Added safety status feedback, disallow arming of a rotary wing with engaged safety

8 files changed, 189 insertions, 38 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 19163cebe..bc65c4f25 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -80,6 +80,7 @@
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/safety.h>
 #include <debug.h>
 
 #include <mavlink/mavlink_log.h>
@@ -161,6 +162,7 @@ private:
 	orb_advert_t 		_to_actuators_effective; ///< effective actuator controls topic
 	orb_advert_t		_to_outputs;	///< mixed servo outputs topic
 	orb_advert_t		_to_battery;	///< battery status / voltage
+	orb_advert_t		_to_safety;	///< status of safety
 
 	actuator_outputs_s	_outputs;	///< mixed outputs
 	actuator_controls_effective_s _controls_effective; ///< effective controls
@@ -883,6 +885,25 @@ PX4IO::io_handle_status(uint16_t status)
 		_status = status;
 	}
 
+	/**
+	 * Get and handle the safety status
+	 */
+	struct safety_s safety;
+	safety.timestamp = hrt_absolute_time();
+
+	if (status & PX4IO_P_STATUS_FLAGS_ARMED) {
+		safety.status = SAFETY_STATUS_UNLOCKED;
+	} else {
+		safety.status = SAFETY_STATUS_SAFE;
+	}
+
+	/* lazily publish the safety status */
+	if (_to_safety > 0) {
+		orb_publish(ORB_ID(safety), _to_safety, &safety);
+	} else {
+		_to_safety = orb_advertise(ORB_ID(safety), &safety);
+	}
+
 	return ret;
 }
 
@@ -912,7 +933,7 @@ PX4IO::io_get_status()
 
 	io_handle_status(regs[0]);
 	io_handle_alarms(regs[1]);
-
+	
 	/* only publish if battery has a valid minimum voltage */
 	if (regs[2] > 3300) {
 		battery_status_s	battery_status;
@@ -946,6 +967,7 @@ PX4IO::io_get_status()
 			_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
 		}
 	}
+
 	return ret;
 }
 
@@ -1273,7 +1295,7 @@ PX4IO::print_status()
 	uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
 	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n",
 		flags,
-		((flags & PX4IO_P_STATUS_FLAGS_ARMED)    ? " ARMED" : ""),
+		((flags & PX4IO_P_STATUS_FLAGS_ARMED)    ? " SAFETY_UNLOCKED" : ""),
 		((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
 		((flags & PX4IO_P_STATUS_FLAGS_RC_OK)    ? " RC_OK" : " RC_FAIL"),
 		((flags & PX4IO_P_STATUS_FLAGS_RC_PPM)   ? " PPM" : ""),
@@ -1634,6 +1656,11 @@ test(void)
 	if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count))
 		err(1, "failed to get servo count");
 
+	/* tell IO that its ok to disable its safety with the switch */
+	ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+	if (ret != OK)
+		err(1, "PWM_SERVO_SET_ARM_OK");
+
 	if (ioctl(fd, PWM_SERVO_ARM, 0))
 		err(1, "failed to arm servos");
 
@@ -1682,7 +1709,7 @@ test(void)
 		/* Check if user wants to quit */
 		char c;
 		if (read(console, &c, 1) == 1) {
-			if (c == 0x03 || c == 0x63) {
+			if (c == 0x03 || c == 0x63 || c == 'q') {
 				warnx("User abort\n");
 				close(console);
 				exit(0);
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index aab8f3e04..937c515e6 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -81,6 +81,7 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/safety.h>
 #include <mavlink/mavlink_log.h>
 
 #include <systemlib/param/param.h>
@@ -1281,6 +1282,8 @@ int commander_thread_main(int argc, char *argv[])
 	current_status.flag_vector_flight_mode_ok = false;
 	/* set battery warning flag */
 	current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
+	/* set safety device detection flag */
+	current_status.flag_safety_present = false;
 
 	/* advertise to ORB */
 	stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@@ -1377,6 +1380,12 @@ int commander_thread_main(int argc, char *argv[])
 	memset(&battery, 0, sizeof(battery));
 	battery.voltage_v = 0.0f;
 
+	/* subscribe to safety topic */
+	int safety_sub = orb_subscribe(ORB_ID(safety));
+	struct safety_s safety;
+	memset(&safety, 0, sizeof(safety));
+	safety.status = SAFETY_STATUS_NOT_PRESENT;
+
 	// uint8_t vehicle_state_previous = current_status.state_machine;
 	float voltage_previous = 0.0f;
 
@@ -1396,6 +1405,39 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* Get current values */
 		bool new_data;
+
+		/* update parameters */
+		orb_check(param_changed_sub, &new_data);
+
+		if (new_data || param_init_forced) {
+			param_init_forced = false;
+			/* parameters changed */
+			orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
+
+
+			/* update parameters */
+			if (!current_status.flag_system_armed) {
+				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
+					warnx("failed setting new system type");
+				}
+
+				/* disable manual override for all systems that rely on electronic stabilization */
+				if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
+				    current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
+				    current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
+					current_status.flag_external_manual_override_ok = false;
+
+				} else {
+					current_status.flag_external_manual_override_ok = true;
+				}
+
+				/* check and update system / component ID */
+				param_get(_param_system_id, &(current_status.system_id));
+				param_get(_param_component_id, &(current_status.component_id));
+
+			}
+		}
+
 		orb_check(sp_man_sub, &new_data);
 
 		if (new_data) {
@@ -1431,36 +1473,17 @@ int commander_thread_main(int argc, char *argv[])
 			handle_command(stat_pub, &current_status, &cmd);
 		}
 
-		/* update parameters */
-		orb_check(param_changed_sub, &new_data);
-
-		if (new_data || param_init_forced) {
-			param_init_forced = false;
-			/* parameters changed */
-			orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
-
-
-			/* update parameters */
-			if (!current_status.flag_system_armed) {
-				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
-					warnx("failed setting new system type");
-				}
-
-				/* disable manual override for all systems that rely on electronic stabilization */
-				if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
-				    current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
-				    current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
-					current_status.flag_external_manual_override_ok = false;
-
-				} else {
-					current_status.flag_external_manual_override_ok = true;
-				}
+		orb_check(safety_sub, &new_data);
 
-				/* check and update system / component ID */
-				param_get(_param_system_id, &(current_status.system_id));
-				param_get(_param_component_id, &(current_status.component_id));
+		if (new_data) {
+			/* got safety change */
+			orb_copy(ORB_ID(safety), safety_sub, &safety);
 
-			}
+			/* handle it */
+			current_status.flag_safety_present = (safety.status != SAFETY_STATUS_NOT_PRESENT);
+			
+			if (current_status.flag_safety_present)
+				current_status.flag_safety_safe = (safety.status == SAFETY_STATUS_SAFE);
 		}
 
 		/* update global position estimate */
@@ -1699,7 +1722,8 @@ int commander_thread_main(int argc, char *argv[])
 			state_changed = true;
 		}
 
-		if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
+		orb_check(ORB_ID(vehicle_gps_position), &new_data);
+		if (new_data) {
 
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
 
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index ab728c7bb..ac603abfd 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -65,6 +65,18 @@ static const char *system_state_txt[] = {
 
 };
 
+bool is_multirotor(const struct vehicle_status_s *current_status)
+{
+	return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_OCTOROTOR));
+}
+
+bool is_rotary_wing(const struct vehicle_status_s *current_status)
+{
+	return is_multirotor(current_status);
+}
+
 /**
  * Transition from one state to another
  */
@@ -513,6 +525,25 @@ void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_
 void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
 	if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
+
+		/* reject arming if safety status is wrong */
+		if (current_status->flag_safety_present) {
+
+			/*
+			 * The operator should not touch the vehicle if
+			 * its armed, so we don't allow arming in the
+			 * first place
+			 */
+			if (is_rotary_wing(current_status)) {
+
+				/* safety is in safe position, disallow arming */
+				if (current_status->flag_safety_safe) {
+					mavlink_log_critical(mavlink_fd, "DISENGAGE SAFETY BEFORE ARMING!");
+				}
+
+			}
+		}	
+
 		printf("[cmd] arming\n");
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
 	}
@@ -538,9 +569,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 	current_status->flag_control_manual_enabled = true;
 
 	/* set behaviour based on airframe */
-	if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
-	    (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
-	    (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
+	if (is_rotary_wing(current_status)) {
 
 		/* assuming a rotary wing, set to SAS */
 		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 2f2ccc729..95b48d326 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -47,6 +47,10 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 
+bool is_multirotor(const struct vehicle_status_s *current_status);
+
+bool is_rotary_wing(const struct vehicle_status_s *current_status);
+
 /**
  * Switch to new state with no checking.
  *
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 4197f6fb2..e2df31651 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -154,3 +154,7 @@ ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
 
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
+
+/* status of the system safety device */
+#include "topics/safety.h"
+ORB_DEFINE(safety, struct safety_s);
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index b7c4196c0..745c5bc87 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -68,9 +68,10 @@ ORB_DECLARE(actuator_controls_3);
 
 /** global 'actuator output is live' control. */
 struct actuator_armed_s {
-	bool	armed;		/**< Set to true if system is armed */
-	bool	ready_to_arm;	/**< Set to true if system is ready to be armed */
-	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+	bool	armed;			/**< Set to true if system is armed */
+	bool	ready_to_arm;		/**< Set to true if system is ready to be armed */
+	bool	throttle_locked;	/**< Set to true if the trottle is locked to zero */
+	bool	lockdown;		/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
 };
 
 ORB_DECLARE(actuator_armed);
diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h
new file mode 100644
index 000000000..19e8e8d45
--- /dev/null
+++ b/src/modules/uORB/topics/safety.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file safety.h
+ *
+ * Status of an attached safety device
+ */
+
+#ifndef TOPIC_SAFETY_H
+#define TOPIC_SAFETY_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+enum SAFETY_STATUS {
+	SAFETY_STATUS_NOT_PRESENT,
+	SAFETY_STATUS_SAFE,
+	SAFETY_STATUS_UNLOCKED
+};
+
+struct safety_s {
+	uint64_t timestamp;			/**< output timestamp in us since system boot */
+	enum SAFETY_STATUS status;
+};
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(safety);
+
+#endif /* TOPIC_SAFETY_H */
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index c7c1048f6..07660614b 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -214,6 +214,8 @@ struct vehicle_status_s
 	bool flag_valid_launch_position;		/**< indicates a valid launch position */
 	bool flag_valid_home_position;			/**< indicates a valid home position (a valid home position is not always a valid launch) */
 	bool flag_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
+	bool flag_safety_present;			/**< indicates that a safety switch is present */
+	bool flag_safety_safe;				/**< safety switch is in safe position */
 };
 
 /**