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author | Julian Oes <julian@oes.ch> | 2013-06-25 13:15:38 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-25 13:15:38 +0200 |
commit | a6ba7e448586c556009132887503e6830c20029e (patch) | |
tree | 4186eb8d3c233c01e0e3ce6318d65c43366d6b97 /src | |
parent | 2096da2d4da2d4482dcdb328d35255101fc722bd (diff) | |
download | px4-firmware-a6ba7e448586c556009132887503e6830c20029e.tar.gz px4-firmware-a6ba7e448586c556009132887503e6830c20029e.tar.bz2 px4-firmware-a6ba7e448586c556009132887503e6830c20029e.zip |
Dropped superseded safety topic, added warning tones before arming
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 15 | ||||
-rw-r--r-- | src/modules/commander/commander.c | 64 | ||||
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/actuator_safety.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/safety.h | 60 |
5 files changed, 53 insertions, 91 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 6d3c32ed9..df2f18270 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -81,7 +81,6 @@ #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> @@ -990,20 +989,24 @@ PX4IO::io_handle_status(uint16_t status) /** * Get and handle the safety status */ - struct safety_s safety; + struct actuator_safety_s safety; safety.timestamp = hrt_absolute_time(); + orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety); + if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { - safety.status = SAFETY_STATUS_UNLOCKED; + safety.safety_off = true; + safety.safety_switch_available = true; } else { - safety.status = SAFETY_STATUS_SAFE; + safety.safety_off = false; + safety.safety_switch_available = true; } /* lazily publish the safety status */ if (_to_safety > 0) { - orb_publish(ORB_ID(safety), _to_safety, &safety); + orb_publish(ORB_ID(actuator_safety), _to_safety, &safety); } else { - _to_safety = orb_advertise(ORB_ID(safety), &safety); + _to_safety = orb_advertise(ORB_ID(actuator_safety), &safety); } return ret; diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 9d3adaa1d..4c884aed3 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013 PX4 Development Team. All rights reserved. * Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch> * Lorenz Meier <lm@inf.ethz.ch> * Thomas Gubler <thomasgubler@student.ethz.ch> @@ -79,7 +79,6 @@ #include <uORB/topics/actuator_safety.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/differential_pressure.h> -#include <uORB/topics/safety.h> #include <mavlink/mavlink_log.h> #include <drivers/drv_led.h> @@ -1159,6 +1158,9 @@ int commander_thread_main(int argc, char *argv[]) commander_initialized = false; bool home_position_set = false; + bool battery_tune_played = false; + bool arm_tune_played = false; + /* set parameters */ failsafe_lowlevel_timeout_ms = 0; param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms); @@ -1248,6 +1250,9 @@ int commander_thread_main(int argc, char *argv[]) safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety); + /* but also subscribe to it */ + int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode); /* home position */ @@ -1477,6 +1482,13 @@ int commander_thread_main(int argc, char *argv[]) } } + /* update safety topic */ + orb_check(safety_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + } + /* update global position estimate */ orb_check(global_position_sub, &new_data); @@ -1573,25 +1585,6 @@ int commander_thread_main(int argc, char *argv[]) last_idle_time = system_load.tasks[0].total_runtime; } - // // XXX Export patterns and threshold to parameters - /* Trigger audio event for low battery */ - if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) { - /* For less than 10%, start be really annoying at 5 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, 3); - - } else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { - /* For less than 20%, start be slightly annoying at 1 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - tune_positive(); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - } - /* Check battery voltage */ /* write to sys_status */ if (battery_voltage_valid) { @@ -2194,6 +2187,8 @@ int commander_thread_main(int argc, char *argv[]) } + + current_status.counter++; current_status.timestamp = hrt_absolute_time(); @@ -2219,6 +2214,33 @@ int commander_thread_main(int argc, char *argv[]) /* Store old modes to detect and act on state transitions */ voltage_previous = current_status.voltage_battery; + + + /* play tone according to evaluation result */ + /* check if we recently armed */ + if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) { + ioctl(buzzer, TONE_SET_ALARM, 12); + arm_tune_played = true; + + // // XXX Export patterns and threshold to parameters + /* Trigger audio event for low battery */ + } else if (bat_remain < 0.1f && battery_voltage_valid) { + ioctl(buzzer, TONE_SET_ALARM, 14); + battery_tune_played = true; + } else if (bat_remain < 0.2f && battery_voltage_valid) { + ioctl(buzzer, TONE_SET_ALARM, 13); + battery_tune_played = true; + } else if(battery_tune_played) { + ioctl(buzzer, TONE_SET_ALARM, 0); + battery_tune_played = false; + } + + /* reset arm_tune_played when disarmed */ + if (!(safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) { + arm_tune_played = false; + } + + /* XXX use this voltage_previous */ fflush(stdout); counter++; diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index b5dafd0ca..b602b1714 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -169,6 +169,3 @@ 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_safety.h b/src/modules/uORB/topics/actuator_safety.h index 3a107d41a..c431217ab 100644 --- a/src/modules/uORB/topics/actuator_safety.h +++ b/src/modules/uORB/topics/actuator_safety.h @@ -53,7 +53,7 @@ struct actuator_safety_s { uint64_t timestamp; - + bool safety_switch_available; /**< Set to true if a safety switch is connected */ bool safety_off; /**< Set to true if safety is off */ bool armed; /**< Set to true if system is armed */ bool ready_to_arm; /**< Set to true if system is ready to be armed */ diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h deleted file mode 100644 index 19e8e8d45..000000000 --- a/src/modules/uORB/topics/safety.h +++ /dev/null @@ -1,60 +0,0 @@ -/**************************************************************************** - * - * 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 */ |