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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-26 11:50:34 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-26 11:50:34 +0100 |
commit | c7f05539382a48d7ecaad3bfdf71261cde2ee8c7 (patch) | |
tree | 1cdd3b307dba1bb0c0626c18365ed84f7cd832cd /src/modules | |
parent | 062b64a1e21406cf787d93aa53921ce0ef6627fd (diff) | |
download | px4-firmware-c7f05539382a48d7ecaad3bfdf71261cde2ee8c7.tar.gz px4-firmware-c7f05539382a48d7ecaad3bfdf71261cde2ee8c7.tar.bz2 px4-firmware-c7f05539382a48d7ecaad3bfdf71261cde2ee8c7.zip |
cammander: state machine can now deny current state (e.g. when position lock lost during EASY mode), added FAILSAFE_STATE_LAND
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/commander/commander.cpp | 35 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 91 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 58 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 7 |
5 files changed, 144 insertions, 48 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 722230eff..bca0569d5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1143,7 +1143,7 @@ int commander_thread_main(int argc, char *argv[]) /* fill current_status according to mode switches */ check_mode_switches(&sp_man, &status); - /* evaluate the main state machine */ + /* evaluate the main state machine according to mode switches */ res = check_main_state_machine(&status); if (res == TRANSITION_CHANGED) { @@ -1160,12 +1160,41 @@ int commander_thread_main(int argc, char *argv[]) status.rc_signal_lost = true; status_changed = true; } - if (status.main_state != MAIN_STATE_AUTO && 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); + if (res == TRANSITION_DENIED) { + /* AUTO mode denied, don't try RTL, switch to failsafe state LAND */ + res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#audio: failsafe: LAND"); + } else if (res == TRANSITION_DENIED) { + /* LAND mode denied, switch to failsafe state TERMINATION */ + transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#audio: failsafe: TERMINATION"); + } + } + } + + } else if (armed.armed) { + /* failsafe for manual modes */ transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); if (res == TRANSITION_CHANGED) { mavlink_log_critical(mavlink_fd, "#audio: failsafe: RTL"); + } else if (res == TRANSITION_DENIED) { + /* RTL not allowed (no global position estimate), try LAND */ + res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#audio: failsafe: LAND"); + } else if (res == TRANSITION_DENIED) { + res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#audio: failsafe: TERMINATION"); + } + } } - // TODO add other failsafe modes if position estimate not available } } } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 90ca2a6d2..77edea546 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -223,51 +223,50 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m { transition_result_t ret = TRANSITION_DENIED; - /* only check transition if the new state is actually different from the current one */ - if (new_main_state == current_state->main_state) { - ret = TRANSITION_NOT_CHANGED; - - } else { - - switch (new_main_state) { - case MAIN_STATE_MANUAL: + /* transition may be denied even if requested the same state because conditions may be changed */ + switch (new_main_state) { + case MAIN_STATE_MANUAL: + ret = TRANSITION_CHANGED; + break; + + case MAIN_STATE_SEATBELT: + + /* need at minimum altitude estimate */ + if (!current_state->is_rotary_wing || + (current_state->condition_local_altitude_valid || + current_state->condition_global_position_valid)) { ret = TRANSITION_CHANGED; - break; - - case MAIN_STATE_SEATBELT: - - /* need at minimum altitude estimate */ - if (!current_state->is_rotary_wing || - (current_state->condition_local_altitude_valid || - current_state->condition_global_position_valid)) { - ret = TRANSITION_CHANGED; - } + } - break; + break; - case MAIN_STATE_EASY: + case MAIN_STATE_EASY: - /* need at minimum local position estimate */ - if (current_state->condition_local_position_valid || - current_state->condition_global_position_valid) { - ret = TRANSITION_CHANGED; - } - - break; + /* need at minimum local position estimate */ + if (current_state->condition_local_position_valid || + current_state->condition_global_position_valid) { + ret = TRANSITION_CHANGED; + } - case MAIN_STATE_AUTO: + break; - /* need global position estimate */ - if (current_state->condition_global_position_valid) { - ret = TRANSITION_CHANGED; - } + case MAIN_STATE_AUTO: - break; + /* need global position estimate */ + if (current_state->condition_global_position_valid) { + ret = TRANSITION_CHANGED; } - if (ret == TRANSITION_CHANGED) { + break; + } + + if (ret == TRANSITION_CHANGED) { + if (current_state->main_state != new_main_state) { current_state->main_state = new_main_state; main_state_changed = true; + + } else { + ret = TRANSITION_NOT_CHANGED; } } @@ -367,17 +366,22 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f { transition_result_t ret = TRANSITION_DENIED; - /* only check transition if the new state is actually different from the current one */ - if (new_failsafe_state == status->failsafe_state) { - ret = TRANSITION_NOT_CHANGED; + /* transition may be denied even if requested the same state because conditions may be changed */ + if (status->failsafe_state == FAILSAFE_STATE_TERMINATION) { + /* transitions from TERMINATION to other states not allowed */ + if (new_failsafe_state == FAILSAFE_STATE_TERMINATION) { + ret = TRANSITION_NOT_CHANGED; + } - } else if (status->failsafe_state != FAILSAFE_STATE_TERMINATION) { + } else { switch (new_failsafe_state) { case FAILSAFE_STATE_NORMAL: ret = TRANSITION_CHANGED; break; case FAILSAFE_STATE_RTL: - ret = TRANSITION_CHANGED; + if (status->condition_global_position_valid) { + ret = TRANSITION_CHANGED; + } break; case FAILSAFE_STATE_TERMINATION: ret = TRANSITION_CHANGED; @@ -388,8 +392,13 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f } if (ret == TRANSITION_CHANGED) { - status->failsafe_state = new_failsafe_state; - failsafe_state_changed = true; + if (status->failsafe_state != new_failsafe_state) { + status->failsafe_state = new_failsafe_state; + failsafe_state_changed = true; + + } else { + ret = TRANSITION_NOT_CHANGED; + } } } diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index d72ed7058..388fefd02 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -216,6 +216,7 @@ private: EVENT_LOITER_REQUESTED, EVENT_MISSION_REQUESTED, EVENT_RTL_REQUESTED, + EVENT_LAND_REQUESTED, EVENT_MISSION_CHANGED, EVENT_HOME_POSITION_CHANGED, MAX_EVENT @@ -292,7 +293,7 @@ private: void start_loiter(); void start_mission(); void start_rtl(); - void finish_rtl(); + void start_land(); /** * Guards offboard mission @@ -733,6 +734,12 @@ Navigator::task_main() dispatch(EVENT_RTL_REQUESTED); } + } else if (_vstatus.failsafe_state == FAILSAFE_STATE_LAND) { + /* LAND on failsafe */ + if (myState != NAV_STATE_READY) { + dispatch(EVENT_LAND_REQUESTED); + } + } else { /* shouldn't act */ dispatch(EVENT_NONE_REQUESTED); @@ -892,6 +899,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, }, @@ -902,6 +910,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY}, }, @@ -912,6 +921,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, }, @@ -922,6 +932,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION}, }, @@ -932,9 +943,21 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL}, /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, // TODO need to reset rtl_state }, + { + /* STATE_LAND */ + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY}, + /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL}, + /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + }, }; void @@ -1143,6 +1166,27 @@ Navigator::start_rtl() } void +Navigator::start_land() +{ + _do_takeoff = false; + _reset_loiter_pos = true; + + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.next.valid = false; + + _pos_sp_triplet.current.valid = true; + _pos_sp_triplet.current.type = SETPOINT_TYPE_LAND; + _pos_sp_triplet.current.lat = _global_pos.lat; + _pos_sp_triplet.current.lon = _global_pos.lon; + _pos_sp_triplet.current.alt = _global_pos.alt; + _pos_sp_triplet.current.loiter_direction = 1; + _pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius; + _pos_sp_triplet.current.yaw = NAN; + + mavlink_log_info(_mavlink_fd, "[navigator] LAND started"); +} + +void Navigator::set_rtl_item() { switch (_rtl_state) { @@ -1508,9 +1552,21 @@ Navigator::publish_control_mode() navigator_enabled = true; break; + case FAILSAFE_STATE_LAND: + /* land with or without position control */ + _control_mode.flag_control_manual_enabled = false; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_position_enabled = _vstatus.condition_global_position_valid; + _control_mode.flag_control_velocity_enabled = _vstatus.condition_global_position_valid; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + break; + case FAILSAFE_STATE_TERMINATION: navigator_enabled = true; /* disable all controllers on termination */ + _control_mode.flag_control_manual_enabled = false; _control_mode.flag_control_rates_enabled = false; _control_mode.flag_control_attitude_enabled = false; _control_mode.flag_control_position_enabled = false; diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index f9f8414df..5aecac898 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -67,6 +67,7 @@ typedef enum { NAV_STATE_LOITER, NAV_STATE_MISSION, NAV_STATE_RTL, + NAV_STATE_LAND, NAV_STATE_MAX } nav_state_t; diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 73102090f..a5988d3ba 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -84,9 +84,10 @@ typedef enum { } hil_state_t; typedef enum { - FAILSAFE_STATE_NORMAL = 0, - FAILSAFE_STATE_RTL, - FAILSAFE_STATE_TERMINATION, + FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */ + FAILSAFE_STATE_RTL, /**< Return To Launch */ + FAILSAFE_STATE_LAND, /**< Land without position control */ + FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */ FAILSAFE_STATE_MAX } failsafe_state_t; |