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author | TickTock- <lukecell@safe-mail.net> | 2014-04-22 17:43:36 -0700 |
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committer | TickTock- <lukecell@safe-mail.net> | 2014-04-22 17:43:36 -0700 |
commit | d6e6ee34401d79d428c025458940bbbf42f62236 (patch) | |
tree | e0cb854b65e8a026d8c8572a1e382fe6b1c7765c /src/modules/commander | |
parent | 86a0862af6412906611ed295cae4604e7111b1e9 (diff) | |
parent | 0b97dd2b776ce61fd53776f036230ea0089e26e9 (diff) | |
download | px4-firmware-d6e6ee34401d79d428c025458940bbbf42f62236.tar.gz px4-firmware-d6e6ee34401d79d428c025458940bbbf42f62236.tar.bz2 px4-firmware-d6e6ee34401d79d428c025458940bbbf42f62236.zip |
Merge branch 'rc_timeout' of https://github.com/TickTock-/Firmware into rc_merged
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/commander.cpp | 139 |
1 files changed, 66 insertions, 73 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ce6de88ef..e7cf2b3fa 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> @@ -112,8 +113,7 @@ 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) @@ -207,7 +207,7 @@ 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(); @@ -819,6 +819,11 @@ 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 */ @@ -1010,6 +1015,13 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; } + /* update subsystem */ + 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; @@ -1140,7 +1152,7 @@ int commander_thread_main(int argc, char *argv[]) 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.condition_landed) && - sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ @@ -1158,7 +1170,7 @@ 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.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < 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."); @@ -1198,11 +1210,8 @@ int commander_thread_main(int argc, char *argv[]) transition_result_t res = 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); + res = set_main_state_rc(&status, &sp_man); /* play tune on mode change only if armed, blink LED always */ if (res == TRANSITION_CHANGED) { @@ -1213,6 +1222,33 @@ int commander_thread_main(int argc, char *argv[]) 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 { + /* MISSION switch */ + if (sp_man.mission_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.mission_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"); @@ -1260,7 +1296,7 @@ int commander_thread_main(int argc, char *argv[]) // 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) { + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1475,76 +1511,29 @@ 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; - } -} - 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: + switch (sp_man->mode_switch) { + case SWITCH_POS_NONE: + res = TRANSITION_NOT_CHANGED; + break; + + case SWITCH_POS_OFF: // MANUAL 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) { + case SWITCH_POS_MIDDLE: // ASSISTED + if (sp_man->assisted_switch == SWITCH_POS_ON) { res = main_state_transition(status, MAIN_STATE_EASY); - 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"); @@ -1552,29 +1541,33 @@ set_main_state_rc(struct vehicle_status_s *status) res = main_state_transition(status, MAIN_STATE_SEATBELT); - 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 + if (sp_man->assisted_switch != SWITCH_POS_ON) { print_reject_mode(status, "SEATBELT"); + } // 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) print_reject_mode(status, "AUTO"); res = main_state_transition(status, MAIN_STATE_SEATBELT); - 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); |