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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-15 09:52:22 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-15 09:52:22 +0200 |
commit | cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc (patch) | |
tree | 3346625caf7b752f4b13bcbffd5427f455ada9e5 /src/modules/commander | |
parent | 0bbc4b7012c72fda61dca01a897552e9483a4f5f (diff) | |
download | px4-firmware-cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc.tar.gz px4-firmware-cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc.tar.bz2 px4-firmware-cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc.zip |
Rejecting arming if safety switch is not in safe position, added reboot command
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/commander.cpp | 49 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 21 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.h | 6 |
3 files changed, 58 insertions, 18 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 82b575405..d4c2c4c84 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -265,7 +265,7 @@ void usage(const char *reason) exit(1); } -void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) +void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) { /* result of the command */ uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; @@ -282,7 +282,7 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode transition_result_t arming_res = TRANSITION_NOT_CHANGED; if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - arming_res = arming_state_transition(status, ARMING_STATE_ARMED, armed); + 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"); @@ -291,7 +291,7 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode } 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, new_arming_state, armed); + 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"); @@ -356,6 +356,23 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode break; case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: + if (is_safe(status, safety, armed)) { + + if (((int)(cmd->param1)) == 1) { + /* reboot */ + up_systemreset(); + } else if (((int)(cmd->param1)) == 3) { + /* reboot to bootloader */ + + // XXX implement + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } break; case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { @@ -388,7 +405,7 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode /* check if we have new task and no other task is scheduled */ if (low_prio_task == LOW_PRIO_TASK_NONE && new_low_prio_task != LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (TRANSITION_DENIED != arming_state_transition(status, ARMING_STATE_INIT, armed)) { + if (TRANSITION_DENIED != arming_state_transition(status, safety, ARMING_STATE_INIT, armed)) { result = VEHICLE_CMD_RESULT_ACCEPTED; low_prio_task = new_low_prio_task; @@ -407,10 +424,10 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode low_prio_task_t new_low_prio_task = LOW_PRIO_TASK_NONE; if (((int)(cmd->param1)) == 0) { - low_prio_task = LOW_PRIO_TASK_PARAM_LOAD; + new_low_prio_task = LOW_PRIO_TASK_PARAM_LOAD; } else if (((int)(cmd->param1)) == 1) { - low_prio_task = LOW_PRIO_TASK_PARAM_SAVE; + new_low_prio_task = LOW_PRIO_TASK_PARAM_SAVE; } /* check if we have new task and no other task is scheduled */ @@ -605,6 +622,8 @@ int commander_thread_main(int argc, char *argv[]) int safety_sub = orb_subscribe(ORB_ID(safety)); struct safety_s safety; memset(&safety, 0, sizeof(safety)); + safety.safety_switch_available = false; + safety.safety_off = false; /* Subscribe to manual control data */ int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); @@ -746,7 +765,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - handle_command(&status, &control_mode, &cmd, &armed); + handle_command(&status, &safety, &control_mode, &cmd, &armed); } /* update safety topic */ @@ -871,7 +890,7 @@ int commander_thread_main(int argc, char *argv[]) critical_battery_voltage_actions_done = true; mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY"); status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; - arming_state_transition(&status, ARMING_STATE_ARMED_ERROR, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); status_changed = true; } @@ -887,7 +906,7 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { // XXX check for sensors - arming_state_transition(&status, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); } else { // XXX: Add emergency stuff if sensors are lost @@ -1026,7 +1045,7 @@ int commander_thread_main(int argc, char *argv[]) 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, new_arming_state, &armed); + res = arming_state_transition(&status, &safety, new_arming_state, &armed); stick_off_counter = 0; } else { @@ -1045,7 +1064,7 @@ int commander_thread_main(int argc, char *argv[]) status.main_state == MAIN_STATE_MANUAL) { if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - res = arming_state_transition(&status, ARMING_STATE_ARMED, &armed); + res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); stick_on_counter = 0; } else { @@ -1168,10 +1187,10 @@ int commander_thread_main(int argc, char *argv[]) // XXX check if this is correct /* arm / disarm on request */ if (sp_offboard.armed && !armed.armed) { - arming_state_transition(&status, ARMING_STATE_ARMED, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); } else if (!sp_offboard.armed && armed.armed) { - arming_state_transition(&status, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); } } else { @@ -1243,7 +1262,7 @@ int commander_thread_main(int argc, char *argv[]) } /* play arming and battery warning tunes */ - if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || safety.safety_off)) { + if (!arm_tune_played && armed.armed) { /* play tune when armed */ if (tune_arm() == OK) arm_tune_played = true; @@ -1540,6 +1559,8 @@ void *commander_low_prio_loop(void *arg) /* Set thread name */ prctl(PR_SET_NAME, "commander_low_prio", getpid()); + low_prio_task = LOW_PRIO_TASK_NONE; + while (!thread_should_exit) { switch (low_prio_task) { diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 06cd060c5..163aceed2 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -67,7 +67,7 @@ static bool main_state_changed = true; static bool navigation_state_changed = true; transition_result_t -arming_state_transition(struct vehicle_status_s *status, arming_state_t new_arming_state, struct actuator_armed_s *armed) +arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, arming_state_t new_arming_state, struct actuator_armed_s *armed) { transition_result_t ret = TRANSITION_DENIED; @@ -108,8 +108,10 @@ arming_state_transition(struct vehicle_status_s *status, arming_state_t new_armi case ARMING_STATE_ARMED: /* allow arming from STANDBY and IN-AIR-RESTORE */ - if (status->arming_state == ARMING_STATE_STANDBY - || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) { + if ((status->arming_state == ARMING_STATE_STANDBY + || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) + && (!safety->safety_switch_available || safety->safety_off)) /* only allow arming if safety is off */ + { ret = TRANSITION_CHANGED; armed->armed = true; armed->ready_to_arm = false; @@ -172,6 +174,19 @@ arming_state_transition(struct vehicle_status_s *status, arming_state_t new_armi return ret; } +bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed) +{ + // System is safe if: + // 1) Not armed + // 2) Armed, but in software lockdown (HIL) + // 3) Safety switch is present AND engaged -> actuators locked + if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) { + return true; + } else { + return false; + } +} + bool check_arming_state_changed() { diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index c8c77e5d8..a38c2497e 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -47,6 +47,7 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/safety.h> #include <uORB/topics/vehicle_control_mode.h> typedef enum { @@ -56,7 +57,10 @@ typedef enum { } transition_result_t; -transition_result_t arming_state_transition(struct vehicle_status_s *current_state, arming_state_t new_arming_state, struct actuator_armed_s *armed); +transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, + arming_state_t new_arming_state, struct actuator_armed_s *armed); + +bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); bool check_arming_state_changed(); |