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/**
* @file rcloss.cpp
* Helper class for RC Loss 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 "datalinkloss.h"
#define DELAY_SIGMA 0.01f
RCLoss::RCLoss(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_loitertime(this, "LT"),
_rcl_state(RCL_STATE_NONE)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
RCLoss::~RCLoss()
{
}
void
RCLoss::on_inactive()
{
/* reset RCL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_rcl_state = RCL_STATE_NONE;
}
}
void
RCLoss::on_activation()
{
_rcl_state = RCL_STATE_NONE;
updateParams();
advance_rcl();
set_rcl_item();
}
void
RCLoss::on_active()
{
if (is_mission_item_reached()) {
updateParams();
advance_rcl();
set_rcl_item();
}
}
void
RCLoss::set_rcl_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_rcl_state) {
case RCL_STATE_LOITER: {
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
case RCL_STATE_TERMINATE: {
/* Request flight termination from the commander */
pos_sp_triplet->flight_termination = true;
warnx("gps fail: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
}
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
RCLoss::advance_rcl()
{
switch (_rcl_state) {
case RCL_STATE_NONE:
/* Check the number of data link losses. If above home fly home directly */
warnx("RC loss, OBC mode, loiter");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc los, loitering");
_rcl_state = RCL_STATE_LOITER;
break;
case RCL_STATE_LOITER:
_rcl_state = RCL_STATE_TERMINATE;
warnx("time is up, no RC regain, terminating");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
break;
case RCL_STATE_TERMINATE:
warnx("rcl end");
_rcl_state = RCL_STATE_END;
break;
default:
break;
}
}