add obc gps failure mode

1 files changed, 51 insertions, 44 deletions

diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index 4c526b76e..02e766ffb 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -57,7 +57,12 @@
 
 GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
-	_gpsf_state(GPSF_STATE_NONE)
+	_param_loitertime(this, "LT"),
+	_param_openlooploiter_roll(this, "R"),
+	_param_openlooploiter_pitch(this, "P"),
+	_param_openlooploiter_thrust(this, "TR"),
+	_gpsf_state(GPSF_STATE_NONE),
+	_timestamp_activation(0)
 {
 	/* load initial params */
 	updateParams();
@@ -82,6 +87,7 @@ void
 GpsFailure::on_activation()
 {
 	_gpsf_state = GPSF_STATE_NONE;
+	_timestamp_activation = hrt_absolute_time();
 	updateParams();
 	advance_gpsf();
 	set_gpsf_item();
@@ -90,10 +96,34 @@ GpsFailure::on_activation()
 void
 GpsFailure::on_active()
 {
-	if (is_mission_item_reached()) {
-		updateParams();
-		advance_gpsf();
+
+	switch (_gpsf_state) {
+	case GPSF_STATE_LOITER: {
+		/* Position controller does not run in this mode:
+		 * navigator has to publish an attitude setpoint */
+		_navigator->get_att_sp()->roll_body = M_DEG_TO_RAD_F * _param_openlooploiter_roll.get();
+		_navigator->get_att_sp()->pitch_body = M_DEG_TO_RAD_F * _param_openlooploiter_pitch.get();
+		_navigator->get_att_sp()->thrust = _param_openlooploiter_thrust.get();
+		_navigator->publish_att_sp();
+
+		/* Measure time */
+		hrt_abstime elapsed = hrt_elapsed_time(&_timestamp_activation);
+
+		//warnx("open loop loiter, posctl enabled %u, elapsed %.1fs, thrust %.2f",
+				//_navigator->get_control_mode()->flag_control_position_enabled, elapsed * 1e-6, (double)_param_openlooploiter_thrust.get());
+		if (elapsed > _param_loitertime.get() * 1e6f) {
+			/* no recovery, adavance the state machine */
+			warnx("gps not recovered, switch to next state");
+			advance_gpsf();
+		}
+		break;
+	}
+	case GPSF_STATE_TERMINATE:
 		set_gpsf_item();
+		advance_gpsf();
+		break;
+	default:
+		break;
 	}
 }
 
@@ -102,68 +132,45 @@ GpsFailure::set_gpsf_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);
+	/* Set pos sp triplet to invalid to stop pos controller */
+	pos_sp_triplet->previous.valid = false;
+	pos_sp_triplet->current.valid = false;
+	pos_sp_triplet->next.valid = false;
 
 	switch (_gpsf_state) {
-	case GPSF_STATE_LOITER: {
-		//_mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7;
-		//_mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7;
-		//_mission_item.altitude_is_relative = false;
-		//_mission_item.altitude = _param_commsholdalt.get();
-		//_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_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.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 GPSF_STATE_TERMINATE: {
-		//_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
-		//_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
-		//_mission_item.altitude_is_relative = false;
-		//_mission_item.altitude = _param_airfieldhomealt.get();
-		//_mission_item.yaw = NAN;
-		//_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		//_mission_item.loiter_direction = 1;
-		//_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
-		//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
-		//_mission_item.pitch_min = 0.0f;
-		//_mission_item.autocontinue = true;
-		//_mission_item.origin = ORIGIN_ONBOARD;
-
-		//_navigator->set_can_loiter_at_sp(true);
-		break;
+		/* Request flight termination from the commander */
+		pos_sp_triplet->flight_termination = true;
+		warnx("request flight termination");
 	}
 	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
 GpsFailure::advance_gpsf()
 {
+	updateParams();
+
 	switch (_gpsf_state) {
 	case GPSF_STATE_NONE:
 		_gpsf_state = GPSF_STATE_LOITER;
+		warnx("gpsf loiter");
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: open loop loiter");
 		break;
 	case GPSF_STATE_LOITER:
 		_gpsf_state = GPSF_STATE_TERMINATE;
+		warnx("gpsf terminate");
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no gps recovery, termination");
+		warnx("mavlink sent");
 		break;
+	case GPSF_STATE_TERMINATE:
+		warnx("gpsf end");
+		_gpsf_state = GPSF_STATE_END;
 	default:
 		break;
 	}