add OBC RC loss mode to navigator

7 files changed, 339 insertions, 7 deletions

diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index 02e766ffb..f0bbbcf1c 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -141,7 +141,7 @@ GpsFailure::set_gpsf_item()
 	case GPSF_STATE_TERMINATE: {
 		/* Request flight termination from the commander */
 		pos_sp_triplet->flight_termination = true;
-		warnx("request flight termination");
+		warnx("gps fail: request flight termination");
 	}
 	default:
 		break;
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 9e4ad053c..c075903b7 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -51,8 +51,10 @@ SRCS		= navigator_main.cpp \
 		  geofence.cpp \
 		  geofence_params.c \
 		  datalinkloss.cpp \
-		  enginefailure.cpp \
 		  datalinkloss_params.c \
+		  rcloss.cpp \
+		  rcloss_params.c \
+		  enginefailure.cpp \
 		  gpsfailure.cpp \
 		  gpsfailure_params.c
 
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index ec6e538e3..709e3e724 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -63,12 +63,13 @@
 #include "datalinkloss.h"
 #include "enginefailure.h"
 #include "gpsfailure.h"
+#include "rcloss.h"
 #include "geofence.h"
 
 /**
  * Number of navigation modes that need on_active/on_inactive calls
  */
-#define NAVIGATOR_MODE_ARRAY_SIZE 7
+#define NAVIGATOR_MODE_ARRAY_SIZE 8
 
 class Navigator : public control::SuperBlock
 {
@@ -109,7 +110,7 @@ public:
 	 * Publish the mission result so commander and mavlink know what is going on
 	 */
 	void publish_mission_result();
-	
+
 	/**
 	 * Publish the attitude sp, only to be used in very special modes when position control is deactivated
 	 * Example: mode that is triggered on gps failure
@@ -193,6 +194,8 @@ private:
 	Mission		_mission;			/**< class that handles the missions */
 	Loiter		_loiter;			/**< class that handles loiter */
 	RTL 		_rtl;				/**< class that handles RTL */
+	RCLoss 		_rcLoss;				/**< class that handles RTL according to
+							  OBC rules (rc loss mode) */
 	Offboard	_offboard;			/**< class that handles offboard */
 	DataLinkLoss	_dataLinkLoss;			/**< class that handles the OBC datalink loss mode */
 	EngineFailure	_engineFailure;			/**< class that handles the engine failure mode
@@ -207,6 +210,7 @@ private:
 	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */
 	control::BlockParamFloat _param_acceptance_radius;	/**< acceptance for takeoff */
 	control::BlockParamInt _param_datalinkloss_obc;	/**< if true: obc mode on data link loss enabled */
+	control::BlockParamInt _param_rcloss_obc;	/**< if true: obc mode on rc loss enabled */
 	/**
 	 * Retrieve global position
 	 */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index e0913bb57..c569ee7b5 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -131,6 +131,7 @@ Navigator::Navigator() :
 	_mission(this, "MIS"),
 	_loiter(this, "LOI"),
 	_rtl(this, "RTL"),
+	_rcLoss(this, "RCL"),
 	_offboard(this, "OFF"),
 	_dataLinkLoss(this, "DLL"),
 	_engineFailure(this, "EF"),
@@ -139,7 +140,8 @@ Navigator::Navigator() :
 	_pos_sp_triplet_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_param_acceptance_radius(this, "ACC_RAD"),
-	_param_datalinkloss_obc(this, "DLL_OBC")
+	_param_datalinkloss_obc(this, "DLL_OBC"),
+	_param_rcloss_obc(this, "RCL_OBC")
 {
 	/* Create a list of our possible navigation types */
 	_navigation_mode_array[0] = &_mission;
@@ -149,6 +151,7 @@ Navigator::Navigator() :
 	_navigation_mode_array[4] = &_dataLinkLoss;
 	_navigation_mode_array[5] = &_engineFailure;
 	_navigation_mode_array[6] = &_gpsFailure;
+	_navigation_mode_array[7] = &_rcLoss;
 
 	updateParams();
 }
@@ -413,7 +416,11 @@ Navigator::task_main()
 				_navigation_mode = &_loiter;
 				break;
 			case NAVIGATION_STATE_AUTO_RTL:
-				_navigation_mode = &_rtl;
+				if (_param_rcloss_obc.get() != 0) {
+					_navigation_mode = &_rcLoss;
+				} else {
+					_navigation_mode = &_rtl;
+				}
 				break;
 			case NAVIGATION_STATE_AUTO_RTGS: //XXX OBC: differentiate between rc loss and dl loss here
 				/* Use complex data link loss mode only when enabled via param
@@ -421,7 +428,7 @@ Navigator::task_main()
 				if (_param_datalinkloss_obc.get() != 0) {
 					_navigation_mode = &_dataLinkLoss;
 				} else {
-					_navigation_mode = &_rtl; /* TODO: change this to something else */
+					_navigation_mode = &_rtl;
 				}
 				break;
 			case NAVIGATION_STATE_AUTO_LANDENGFAIL:
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp
new file mode 100644
index 000000000..b8b659efe
--- /dev/null
+++ b/src/modules/navigator/rcloss.cpp
@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @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;
+	}
+}
diff --git a/src/modules/navigator/rcloss.h b/src/modules/navigator/rcloss.h
new file mode 100644
index 000000000..bcb74d877
--- /dev/null
+++ b/src/modules/navigator/rcloss.h
@@ -0,0 +1,88 @@
+/***************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file rcloss.h
+ * Helper class for RC Loss Mode acording to the OBC rules
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef NAVIGATOR_RCLOSS_H
+#define NAVIGATOR_RCLOSS_H
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <uORB/Subscription.hpp>
+
+#include "navigator_mode.h"
+#include "mission_block.h"
+
+class Navigator;
+
+class RCLoss : public MissionBlock
+{
+public:
+	RCLoss(Navigator *navigator, const char *name);
+
+	~RCLoss();
+
+	virtual void on_inactive();
+
+	virtual void on_activation();
+
+	virtual void on_active();
+
+private:
+	/* Params */
+	control::BlockParamFloat _param_loitertime;
+
+	enum RCLState {
+		RCL_STATE_NONE = 0,
+		RCL_STATE_LOITER = 1,
+		RCL_STATE_TERMINATE = 2,
+		RCL_STATE_END = 3
+	} _rcl_state;
+
+	/**
+	 * Set the RCL item
+	 */
+	void		set_rcl_item();
+
+	/**
+	 * Move to next RCL item
+	 */
+	void		advance_rcl();
+
+};
+#endif
diff --git a/src/modules/navigator/rcloss_params.c b/src/modules/navigator/rcloss_params.c
new file mode 100644
index 000000000..83d23cf49
--- /dev/null
+++ b/src/modules/navigator/rcloss_params.c
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rcloss_params.c
+ *
+ * Parameters for RC Loss (OBC)
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * OBC RC Loss mode parameters, accessible via MAVLink
+ */
+
+/**
+ * Loiter Time
+ *
+ * The amount of time in seconds the system should loiter at current position before termination
+ *
+ * @unit seconds
+ * @min 0.0
+ * @group RCL
+ */
+PARAM_DEFINE_FLOAT(NAV_RCL_LT, 120.0f);