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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-17 13:19:50 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-17 13:19:50 +0200 |
commit | 55e5f747de013fb386727b41cc67bd019c129c31 (patch) | |
tree | 75155ee59d4ed11c9a65d82e1c1a14f77f80b765 /src/modules | |
parent | e0ed0625f81841194b4bd9b26c7e047a1f68a1fc (diff) | |
download | px4-firmware-55e5f747de013fb386727b41cc67bd019c129c31.tar.gz px4-firmware-55e5f747de013fb386727b41cc67bd019c129c31.tar.bz2 px4-firmware-55e5f747de013fb386727b41cc67bd019c129c31.zip |
commander: modes display fixes, don't activate failsafe while disarmed
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/commander/commander.cpp | 56 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 32 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 3 |
4 files changed, 66 insertions, 27 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 43683f833..f8dcec8cb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -624,22 +624,34 @@ int commander_thread_main(int argc, char *argv[]) warnx("starting"); char *main_states_str[MAIN_STATE_MAX]; - main_states_str[0] = "MANUAL"; - main_states_str[1] = "ALTCTL"; - main_states_str[2] = "POSCTL"; - main_states_str[3] = "AUTO_MISSION"; - main_states_str[4] = "AUTO_LOITER"; - main_states_str[5] = "AUTO_RTL"; - main_states_str[6] = "ACRO"; + main_states_str[MAIN_STATE_MANUAL] = "MANUAL"; + main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL"; + main_states_str[MAIN_STATE_POSCTL] = "POSCTL"; + main_states_str[MAIN_STATE_AUTO_MISSION] = "AUTO_MISSION"; + main_states_str[MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER"; + main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL"; + main_states_str[MAIN_STATE_ACRO] = "ACRO"; char *arming_states_str[ARMING_STATE_MAX]; - arming_states_str[0] = "INIT"; - arming_states_str[1] = "STANDBY"; - arming_states_str[2] = "ARMED"; - arming_states_str[3] = "ARMED_ERROR"; - arming_states_str[4] = "STANDBY_ERROR"; - arming_states_str[5] = "REBOOT"; - arming_states_str[6] = "IN_AIR_RESTORE"; + arming_states_str[ARMING_STATE_INIT] = "INIT"; + arming_states_str[ARMING_STATE_STANDBY] = "STANDBY"; + arming_states_str[ARMING_STATE_ARMED] = "ARMED"; + arming_states_str[ARMING_STATE_ARMED_ERROR] = "ARMED_ERROR"; + arming_states_str[ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR"; + arming_states_str[ARMING_STATE_REBOOT] = "REBOOT"; + arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE"; + + char *nav_states_str[NAVIGATION_STATE_MAX]; + nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL"; + nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL"; + nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL"; + nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION"; + nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER"; + nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL"; + nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO"; + nav_states_str[NAVIGATION_STATE_LAND] = "LAND"; + nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND"; + nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION"; /* pthread for slow low prio thread */ pthread_t commander_low_prio_thread; @@ -844,7 +856,7 @@ int commander_thread_main(int argc, char *argv[]) /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = false; bool main_state_changed = false; - bool failsafe_state_changed = false; + bool failsafe_old = false; while (!thread_should_exit) { @@ -1366,18 +1378,26 @@ int commander_thread_main(int argc, char *argv[]) was_armed = armed.armed; /* now set navigation state according to failsafe and main state */ - set_nav_state(&status); + bool nav_state_changed = set_nav_state(&status); + // TODO handle mode changes by commands if (main_state_changed) { status_changed = true; + warnx("main state: %s", main_states_str[status.main_state]); mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]); main_state_changed = false; } - if (failsafe_state_changed) { + if (status.failsafe != failsafe_old) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe); - failsafe_state_changed = false; + failsafe_old = status.failsafe; + } + + if (nav_state_changed) { + status_changed = true; + warnx("nav state: %s", nav_states_str[status.nav_state]); + mavlink_log_info(mavlink_fd, "[cmd] nav state: %s", nav_states_str[status.nav_state]); } /* publish states (armed, control mode, vehicle status) at least with 5 Hz */ diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index df718ff99..c0d730949 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -366,8 +366,11 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, /** * Check failsafe and main status and set navigation status for navigator accordingly */ -void set_nav_state(struct vehicle_status_s *status) +bool set_nav_state(struct vehicle_status_s *status) { + navigation_state_t nav_state_old = status->nav_state; + + bool armed = (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR); status->failsafe = false; /* evaluate main state to decide in normal (non-failsafe) mode */ @@ -377,7 +380,7 @@ void set_nav_state(struct vehicle_status_s *status) case MAIN_STATE_ALTCTL: case MAIN_STATE_POSCTL: /* require RC for all manual modes */ - if (status->rc_signal_lost) { + if (status->rc_signal_lost && armed) { status->failsafe = true; } else { @@ -407,31 +410,44 @@ void set_nav_state(struct vehicle_status_s *status) case MAIN_STATE_AUTO_MISSION: /* require data link and global position */ - if (status->data_link_lost || !status->condition_global_position_valid) { + if ((status->data_link_lost || !status->condition_global_position_valid) && armed) { status->failsafe = true; } else { - status->nav_state = NAVIGATION_STATE_AUTO_MISSION; + if (armed) { + status->nav_state = NAVIGATION_STATE_AUTO_MISSION; + + } else { + // TODO which mode should we set when disarmed? + status->nav_state = NAVIGATION_STATE_AUTO_LOITER; + } } break; case MAIN_STATE_AUTO_LOITER: /* require data link and local position */ - if (status->data_link_lost || !status->condition_local_position_valid) { + if ((status->data_link_lost || !status->condition_local_position_valid) && armed) { status->failsafe = true; } else { + // TODO which mode should we set when disarmed? status->nav_state = NAVIGATION_STATE_AUTO_LOITER; } break; case MAIN_STATE_AUTO_RTL: /* require global position and home */ - if (!status->condition_global_position_valid || !status->condition_home_position_valid) { + if ((!status->condition_global_position_valid || !status->condition_home_position_valid) && armed) { status->failsafe = true; } else { - status->nav_state = NAVIGATION_STATE_AUTO_RTL; + if (armed) { + status->nav_state = NAVIGATION_STATE_AUTO_RTL; + + } else { + // TODO which mode should we set when disarmed? + status->nav_state = NAVIGATION_STATE_AUTO_LOITER; + } } break; @@ -453,5 +469,7 @@ void set_nav_state(struct vehicle_status_s *status) status->nav_state = NAVIGATION_STATE_TERMINATION; } } + + return status->nav_state != nav_state_old; } diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 062271764..cffbc9b8f 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -65,6 +65,6 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd); -void set_nav_state(struct vehicle_status_s *status); +bool set_nav_state(struct vehicle_status_s *status); #endif /* STATE_MACHINE_HELPER_H_ */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 898c176fb..851938795 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -96,15 +96,16 @@ typedef enum { */ typedef enum { NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */ - NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */ NAVIGATION_STATE_POSCTL, /**< Position control mode */ NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ NAVIGATION_STATE_AUTO_RTL, /**< Auto RTL mode */ + NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ NAVIGATION_STATE_TERMINATION, /**< Termination mode */ + NAVIGATION_STATE_MAX, } navigation_state_t; enum VEHICLE_MODE_FLAG { |