:
break;
}
reset_mission_item_reached();
_navigator->set_position_setpoint_triplet_updated();
}
void
GpsFailure::advance_gpsf()
{
updateParams();
switch (_gpsf_state) {
case GPSF_STATE_NONE:
_gpsf_state = GPSF_STATE_LOITER;
warnx("gpsf loiter");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: open loop loiter");
break;
case GPSF_STATE_LOITER:
_gpsf_state = GPSF_STATE_TERMINATE;
warnx("gpsf terminate");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no gps recovery, termination");
warnx("mavlink sent");
break;
case GPSF_STATE_TERMINATE:
warnx("gpsf end");
_gpsf_state = GPSF_STATE_END;
default:
break;
}
}