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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-19 09:44:42 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-19 09:44:42 +0200 |
commit | c57b345e70612b7083cc2b3e65ee010477e3e0a4 (patch) | |
tree | 6e21f9e3a0e29c2287a488768fc091907109bd2f /src/modules/commander/commander.cpp | |
parent | 3465ee7f90399d7db17303b42fc3cc58d8ab47ca (diff) | |
parent | f96bb824d4fc6f6d36ddf24e8879d3025af39d70 (diff) | |
download | px4-firmware-c57b345e70612b7083cc2b3e65ee010477e3e0a4.tar.gz px4-firmware-c57b345e70612b7083cc2b3e65ee010477e3e0a4.tar.bz2 px4-firmware-c57b345e70612b7083cc2b3e65ee010477e3e0a4.zip |
merged
Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 227 |
1 files changed, 150 insertions, 77 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 12543800e..0f145e1eb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -118,12 +118,9 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define GPS_FIX_TYPE_2D 2 -#define GPS_FIX_TYPE_3D 3 -#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 -#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -#define LOCAL_POSITION_TIMEOUT 1000000 /**< consider the local position estimate invalid after 1s */ +#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ +#define RC_TIMEOUT 100000 +#define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 #define PRINT_MODE_REJECT_INTERVAL 2000000 @@ -201,12 +198,14 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode int commander_thread_main(int argc, char *argv[]); void toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed); +void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status); transition_result_t check_main_state_machine(struct vehicle_status_s *current_status); void print_reject_mode(const char *msg); +void print_reject_arm(const char *msg); void print_status(); @@ -399,27 +398,52 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; } - case VEHICLE_CMD_COMPONENT_ARM_DISARM: - break; + case VEHICLE_CMD_NAV_TAKEOFF: { + transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); + + if (nav_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command"); + } + + if (nav_res != TRANSITION_DENIED) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + break; + } case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: - if (is_safe(status, safety, armed)) { + if (is_safe(status, safety, armed)) { +<<<<<<< HEAD if (((int)(cmd->param1)) == 1) { /* reboot */ systemreset(false); } else if (((int)(cmd->param1)) == 3) { /* reboot to bootloader */ +======= + if (((int)(cmd->param1)) == 1) { + /* reboot */ + up_systemreset(); + + } else if (((int)(cmd->param1)) == 3) { + /* reboot to bootloader */ + + // XXX implement + result = VEHICLE_CMD_RESULT_UNSUPPORTED; +>>>>>>> f96bb824d4fc6f6d36ddf24e8879d3025af39d70 - // XXX implement - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } else { result = VEHICLE_CMD_RESULT_DENIED; } + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + break; case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { @@ -565,6 +589,7 @@ int commander_thread_main(int argc, char *argv[]) orb_advert_t status_pub; /* make sure we are in preflight state */ memset(&status, 0, sizeof(status)); + status.condition_landed = true; // initialize to safe value /* armed topic */ struct actuator_armed_s armed; @@ -580,7 +605,7 @@ int commander_thread_main(int argc, char *argv[]) memset(&control_mode, 0, sizeof(control_mode)); status.main_state = MAIN_STATE_MANUAL; - status.navigation_state = NAVIGATION_STATE_STANDBY; + status.navigation_state = NAVIGATION_STATE_DIRECT; status.arming_state = ARMING_STATE_INIT; status.hil_state = HIL_STATE_OFF; @@ -743,10 +768,13 @@ int commander_thread_main(int argc, char *argv[]) start_time = hrt_absolute_time(); while (!thread_should_exit) { +<<<<<<< HEAD hrt_abstime t = hrt_absolute_time(); status_changed = false; +======= +>>>>>>> f96bb824d4fc6f6d36ddf24e8879d3025af39d70 /* update parameters */ orb_check(param_changed_sub, &updated); @@ -805,9 +833,10 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - last_diff_pres_time = diff_pres.timestamp; } + check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed); + orb_check(cmd_sub, &updated); if (updated) { @@ -833,6 +862,9 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); } + /* update condition_global_position_valid */ + check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.valid, &(status.condition_global_position_valid), &status_changed); + /* update local position estimate */ orb_check(local_position_sub, &updated); @@ -841,28 +873,26 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); } - /* set the condition to valid if there has recently been a local position estimate */ - if (t - local_position.timestamp < LOCAL_POSITION_TIMEOUT) { - if (!status.condition_local_position_valid) { - status.condition_local_position_valid = true; - status_changed = true; - } - - } else { - if (status.condition_local_position_valid) { - status.condition_local_position_valid = false; - status_changed = true; - } - } + /* update condition_local_position_valid and condition_local_altitude_valid */ + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed); + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); /* update battery status */ orb_check(battery_sub, &updated); if (updated) { orb_copy(ORB_ID(battery_status), battery_sub, &battery); +<<<<<<< HEAD /* only consider battery voltage if system has been running 2s and battery voltage is not 0 */ if ((t - start_time) > 2000000 && battery.voltage_v > 0.001f) { +======= + + warnx("bat v: %2.2f", battery.voltage_v); + + /* only consider battery voltage if system has been running 2s and battery voltage is not 0 */ + if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_v > 0.001f) { +>>>>>>> f96bb824d4fc6f6d36ddf24e8879d3025af39d70 status.battery_voltage = battery.voltage_v; status.condition_battery_voltage_valid = true; status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage); @@ -980,6 +1010,7 @@ int commander_thread_main(int argc, char *argv[]) * set of position measurements is available. */ +<<<<<<< HEAD /* store current state to reason later about a state change */ // bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; // bool global_pos_valid = status.condition_global_position_valid; @@ -1010,6 +1041,8 @@ int commander_thread_main(int argc, char *argv[]) status.condition_airspeed_valid = false; } +======= +>>>>>>> f96bb824d4fc6f6d36ddf24e8879d3025af39d70 orb_check(gps_sub, &updated); if (updated) { @@ -1033,10 +1066,9 @@ int commander_thread_main(int argc, char *argv[]) * position to the current position. */ - if (!home_position_set && gps_position.fix_type == GPS_FIX_TYPE_3D && + if (!home_position_set && gps_position.fix_type >= 3 && (hdop_m < hdop_threshold_m) && (vdop_m < vdop_threshold_m) && // XXX note that vdop is 0 for mtk - (t - gps_position.timestamp_position < 2000000) - && !armed.armed) { + (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed) { /* copy position data to uORB home message, store it locally as well */ // TODO use global position estimate home.lat = gps_position.lat; @@ -1071,7 +1103,7 @@ int commander_thread_main(int argc, char *argv[]) /* ignore RC signals if in offboard control mode */ if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0) { /* start RC input check */ - if ((t - sp_man.timestamp) < 100000) { + if (hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { /* handle the case where RC signal was regained */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; @@ -1143,6 +1175,17 @@ int commander_thread_main(int argc, char *argv[]) } else { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC"); } + + } else if (res == TRANSITION_DENIED) { + /* DENIED here indicates safety switch not pressed */ + + if (!(!safety.safety_switch_available || safety.safety_off)) { + print_reject_arm("NOT ARMING: Press safety switch first."); + + } else { + warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + } } /* fill current_status according to mode switches */ @@ -1164,7 +1207,7 @@ int commander_thread_main(int argc, char *argv[]) } else { /* print error message for first RC glitch and then every 5s */ - if (!status.rc_signal_cutting_off || (t - last_print_control_time) > PRINT_INTERVAL) { + if (!status.rc_signal_cutting_off || (hrt_absolute_time() - last_print_control_time) > PRINT_INTERVAL) { // TODO remove debug code if (!status.rc_signal_cutting_off) { warnx("Reason: not rc_signal_cutting_off\n"); @@ -1177,11 +1220,11 @@ int commander_thread_main(int argc, char *argv[]) status.rc_signal_cutting_off = true; mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: NO RC CONTROL"); - last_print_control_time = t; + last_print_control_time = hrt_absolute_time(); } /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - status.rc_signal_lost_interval = t - sp_man.timestamp; + status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp; /* if the RC signal is gone for a full second, consider it lost */ if (status.rc_signal_lost_interval > 1000000) { @@ -1198,7 +1241,7 @@ int commander_thread_main(int argc, char *argv[]) // TODO check this /* state machine update for offboard control */ if (!status.rc_signal_found_once && sp_offboard.timestamp != 0) { - if ((t - sp_offboard.timestamp) < 5000000) { // TODO 5s is too long ? + if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) { // TODO 5s is too long ? // /* decide about attitude control flag, enable in att/pos/vel */ // bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || @@ -1254,23 +1297,23 @@ int commander_thread_main(int argc, char *argv[]) } else { /* print error message for first offboard signal glitch and then every 5s */ - if (!status.offboard_control_signal_weak || ((t - last_print_control_time) > PRINT_INTERVAL)) { + if (!status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_control_time) > PRINT_INTERVAL)) { status.offboard_control_signal_weak = true; mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: NO OFFBOARD CONTROL"); - last_print_control_time = t; + last_print_control_time = hrt_absolute_time(); } /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - status.offboard_control_signal_lost_interval = t - sp_offboard.timestamp; + status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp; /* if the signal is gone for 0.1 seconds, consider it lost */ if (status.offboard_control_signal_lost_interval > 100000) { status.offboard_control_signal_lost = true; - status.failsave_lowlevel_start_time = t; + status.failsave_lowlevel_start_time = hrt_absolute_time(); tune_positive(); /* kill motors after timeout */ - if (t - status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { + if (hrt_absolute_time() > status.failsave_lowlevel_start_time + failsafe_lowlevel_timeout_ms * 1000) { status.failsave_lowlevel = true; status_changed = true; } @@ -1297,24 +1340,27 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; } + hrt_abstime t1 = hrt_absolute_time(); + /* publish arming state */ if (arming_state_changed) { - armed.timestamp = t; + armed.timestamp = t1; orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); } /* publish control mode */ - if (navigation_state_changed) { + if (navigation_state_changed || arming_state_changed) { /* publish new navigation state */ + control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic control_mode.counter++; - control_mode.timestamp = t; + control_mode.timestamp = t1; orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); } /* publish states (armed, control mode, vehicle status) at least with 5 Hz */ if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { status.counter++; - status.timestamp = t; + status.timestamp = t1; orb_publish(ORB_ID(vehicle_status), status_pub, &status); control_mode.timestamp = t; orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); @@ -1466,8 +1512,18 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chang /* not ready to arm, blink at 10Hz */ } +<<<<<<< HEAD rgbled_set_pattern(&pattern); } +======= + if (status->condition_global_position_valid) { + /* position estimated, solid */ + led_on(LED_BLUE); + + } else if (leds_counter == 6) { + /* waiting for position estimate, short blink at 1.25Hz */ + led_on(LED_BLUE); +>>>>>>> f96bb824d4fc6f6d36ddf24e8879d3025af39d70 /* give system warnings on error LED, XXX maybe add memory usage warning too */ if (status->load > 0.95f) { @@ -1607,37 +1663,54 @@ print_reject_mode(const char *msg) } } +void +print_reject_arm(const char *msg) +{ + hrt_abstime t = hrt_absolute_time(); + + if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { + last_print_mode_reject_time = t; + char s[80]; + sprintf(s, "[cmd] %s", msg); + mavlink_log_critical(mavlink_fd, s); + tune_negative(); + } +} + transition_result_t check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode) { transition_result_t res = TRANSITION_DENIED; - if (current_status->arming_state == ARMING_STATE_ARMED || current_status->arming_state == ARMING_STATE_ARMED_ERROR) { - /* ARMED */ - switch (current_status->main_state) { - case MAIN_STATE_MANUAL: - res = navigation_state_transition(current_status, current_status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode); - break; + switch (current_status->main_state) { + case MAIN_STATE_MANUAL: + res = navigation_state_transition(current_status, current_status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode); + break; - case MAIN_STATE_SEATBELT: - res = navigation_state_transition(current_status, NAVIGATION_STATE_ALTHOLD, control_mode); - break; + case MAIN_STATE_SEATBELT: + res = navigation_state_transition(current_status, NAVIGATION_STATE_ALTHOLD, control_mode); + break; - case MAIN_STATE_EASY: - res = navigation_state_transition(current_status, NAVIGATION_STATE_VECTOR, control_mode); - break; + case MAIN_STATE_EASY: + res = navigation_state_transition(current_status, NAVIGATION_STATE_VECTOR, control_mode); + break; - case MAIN_STATE_AUTO: - if (current_status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF) { - /* don't act while taking off */ - if (current_status->condition_landed) { - /* if landed: transitions only to AUTO_READY are allowed */ - res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_READY, control_mode); - // TRANSITION_DENIED is not possible here - break; + case MAIN_STATE_AUTO: + if (current_status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { + /* don't act while taking off */ + res = TRANSITION_NOT_CHANGED; - } else { - /* if not landed: act depending on switches */ + } else { + if (current_status->condition_landed) { + /* if landed: transitions only to AUTO_READY are allowed */ + res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_READY, control_mode); + // TRANSITION_DENIED is not possible here + break; + + } else { + /* if not landed: */ + if (current_status->rc_signal_found_once && !current_status->rc_signal_lost) { + /* act depending on switches when manual control enabled */ if (current_status->return_switch == RETURN_SWITCH_RETURN) { /* RTL */ res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_RTL, control_mode); @@ -1652,18 +1725,18 @@ check_navigation_state_machine(struct vehicle_status_s *current_status, struct v res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_LOITER, control_mode); } } + + } else { + /* always switch to loiter in air when no RC control */ + res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_LOITER, control_mode); } } - - break; - - default: - break; } - } else { - /* DISARMED */ - res = navigation_state_transition(current_status, NAVIGATION_STATE_STANDBY, control_mode); + break; + + default: + break; } return res; |