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author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 00:03:00 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 00:03:00 +0200 |
commit | b12928548c8254ce305f0d96c1b1007b42005be4 (patch) | |
tree | 48ee722bdcddb4204b729bb01ea49942e4fcddd5 /src/modules/commander/commander.cpp | |
parent | b165e6ba2000f89b1220393e469911f3e3a73286 (diff) | |
parent | b250e28abfaf4d1adc8bdfb815fff369e0e41cc6 (diff) | |
download | px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.tar.gz px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.tar.bz2 px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.zip |
Merge branch 'master' into acro2
Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 658 |
1 files changed, 370 insertions, 288 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9c1642ac2..8336bcf32 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -67,6 +67,7 @@ #include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/subsystem_info.h> @@ -112,14 +113,14 @@ extern struct system_load_s system_load; #define MAVLINK_OPEN_INTERVAL 50000 -#define STICK_ON_OFF_LIMIT 0.75f -#define STICK_THRUST_RANGE 1.0f +#define STICK_ON_OFF_LIMIT 0.9f #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ -#define RC_TIMEOUT 100000 -#define DIFFPRESS_TIMEOUT 2000000 +#define POSITION_TIMEOUT (600 * 1000) /**< consider the local or global position estimate invalid after 600ms */ +#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ +#define RC_TIMEOUT 500000 +#define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 #define PRINT_MODE_REJECT_INTERVAL 2000000 @@ -137,7 +138,7 @@ enum MAV_MODE_FLAG { }; /* Mavlink file descriptors */ -static int mavlink_fd; +static int mavlink_fd = 0; /* flags */ static bool commander_initialized = false; @@ -153,6 +154,7 @@ static bool on_usb_power = false; static float takeoff_alt = 5.0f; static int parachute_enabled = 0; +static float eph_epv_threshold = 5.0f; static struct vehicle_status_s status; static struct actuator_armed_s armed; @@ -194,7 +196,7 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -bool handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); +bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub); /** * Mainloop of commander. @@ -207,7 +209,7 @@ void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status); -transition_result_t set_main_state_rc(struct vehicle_status_s *status); +transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man); void set_control_mode(); @@ -217,11 +219,10 @@ void print_reject_arm(const char *msg); void print_status(); -int arm(); -int disarm(); - transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy); + /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. */ @@ -232,8 +233,9 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul int commander_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { usage("missing command"); + } if (!strcmp(argv[1], "start")) { @@ -247,7 +249,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 3000, + 2950, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); @@ -260,8 +262,9 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "stop")) { - if (!thread_running) + if (!thread_running) { errx(0, "commander already stopped"); + } thread_should_exit = true; @@ -288,12 +291,12 @@ int commander_main(int argc, char *argv[]) } if (!strcmp(argv[1], "arm")) { - arm(); + arm_disarm(true, mavlink_fd, "command line"); exit(0); } - if (!strcmp(argv[1], "disarm")) { - disarm(); + if (!strcmp(argv[1], "2")) { + arm_disarm(false, mavlink_fd, "command line"); exit(0); } @@ -303,8 +306,9 @@ int commander_main(int argc, char *argv[]) void usage(const char *reason) { - if (reason) + if (reason) { fprintf(stderr, "%s\n", reason); + } fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n"); exit(1); @@ -363,38 +367,35 @@ void print_status() static orb_advert_t status_pub; -int arm() +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy) { - int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + transition_result_t arming_res = TRANSITION_NOT_CHANGED; - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); - return 0; + // Transition the armed state. By passing mavlink_fd to arming_state_transition it will + // output appropriate error messages if the state cannot transition. + arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); - } else { - return 1; - } -} + if (arming_res == TRANSITION_CHANGED && mavlink_fd) { + mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); -int disarm() -{ - int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); - - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); - return 0; - - } else { - return 1; + } else if (arming_res == TRANSITION_DENIED) { + tune_negative(true); } + + return arming_res; } -bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) +bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) { /* result of the command */ enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED; bool ret = false; + /* only handle commands that are meant to be handled by this system and component */ + if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components + return false; + } + /* only handle high-priority commands here */ /* request to set different system mode */ @@ -421,43 +422,16 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } } - if (hil_ret == OK) + if (hil_ret == OK) { ret = true; - - // TODO remove debug code - //mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode); - /* set arming state */ - arming_res = TRANSITION_NOT_CHANGED; - - if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { - print_reject_arm("NOT ARMING: Press safety switch first."); - arming_res = TRANSITION_DENIED; - - } else { - arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); - } - - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by command"); - } - - } else { - if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { - arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_res = arming_state_transition(status, safety, new_arming_state, armed); - - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command"); - } - - } else { - arming_res = TRANSITION_NOT_CHANGED; - } } - if (arming_res == TRANSITION_CHANGED) + // Transition the arming state + arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); + + if (arming_res == TRANSITION_CHANGED) { ret = true; + } /* set main state */ transition_result_t main_res = TRANSITION_DENIED; @@ -468,17 +442,21 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* MANUAL */ main_res = main_state_transition(status, MAIN_STATE_MANUAL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) { - /* SEATBELT */ - main_res = main_state_transition(status, MAIN_STATE_SEATBELT); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) { + /* ALTCTL */ + main_res = main_state_transition(status, MAIN_STATE_ALTCTL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) { - /* EASY */ - main_res = main_state_transition(status, MAIN_STATE_EASY); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ main_res = main_state_transition(status, MAIN_STATE_AUTO); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) { + /* ACRO */ + main_res = main_state_transition(status, MAIN_STATE_ACRO); } } else { @@ -489,8 +467,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { - /* EASY */ - main_res = main_state_transition(status, MAIN_STATE_EASY); + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { /* MANUAL */ @@ -499,8 +477,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } } - if (main_res == TRANSITION_CHANGED) + if (main_res == TRANSITION_CHANGED) { ret = true; + } if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) { result = VEHICLE_CMD_RESULT_ACCEPTED; @@ -513,25 +492,26 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - transition_result_t arming_res = TRANSITION_NOT_CHANGED; + // Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm. + // We use an float epsilon delta to test float equality. + if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) { + mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1); - if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { - if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { - print_reject_arm("NOT ARMING: Press safety switch first."); - arming_res = TRANSITION_DENIED; + } else { - } else { - arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); + // Flick to inair restore first if this comes from an onboard system + if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) { + status->arming_state = ARMING_STATE_IN_AIR_RESTORE; } - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd"); - result = VEHICLE_CMD_RESULT_ACCEPTED; - ret = true; + transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command"); - } else { + if (arming_res == TRANSITION_DENIED) { mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + + } else { + result = VEHICLE_CMD_RESULT_ACCEPTED; } } } @@ -561,7 +541,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; - /* Flight termination */ + /* Flight termination */ case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command //XXX: to enable the parachute, a param needs to be set @@ -579,6 +559,53 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; + case VEHICLE_CMD_DO_SET_HOME: { + bool use_current = cmd->param1 > 0.5f; + + if (use_current) { + /* use current position */ + if (status->condition_global_position_valid) { + home->lat = global_pos->lat; + home->lon = global_pos->lon; + home->alt = global_pos->alt; + + home->timestamp = hrt_absolute_time(); + + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + } else { + /* use specified position */ + home->lat = cmd->param5; + home->lon = cmd->param6; + home->alt = cmd->param7; + + home->timestamp = hrt_absolute_time(); + + result = VEHICLE_CMD_RESULT_ACCEPTED; + } + + if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt); + + /* announce new home position */ + if (*home_pub > 0) { + orb_publish(ORB_ID(home_position), *home_pub, home); + + } else { + *home_pub = orb_advertise(ORB_ID(home_position), home); + } + + /* mark home position as set */ + status->condition_home_position_valid = true; + } + } + break; + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case VEHICLE_CMD_PREFLIGHT_CALIBRATION: case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: @@ -587,7 +614,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; default: - /* warn about unsupported commands */ + /* Warn about unsupported commands, this makes sense because only commands + * to this component ID (or all) are passed by mavlink. */ answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); break; } @@ -611,6 +639,7 @@ int commander_thread_main(int argc, char *argv[]) commander_initialized = false; bool arm_tune_played = false; + bool was_armed = false; /* set parameters */ param_t _param_sys_type = param_find("MAV_TYPE"); @@ -624,10 +653,10 @@ int commander_thread_main(int argc, char *argv[]) char *main_states_str[MAIN_STATE_MAX]; main_states_str[0] = "MANUAL"; - main_states_str[1] = "ACRO"; - main_states_str[2] = "SEATBELT"; - main_states_str[3] = "EASY"; - main_states_str[4] = "AUTO"; + main_states_str[1] = "ALTCTL"; + main_states_str[2] = "POSCTL"; + main_states_str[3] = "AUTO"; + main_states_str[4] = "ACRO"; char *arming_states_str[ARMING_STATE_MAX]; arming_states_str[0] = "INIT"; @@ -719,7 +748,7 @@ int commander_thread_main(int argc, char *argv[]) pthread_attr_t commander_low_prio_attr; pthread_attr_init(&commander_low_prio_attr); - pthread_attr_setstacksize(&commander_low_prio_attr, 2992); + pthread_attr_setstacksize(&commander_low_prio_attr, 2900); struct sched_param param; (void)pthread_attr_getschedparam(&commander_low_prio_attr, ¶m); @@ -738,8 +767,9 @@ int commander_thread_main(int argc, char *argv[]) bool low_battery_voltage_actions_done = false; bool critical_battery_voltage_actions_done = false; - uint64_t last_idle_time = 0; - uint64_t start_time = 0; + hrt_abstime last_idle_time = 0; + hrt_abstime start_time = 0; + hrt_abstime last_auto_state_valid = 0; bool status_changed = true; bool param_init_forced = true; @@ -768,6 +798,9 @@ int commander_thread_main(int argc, char *argv[]) int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); struct vehicle_global_position_s global_position; memset(&global_position, 0, sizeof(global_position)); + /* Init EPH and EPV */ + global_position.eph = 1000.0f; + global_position.epv = 1000.0f; /* Subscribe to local position data */ int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); @@ -815,6 +848,11 @@ int commander_thread_main(int argc, char *argv[]) struct subsystem_info_s info; memset(&info, 0, sizeof(info)); + /* Subscribe to position setpoint triplet */ + int pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); + struct position_setpoint_triplet_s pos_sp_triplet; + memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet)); + control_status_leds(&status, &armed, true); /* now initialized */ @@ -865,6 +903,7 @@ int commander_thread_main(int argc, char *argv[]) /* re-check RC calibration */ rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd)); } + /* navigation parameters */ param_get(_param_takeoff_alt, &takeoff_alt); param_get(_param_enable_parachute, ¶chute_enabled); @@ -905,6 +944,7 @@ int commander_thread_main(int argc, char *argv[]) /* disarm if safety is now on and still armed */ if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); } @@ -920,7 +960,53 @@ int commander_thread_main(int argc, char *argv[]) } /* update condition_global_position_valid */ - check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.global_valid, &(status.condition_global_position_valid), &status_changed); + /* hysteresis for EPH/EPV */ + bool eph_epv_good; + + if (status.condition_global_position_valid) { + if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { + eph_epv_good = false; + + } else { + eph_epv_good = true; + } + + } else { + if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) { + eph_epv_good = true; + + } else { + eph_epv_good = false; + } + } + + check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed); + + /* check if GPS fix is ok */ + + /* update home position */ + if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + + home.lat = global_position.lat; + home.lon = global_position.lon; + home.alt = global_position.alt; + + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + status.condition_home_position_valid = true; + tune_positive(true); + } /* update local position estimate */ orb_check(local_position_sub, &updated); @@ -931,10 +1017,11 @@ int commander_thread_main(int argc, char *argv[]) } /* 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.xy_valid && eph_epv_good, &(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); static bool published_condition_landed_fw = false; + if (status.is_rotary_wing && status.condition_local_altitude_valid) { if (status.condition_landed != local_position.landed) { status.condition_landed = local_position.landed; @@ -948,6 +1035,7 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "#audio: IN AIR"); } } + } else { if (!published_condition_landed_fw) { status.condition_landed = false; // Fixedwing does not have a landing detector currently @@ -963,7 +1051,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(battery_status), battery_sub, &battery); /* only consider battery voltage if system has been running 2s and battery voltage is valid */ - if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { + if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { status.battery_voltage = battery.voltage_filtered_v; status.battery_current = battery.current_a; status.condition_battery_voltage_valid = true; @@ -1006,12 +1094,20 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; } + /* update position setpoint triplet */ + orb_check(pos_sp_triplet_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet); + } + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { /* compute system load */ uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; - if (last_idle_time > 0) - status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + if (last_idle_time > 0) { + status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + } last_idle_time = system_load.tasks[0].total_runtime; @@ -1068,45 +1164,6 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); - /* check if GPS fix is ok */ - float hdop_threshold_m = 4.0f; - float vdop_threshold_m = 8.0f; - - /* - * If horizontal dilution of precision (hdop / eph) - * and vertical diluation of precision (vdop / epv) - * are below a certain threshold (e.g. 4 m), AND - * home position is not yet set AND the last GPS - * GPS measurement is not older than two seconds AND - * the system is currently not armed, set home - * position to the current position. - */ - - if (!status.condition_home_position_valid && gps_position.fix_type >= 3 && - (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) && - (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed - && global_position.global_valid) { - - /* copy position data to uORB home message, store it locally as well */ - home.lat = global_position.lat; - home.lon = global_position.lon; - home.alt = global_position.alt; - - warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt); - mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt); - - /* announce new home position */ - if (home_pub > 0) { - orb_publish(ORB_ID(home_position), home_pub, &home); - - } else { - home_pub = orb_advertise(ORB_ID(home_position), &home); - } - - /* mark home position as set */ - status.condition_home_position_valid = true; - tune_positive(true); - } } /* start RC input check */ @@ -1126,22 +1183,22 @@ int commander_thread_main(int argc, char *argv[]) status.rc_signal_lost = false; - transition_result_t res; // store all transitions results here + transition_result_t arming_res; // store all transitions results here /* arm/disarm by RC */ - res = TRANSITION_NOT_CHANGED; + arming_res = TRANSITION_NOT_CHANGED; - /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm + /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) && - sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - res = arming_state_transition(&status, &safety, new_arming_state, &armed); + arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed); stick_off_counter = 0; } else { @@ -1154,7 +1211,7 @@ int commander_thread_main(int argc, char *argv[]) /* check if left stick is in lower right position and we're in MANUAL mode -> arm */ if (status.arming_state == ARMING_STATE_STANDBY && - sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); @@ -1163,7 +1220,7 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); } else { - res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); } stick_on_counter = 0; @@ -1176,7 +1233,7 @@ int commander_thread_main(int argc, char *argv[]) stick_on_counter = 0; } - if (res == TRANSITION_CHANGED) { + if (arming_res == TRANSITION_CHANGED) { if (status.arming_state == ARMING_STATE_ARMED) { mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC"); @@ -1184,31 +1241,56 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC"); } - } else if (res == TRANSITION_DENIED) { + } else if (arming_res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied"); } if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { /* recover from failsafe */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); } - /* fill status according to mode switches */ - check_mode_switches(&sp_man, &status); - /* evaluate the main state machine according to mode switches */ - res = set_main_state_rc(&status); + transition_result_t main_res = set_main_state_rc(&status, &sp_man); /* play tune on mode change only if armed, blink LED always */ - if (res == TRANSITION_CHANGED) { + if (main_res == TRANSITION_CHANGED) { tune_positive(armed.armed); - } else if (res == TRANSITION_DENIED) { + } else if (main_res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied"); } + /* set navigation state */ + /* RETURN switch, overrides MISSION switch */ + if (sp_man.return_switch == SWITCH_POS_ON) { + /* switch to RTL if not already landed after RTL and home position set */ + status.set_nav_state = NAV_STATE_RTL; + status.set_nav_state_timestamp = hrt_absolute_time(); + + } else { + + /* LOITER switch */ + if (sp_man.loiter_switch == SWITCH_POS_ON) { + /* stick is in LOITER position */ + status.set_nav_state = NAV_STATE_LOITER; + status.set_nav_state_timestamp = hrt_absolute_time(); + + } else if (sp_man.loiter_switch != SWITCH_POS_NONE) { + /* stick is in MISSION position */ + status.set_nav_state = NAV_STATE_MISSION; + status.set_nav_state_timestamp = hrt_absolute_time(); + + } else if ((sp_man.return_switch == SWITCH_POS_OFF || sp_man.return_switch == SWITCH_POS_MIDDLE) && + pos_sp_triplet.nav_state == NAV_STATE_RTL) { + /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ + status.set_nav_state = NAV_STATE_MISSION; + status.set_nav_state_timestamp = hrt_absolute_time(); + } + } + } else { if (!status.rc_signal_lost) { mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST"); @@ -1219,29 +1301,39 @@ int commander_thread_main(int argc, char *argv[]) if (armed.armed) { if (status.main_state == MAIN_STATE_AUTO) { /* check if AUTO mode still allowed */ - transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO); + transition_result_t auto_res = main_state_transition(&status, MAIN_STATE_AUTO); - if (res == TRANSITION_DENIED) { + if (auto_res == TRANSITION_NOT_CHANGED) { + last_auto_state_valid = hrt_absolute_time(); + } + + /* still invalid state after the timeout interval, execute failsafe */ + if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (auto_res == TRANSITION_DENIED)) { /* AUTO mode denied, don't try RTL, switch to failsafe state LAND */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + auto_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - if (res == TRANSITION_DENIED) { + if (auto_res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); } } } else { /* failsafe for manual modes */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + transition_result_t manual_res = TRANSITION_DENIED; + + if (!status.condition_landed) { + /* vehicle is not landed, try to perform RTL */ + manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + } - if (res == TRANSITION_DENIED) { - /* RTL not allowed (no global position estimate), try LAND */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + if (manual_res == TRANSITION_DENIED) { + /* RTL not allowed (no global position estimate) or not wanted, try LAND */ + manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - if (res == TRANSITION_DENIED) { + if (manual_res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); } } } @@ -1249,14 +1341,14 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { /* reset failsafe when disarmed */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); } } } // TODO remove this hack - /* flight termination in manual mode if assisted switch is on easy position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { + /* flight termination in manual mode if assist switch is on POSCTL position */ + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1270,8 +1362,9 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - if (handle_command(&status, &safety, &cmd, &armed)) + if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub)) { status_changed = true; + } } /* check which state machines for changes, clear "changed" flag */ @@ -1285,8 +1378,34 @@ int commander_thread_main(int argc, char *argv[]) if (arming_state_changed) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]); + + /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ + if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid && + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + + // TODO remove code duplication + home.lat = global_position.lat; + home.lon = global_position.lon; + home.alt = global_position.alt; + + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + status.condition_home_position_valid = true; + } } + was_armed = armed.armed; + if (main_state_changed) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]); @@ -1448,21 +1567,24 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a } else if (actuator_armed->ready_to_arm) { /* ready to arm, blink at 1Hz */ - if (leds_counter % 20 == 0) + if (leds_counter % 20 == 0) { led_toggle(LED_BLUE); + } } else { /* not ready to arm, blink at 10Hz */ - if (leds_counter % 2 == 0) + if (leds_counter % 2 == 0) { led_toggle(LED_BLUE); + } } #endif /* give system warnings on error LED, XXX maybe add memory usage warning too */ if (status->load > 0.95f) { - if (leds_counter % 2 == 0) + if (leds_counter % 2 == 0) { led_toggle(LED_AMBER); + } } else { led_off(LED_AMBER); @@ -1471,121 +1593,68 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a leds_counter++; } -void -check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status) -{ - /* main mode switch */ - if (!isfinite(sp_man->mode_switch)) { - /* default to manual if signal is invalid */ - status->mode_switch = MODE_SWITCH_MANUAL; - - } else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) { - status->mode_switch = MODE_SWITCH_AUTO; - - } else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) { - status->mode_switch = MODE_SWITCH_MANUAL; - - } else { - status->mode_switch = MODE_SWITCH_ASSISTED; - } - - /* return switch */ - if (!isfinite(sp_man->return_switch)) { - status->return_switch = RETURN_SWITCH_NONE; - - } else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) { - status->return_switch = RETURN_SWITCH_RETURN; - - } else { - status->return_switch = RETURN_SWITCH_NORMAL; - } - - /* assisted switch */ - if (!isfinite(sp_man->assisted_switch)) { - status->assisted_switch = ASSISTED_SWITCH_SEATBELT; - - } else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) { - status->assisted_switch = ASSISTED_SWITCH_EASY; - - } else { - status->assisted_switch = ASSISTED_SWITCH_SEATBELT; - } - - /* mission switch */ - if (!isfinite(sp_man->mission_switch)) { - status->mission_switch = MISSION_SWITCH_NONE; - - } else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) { - status->mission_switch = MISSION_SWITCH_LOITER; - - } else { - status->mission_switch = MISSION_SWITCH_MISSION; - } - - /* acro switch */ - if (!isfinite(sp_man->acro_switch)) { - status->acro_switch = ACRO_SWITCH_NONE; - - } else if (sp_man->acro_switch > STICK_ON_OFF_LIMIT) { - status->acro_switch = ACRO_SWITCH_ACRO; - - } else { - status->acro_switch = ACRO_SWITCH_NORMAL; - } -} - transition_result_t -set_main_state_rc(struct vehicle_status_s *status) +set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man) { /* set main state according to RC switches */ transition_result_t res = TRANSITION_DENIED; - switch (status->mode_switch) { - case MODE_SWITCH_MANUAL: - if (status->acro_switch == ACRO_SWITCH_ACRO) { + switch (sp_man->mode_switch) { + case SWITCH_POS_NONE: + res = TRANSITION_NOT_CHANGED; + break; + + case SWITCH_POS_OFF: // MANUAL + if (sp_man->acro_switch == SWITCH_POS_ON) { res = main_state_transition(status, MAIN_STATE_ACRO); + } else { res = main_state_transition(status, MAIN_STATE_MANUAL); } // TRANSITION_DENIED is not possible here break; - case MODE_SWITCH_ASSISTED: - if (status->assisted_switch == ASSISTED_SWITCH_EASY) { - res = main_state_transition(status, MAIN_STATE_EASY); + case SWITCH_POS_MIDDLE: // ASSIST + if (sp_man->posctl_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_POSCTL); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state + } - // else fallback to SEATBELT - print_reject_mode(status, "EASY"); + // else fallback to ALTCTL + print_reject_mode(status, "POSCTL"); } - res = main_state_transition(status, MAIN_STATE_SEATBELT); + res = main_state_transition(status, MAIN_STATE_ALTCTL); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this mode + } - if (status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages - print_reject_mode(status, "SEATBELT"); + if (sp_man->posctl_switch != SWITCH_POS_ON) { + print_reject_mode(status, "ALTCTL"); + } // else fallback to MANUAL res = main_state_transition(status, MAIN_STATE_MANUAL); // TRANSITION_DENIED is not possible here break; - case MODE_SWITCH_AUTO: + case SWITCH_POS_ON: // AUTO res = main_state_transition(status, MAIN_STATE_AUTO); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state + } - // else fallback to SEATBELT (EASY likely will not work too) + // else fallback to ALTCTL (POSCTL likely will not work too) print_reject_mode(status, "AUTO"); - res = main_state_transition(status, MAIN_STATE_SEATBELT); + res = main_state_transition(status, MAIN_STATE_ALTCTL); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state + } // else fallback to MANUAL res = main_state_transition(status, MAIN_STATE_MANUAL); @@ -1627,18 +1696,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_ACRO: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - break; - - case MAIN_STATE_SEATBELT: + case MAIN_STATE_ALTCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1649,7 +1707,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_EASY: + case MAIN_STATE_POSCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1662,6 +1720,18 @@ set_control_mode() case MAIN_STATE_AUTO: navigator_enabled = true; + break; + + case MAIN_STATE_ACRO: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; default: break; @@ -1700,8 +1770,11 @@ set_control_mode() control_mode.flag_control_auto_enabled = true; control_mode.flag_control_rates_enabled = true; control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; + + /* in failsafe LAND mode position may be not available */ + control_mode.flag_control_position_enabled = status.condition_local_position_valid; + control_mode.flag_control_velocity_enabled = status.condition_local_position_valid; + control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; } @@ -1742,7 +1815,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul { switch (result) { case VEHICLE_CMD_RESULT_ACCEPTED: - tune_positive(true); + tune_positive(true); break; case VEHICLE_CMD_RESULT_DENIED: @@ -1792,8 +1865,9 @@ void *commander_low_prio_loop(void *arg) int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200); /* timed out - periodic check for thread_should_exit, etc. */ - if (pret == 0) + if (pret == 0) { continue; + } /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { @@ -1808,8 +1882,9 @@ void *commander_low_prio_loop(void *arg) if (cmd.command == VEHICLE_CMD_DO_SET_MODE || cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM || cmd.command == VEHICLE_CMD_NAV_TAKEOFF || - cmd.command == VEHICLE_CMD_DO_SET_SERVO) + cmd.command == VEHICLE_CMD_DO_SET_SERVO) { continue; + } /* only handle low-priority commands here */ switch (cmd.command) { @@ -1887,6 +1962,7 @@ void *commander_low_prio_loop(void *arg) /* airspeed calibration */ answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_airspeed_calibration(mavlink_fd); + } else if ((int)(cmd.param4) == 0) { /* RC calibration ended - have we been in one worth confirming? */ if (status.rc_input_blocked) { @@ -1901,10 +1977,12 @@ void *commander_low_prio_loop(void *arg) } - if (calib_ret == OK) + if (calib_ret == OK) { tune_positive(true); - else + + } else { tune_negative(true); + } arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); @@ -1924,11 +2002,13 @@ void *commander_low_prio_loop(void *arg) mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR"); /* convenience as many parts of NuttX use negative errno */ - if (ret < 0) + if (ret < 0) { ret = -ret; + } - if (ret < 1000) + if (ret < 1000) { mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); + } answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1944,11 +2024,13 @@ void *commander_low_prio_loop(void *arg) mavlink_log_critical(mavlink_fd, "#audio: parameters save error"); /* convenience as many parts of NuttX use negative errno */ - if (ret < 0) + if (ret < 0) { ret = -ret; + } - if (ret < 1000) + if (ret < 1000) { mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); + } answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1958,8 +2040,8 @@ void *commander_low_prio_loop(void *arg) } case VEHICLE_CMD_START_RX_PAIR: - /* handled in the IO driver */ - break; + /* handled in the IO driver */ + break; default: /* don't answer on unsupported commands, it will be done in main loop */ |