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-rw-r--r--apps/attitude_estimator_ekf/Makefile2
-rw-r--r--apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c56
-rw-r--r--apps/commander/commander.c249
-rw-r--r--apps/commander/state_machine_helper.c3
-rw-r--r--apps/mavlink/mavlink.c177
-rw-r--r--apps/multirotor_att_control/multirotor_att_control_main.c18
-rw-r--r--apps/sensors/sensors.cpp8
-rw-r--r--apps/uORB/objects_common.cpp4
-rw-r--r--apps/uORB/topics/manual_control_setpoint.h50
-rw-r--r--apps/uORB/topics/offboard_control_setpoint.h94
-rw-r--r--apps/uORB/topics/vehicle_rates_setpoint.h1
-rw-r--r--apps/uORB/topics/vehicle_status.h10
12 files changed, 464 insertions, 208 deletions
diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile
index b4d62ed14..932b49f5c 100644
--- a/apps/attitude_estimator_ekf/Makefile
+++ b/apps/attitude_estimator_ekf/Makefile
@@ -33,7 +33,7 @@
APPNAME = attitude_estimator_ekf
PRIORITY = SCHED_PRIORITY_DEFAULT
-STACKSIZE = 20000
+STACKSIZE = 2048
CSRCS = attitude_estimator_ekf_main.c \
codegen/eye.c \
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 2e294226a..d7f448861 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -98,7 +98,7 @@ static float P_aposteriori[81] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f,
}; /**< init: diagonal matrix with big values */
-static float knownConst[20] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}; /**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
+static float knownConst[15] = {1, 1, 1, 1, 1, 0.04, 4, 0.1, 70, 70, -2000, 9.81, 1, 4, 1}; /**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
static float Rot_matrix[9] = {1.f, 0, 0,
0, 1.f, 0,
0, 0, 1.f
@@ -149,7 +149,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
}
thread_should_exit = false;
- attitude_estimator_ekf_task = task_create("attitude_estimator_ekf", SCHED_PRIORITY_DEFAULT, 4096, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ attitude_estimator_ekf_task = task_create("attitude_estimator_ekf", SCHED_PRIORITY_DEFAULT, 20000, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
@@ -235,19 +235,19 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
dt = (raw.timestamp - last_measurement) / 1000000.0f;
last_measurement = raw.timestamp;
+ /* Fill in gyro measurements */
+ z_k[0] = raw.gyro_rad_s[0];
+ z_k[1] = raw.gyro_rad_s[1];
+ z_k[2] = raw.gyro_rad_s[2];
+
/* scale from 14 bit to m/s2 */
z_k[3] = raw.accelerometer_m_s2[0];
z_k[4] = raw.accelerometer_raw[1];
z_k[5] = raw.accelerometer_raw[2];
- z_k[0] = raw.magnetometer_ga[0];
- z_k[1] = raw.magnetometer_ga[1];
- z_k[2] = raw.magnetometer_ga[2];
-
- /* Fill in gyro measurements */
- z_k[6] = raw.gyro_rad_s[0];
- z_k[7] = raw.gyro_rad_s[1];
- z_k[8] = raw.gyro_rad_s[2];
+ z_k[6] = raw.magnetometer_ga[0];
+ z_k[7] = raw.magnetometer_ga[1];
+ z_k[8] = raw.magnetometer_ga[2];
uint64_t now = hrt_absolute_time();
unsigned int time_elapsed = now - last_run;
@@ -268,6 +268,24 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
int32_t z_k_sizes = 9;
float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
+ static bool const_initialized = false;
+
+ /* initialize with good values once we have a reasonable dt estimate */
+ if (!const_initialized && dt < 0.05 && dt > 0.005)
+ {
+ knownConst[0] = powf(0.6f, 2.0f*dt);
+ knownConst[1] = powf(0.6f, 2.0f*dt);
+ knownConst[2] = powf(0.2f, 2.0f*dt);
+ knownConst[3] = powf(0.2f, 2.0f*dt);
+ knownConst[4] = powf(0.000001f, 2.0f*dt);
+ const_initialized = true;
+ }
+
+ /* do not execute the filter if not initialized */
+ if (!const_initialized) {
+ continue;
+ }
+
uint64_t timing_start = hrt_absolute_time();
attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
Rot_matrix, x_aposteriori, P_aposteriori);
@@ -277,15 +295,15 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
uint64_t timing_diff = hrt_absolute_time() - timing_start;
/* print rotation matrix every 200th time */
- if (printcounter % 200 == 0) {
- printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
- printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f", (double)euler[0], (double)euler[1], (double)euler[2]);
- printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
- (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
- (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
- }
-
- printcounter++;
+ // if (printcounter % 200 == 0) {
+ // printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
+ // printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f", (double)euler[0], (double)euler[1], (double)euler[2]);
+ // printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
+ // (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
+ // (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
+ // }
+
+ // printcounter++;
if (last_data > 0 && raw.timestamp - last_data > 8000) printf("sensor data missed! (%llu)\n", raw.timestamp - last_data);
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index f5e143066..011a7be97 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -65,7 +65,8 @@
#include <poll.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/rc_channels.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
@@ -83,7 +84,8 @@
#include <drivers/drv_baro.h>
-
+PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
+//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
#include <arch/board/up_cpuload.h>
extern struct system_load_s system_load;
@@ -94,14 +96,15 @@ extern struct system_load_s system_load;
#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
-#define STICK_ON_OFF_LIMIT 7500
-#define STICK_THRUST_RANGE 20000
+#define STICK_ON_OFF_LIMIT 0.75f
+#define STICK_THRUST_RANGE 1.0f
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define GPS_FIX_TYPE_2D 2
#define GPS_FIX_TYPE_3D 3
-#define GPS_QUALITY_GOOD_COUNTER_LIMIT 50
+#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000
+#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
/* File descriptors */
static int leds;
@@ -114,6 +117,8 @@ static orb_advert_t stat_pub;
static uint16_t nofix_counter = 0;
static uint16_t gotfix_counter = 0;
+static unsigned int failsafe_lowlevel_timeout_ms;
+
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
@@ -1048,6 +1053,10 @@ int commander_thread_main(int argc, char *argv[])
/* not yet initialized */
commander_initialized = false;
+ /* set parameters */
+ failsafe_lowlevel_timeout_ms = 0;
+ param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
+
/* welcome user */
printf("[commander] I am in command now!\n");
@@ -1119,10 +1128,15 @@ int commander_thread_main(int argc, char *argv[])
int gps_quality_good_counter = 0;
- /* Subscribe to RC data */
- int rc_sub = orb_subscribe(ORB_ID(rc_channels));
- struct rc_channels_s rc;
- memset(&rc, 0, sizeof(rc));
+ /* Subscribe to manual control data */
+ int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+ struct manual_control_setpoint_s sp_man;
+ memset(&sp_man, 0, sizeof(sp_man));
+
+ /* Subscribe to offboard control data */
+ int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
+ struct offboard_control_setpoint_s sp_offboard;
+ memset(&sp_offboard, 0, sizeof(sp_offboard));
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
struct vehicle_gps_position_s gps;
@@ -1141,11 +1155,15 @@ int commander_thread_main(int argc, char *argv[])
commander_initialized = true;
uint64_t start_time = hrt_absolute_time();
+ uint64_t failsave_ll_start_time = 0;
+
+ bool state_changed = true;
while (!thread_should_exit) {
/* Get current values */
- orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
+ orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
+ orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
@@ -1256,10 +1274,10 @@ int commander_thread_main(int argc, char *argv[])
/* End battery voltage check */
/* Check if last transition deserved an audio event */
-#warning This code depends on state that is no longer? maintained
-#if 0
- trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
-#endif
+// #warning This code depends on state that is no longer? maintained
+// #if 0
+// trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
+// #endif
/* only check gps fix if we are outdoor */
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
@@ -1314,89 +1332,169 @@ int commander_thread_main(int argc, char *argv[])
/* end: check gps */
- /* Start RC state check */
- bool prev_lost = current_status.rc_signal_lost;
+ /* ignore RC signals if in offboard control mode */
+ if (!current_status.offboard_control_signal_found_once) {
+ /* Start RC state check */
+ bool prev_lost = current_status.rc_signal_lost;
- if (rc.chan_count > 4 && (hrt_absolute_time() - rc.timestamp) < 100000) {
+ if ((hrt_absolute_time() - sp_man.timestamp) < 100000) {
- /* quadrotor specific logic - check against system type in the future */
+ /* check if left stick is in lower left position --> switch to standby state */
+ if ((sp_man.yaw < -STICK_ON_OFF_LIMIT) && sp_man.throttle < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
+ if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
+ update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
+ stick_on_counter = 0;
- int16_t rc_yaw_scale = rc.chan[rc.function[YAW]].scale;
- int16_t rc_throttle_scale = rc.chan[rc.function[THROTTLE]].scale;
- int16_t mode_switch_rc_value = rc.chan[rc.function[OVERRIDE]].scale;
- /* Check the value of the rc channel of the mode switch */
- mode_switch_rc_value = rc.chan[rc.function[OVERRIDE]].scale;
+ } else {
+ stick_off_counter++;
+ stick_on_counter = 0;
+ }
+ }
- /* check if left stick is in lower left position --> switch to standby state */
- if (rc_yaw_scale < -STICK_ON_OFF_LIMIT && rc_throttle_scale < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
- if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
- update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
- stick_on_counter = 0;
+ /* check if left stick is in lower right position --> arm */
+ if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
+ if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
+ update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
+ stick_on_counter = 0;
- } else {
- stick_off_counter++;
- stick_on_counter = 0;
+ } else {
+ stick_on_counter++;
+ stick_off_counter = 0;
+ }
}
- }
+ //printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
- /* check if left stick is in lower right position --> arm */
- if (rc_yaw_scale > STICK_ON_OFF_LIMIT && rc_throttle_scale < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
- if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
- update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
- stick_on_counter = 0;
+ if (sp_man.override_mode_switch > STICK_ON_OFF_LIMIT) {
+ update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
+
+ } else if (sp_man.override_mode_switch < -STICK_ON_OFF_LIMIT) {
+ update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
} else {
- stick_on_counter++;
- stick_off_counter = 0;
+ update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}
- }
- //printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
- if (mode_switch_rc_value > STICK_ON_OFF_LIMIT) {
- update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
+ /* handle the case where RC signal was regained */
+ if (!current_status.rc_signal_found_once) {
+ current_status.rc_signal_found_once = true;
+ mavlink_log_critical(mavlink_fd, "[commander] DETECTED RC SIGNAL FIRST TIME.");
+ } else {
+ if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[commander] RECOVERY - RC SIGNAL GAINED!");
+ }
- } else if (mode_switch_rc_value < -STICK_ON_OFF_LIMIT) {
- update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
+ current_status.rc_signal_lost = false;
+ current_status.rc_signal_lost_interval = 0;
} else {
- update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
- }
-
- /* Publish RC signal */
-
-
- /* handle the case where RC signal was regained */
- if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[commander] RECOVERY - RC SIGNAL GAINED!");
- current_status.rc_signal_lost = false;
- current_status.rc_signal_lost_interval = 0;
+ static uint64_t last_print_time = 0;
+ /* print error message for first RC glitch and then every 5 s / 5000 ms) */
+ if (!current_status.rc_signal_lost || ((hrt_absolute_time() - last_print_time) > 5000000)) {
+ /* only complain if the offboard control is NOT active */
+ mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO REMOTE SIGNAL!");
+ last_print_time = hrt_absolute_time();
+ }
+ /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
+ current_status.rc_signal_cutting_off = true;
+ current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp;
+
+ /* if the RC signal is gone for a full second, consider it lost */
+ if (current_status.rc_signal_lost_interval > 1000000) {
+ current_status.rc_signal_lost = true;
+ current_status.failsave_lowlevel = true;
+ }
- } else {
- static uint64_t last_print_time = 0;
- /* print error message for first RC glitch and then every 5 s / 5000 ms) */
- if (!current_status.rc_signal_lost || ((hrt_absolute_time() - last_print_time) > 5000000)) {
- mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO REMOTE SIGNAL!");
- last_print_time = hrt_absolute_time();
+ // if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) {
+ // publish_armed_status(&current_status);
+ // }
}
- /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
- current_status.rc_signal_cutting_off = true;
- current_status.rc_signal_lost_interval = hrt_absolute_time() - rc.timestamp;
- /* if the RC signal is gone for a full second, consider it lost */
- if (current_status.rc_signal_lost_interval > 1000000) current_status.rc_signal_lost = true;
+ /* Check if this is the first loss or first gain*/
+ if ((!prev_lost && current_status.rc_signal_lost) ||
+ (prev_lost && !current_status.rc_signal_lost)) {
+ /* publish change */
+ publish_armed_status(&current_status);
+ }
}
- /* Check if this is the first loss or first gain*/
- if ((!prev_lost && current_status.rc_signal_lost) ||
- prev_lost && !current_status.rc_signal_lost) {
- /* publish rc lost */
- publish_armed_status(&current_status);
- }
+
+
/* End mode switch */
/* END RC state check */
+ /* State machine update for offboard control */
+ if (!current_status.rc_signal_found_once) {
+ if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) {
+
+ /* set up control mode */
+ if (current_status.flag_control_attitude_enabled !=
+ (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE)) {
+ current_status.flag_control_attitude_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE);
+ state_changed = true;
+ }
+
+ if (current_status.flag_control_rates_enabled !=
+ (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES)) {
+ current_status.flag_control_attitude_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES);
+ state_changed = true;
+ }
+
+ /* handle the case where RC signal was regained */
+ if (!current_status.offboard_control_signal_found_once) {
+ current_status.offboard_control_signal_found_once = true;
+ /* enable offboard control, disable manual input */
+ current_status.flag_control_manual_enabled = false;
+ current_status.flag_control_offboard_enabled = true;
+ state_changed = true;
+
+ mavlink_log_critical(mavlink_fd, "[commander] DETECTED OFFBOARD CONTROL SIGNAL FIRST TIME.");
+ } else {
+ if (current_status.offboard_control_signal_lost) {
+ mavlink_log_critical(mavlink_fd, "[commander] RECOVERY - OFFBOARD CONTROL SIGNAL GAINED!");
+ state_changed = true;
+ }
+ }
+
+ current_status.offboard_control_signal_lost = false;
+ current_status.offboard_control_signal_lost_interval = 0;
+
+ /* arm / disarm on request */
+ if (sp_offboard.armed && !current_status.flag_system_armed) {
+ update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
+ /* switch to stabilized mode = takeoff */
+ update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
+ } else if (!sp_offboard.armed && current_status.flag_system_armed) {
+ update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
+ }
+
+ } else {
+ static uint64_t last_print_time = 0;
+ /* print error message for first RC glitch and then every 5 s / 5000 ms) */
+ if (!current_status.offboard_control_signal_lost || ((hrt_absolute_time() - last_print_time) > 5000000)) {
+ /* only complain if the RC control is NOT active */
+ mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO OFFBOARD CONTROL SIGNAL!");
+ last_print_time = hrt_absolute_time();
+ }
+ /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
+ current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp;
+
+ /* if the signal is gone for 0.1 seconds, consider it lost */
+ if (current_status.offboard_control_signal_lost_interval > 100000) {
+ current_status.offboard_control_signal_lost = true;
+ current_status.failsave_lowlevel_start_time = hrt_absolute_time();
+ current_status.failsave_lowlevel = true;
+
+ /* kill motors after timeout */
+ if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms*1000) {
+ state_changed = true;
+ }
+ }
+ }
+ }
+
+
current_status.counter++;
current_status.timestamp = hrt_absolute_time();
@@ -1411,8 +1509,10 @@ int commander_thread_main(int argc, char *argv[])
}
/* publish at least with 1 Hz */
- if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
+ if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) {
+ publish_armed_status(&current_status);
orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
+ state_changed = false;
}
/* Store old modes to detect and act on state transitions */
@@ -1430,7 +1530,8 @@ int commander_thread_main(int argc, char *argv[])
/* close fds */
led_deinit();
buzzer_deinit();
- close(rc_sub);
+ close(sp_man_sub);
+ close(sp_offboard_sub);
close(gps_sub);
close(sensor_sub);
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index da85d0868..e1d24d6a6 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -223,7 +223,8 @@ void publish_armed_status(const struct vehicle_status_s *current_status) {
/* lock down actuators if required */
// XXX FIXME Currently any loss of RC will completely disable all actuators
// needs proper failsafe
- armed.lockdown = (current_status->rc_signal_lost || current_status->flag_hil_enabled) ? true : false;
+ armed.lockdown = ((current_status->rc_signal_lost && current_status->offboard_control_signal_lost)
+ || current_status->flag_hil_enabled) ? true : false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 6470e65c8..7eca3031d 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -65,7 +65,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
@@ -126,7 +126,7 @@ static struct vehicle_attitude_s hil_attitude;
static struct vehicle_global_position_s hil_global_pos;
-static struct vehicle_rates_setpoint_s vehicle_rates_sp;
+static struct offboard_control_setpoint_s offboard_control_sp;
static struct vehicle_command_s vcmd;
@@ -188,9 +188,9 @@ static struct mavlink_subscriptions {
};
static struct mavlink_publications {
- orb_advert_t vehicle_rates_sp_pub;
+ orb_advert_t offboard_control_sp_pub;
} mavlink_pubs = {
- .vehicle_rates_sp_pub = -1
+ .offboard_control_sp_pub = -1
};
@@ -1138,11 +1138,6 @@ mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
}
}
-#define MAVLINK_OFFBOARD_CONTROL_MODE_NONE 0
-#define MAVLINK_OFFBOARD_CONTROL_MODE_RATES 1
-#define MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE 2
-#define MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY 3
-#define MAVLINK_OFFBOARD_CONTROL_MODE_POSITION 4
#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10
/****************************************************************************
@@ -1254,81 +1249,105 @@ void handleMessage(mavlink_message_t *msg)
// printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid);
if (mavlink_system.sysid < 4) {
- /* only send if RC is off */
- if (v_status.rc_signal_lost) {
+ /*
+ * rate control mode - defined by MAVLink
+ */
- /* rate control mode */
- if (quad_motors_setpoint.mode == 1) {
- vehicle_rates_sp.roll = quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
- vehicle_rates_sp.pitch = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
- vehicle_rates_sp.yaw = quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
- vehicle_rates_sp.thrust = quad_motors_setpoint.thrust[mavlink_system.sysid] / (float)UINT16_MAX;
+ uint8_t ml_mode = 0;
+ bool ml_armed = false;
- vehicle_rates_sp.timestamp = hrt_absolute_time();
- }
+ if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
+ ml_armed = true;
+ }
- /* check if topic has to be advertised */
- if (mavlink_pubs.vehicle_rates_sp_pub <= 0) {
- mavlink_pubs.vehicle_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &vehicle_rates_sp);
- }
- /* Publish */
- orb_publish(ORB_ID(vehicle_rates_setpoint), mavlink_pubs.vehicle_rates_sp_pub, &vehicle_rates_sp);
-
- /* change armed status if required */
- bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
-
- bool cmd_generated = false;
-
- if (v_status.flag_control_offboard_enabled != cmd_armed) {
- vcmd.param1 = cmd_armed;
- vcmd.param2 = 0;
- vcmd.param3 = 0;
- vcmd.param4 = 0;
- vcmd.param5 = 0;
- vcmd.param6 = 0;
- vcmd.param7 = 0;
- vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
- vcmd.target_system = mavlink_system.sysid;
- vcmd.target_component = MAV_COMP_ID_ALL;
- vcmd.source_system = msg->sysid;
- vcmd.source_component = msg->compid;
- vcmd.confirmation = 1;
-
- cmd_generated = true;
- }
+ switch (quad_motors_setpoint.mode) {
+ case 0:
+ break;
+ case 1:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+ break;
+ case 2:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+ break;
+ case 3:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+ break;
+ case 4:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+ break;
+ }
- /* check if input has to be enabled */
- if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
- (v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
- (v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
- (v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
- vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
- vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
- vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
- vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
- vcmd.param5 = 0;
- vcmd.param6 = 0;
- vcmd.param7 = 0;
- vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
- vcmd.target_system = mavlink_system.sysid;
- vcmd.target_component = MAV_COMP_ID_ALL;
- vcmd.source_system = msg->sysid;
- vcmd.source_component = msg->compid;
- vcmd.confirmation = 1;
-
- cmd_generated = true;
- }
+ offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
+ offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
+ offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
+ offboard_control_sp.p4 = quad_motors_setpoint.thrust[mavlink_system.sysid] / (float)UINT16_MAX;
+ offboard_control_sp.armed = ml_armed;
+ offboard_control_sp.mode = ml_mode;
- if (cmd_generated) {
- /* check if topic is advertised */
- if (cmd_pub <= 0) {
- cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
- } else {
- /* create command */
- orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
- }
- }
+ offboard_control_sp.timestamp = hrt_absolute_time();
+
+ /* check if topic has to be advertised */
+ if (mavlink_pubs.offboard_control_sp_pub <= 0) {
+ mavlink_pubs.offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+ } else {
+ /* Publish */
+ orb_publish(ORB_ID(offboard_control_setpoint), mavlink_pubs.offboard_control_sp_pub, &offboard_control_sp);
}
+
+ // /* change armed status if required */
+ // bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
+
+ // bool cmd_generated = false;
+
+ // if (v_status.flag_control_offboard_enabled != cmd_armed) {
+ // vcmd.param1 = cmd_armed;
+ // vcmd.param2 = 0;
+ // vcmd.param3 = 0;
+ // vcmd.param4 = 0;
+ // vcmd.param5 = 0;
+ // vcmd.param6 = 0;
+ // vcmd.param7 = 0;
+ // vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
+ // vcmd.target_system = mavlink_system.sysid;
+ // vcmd.target_component = MAV_COMP_ID_ALL;
+ // vcmd.source_system = msg->sysid;
+ // vcmd.source_component = msg->compid;
+ // vcmd.confirmation = 1;
+
+ // cmd_generated = true;
+ // }
+
+ // /* check if input has to be enabled */
+ // if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
+ // (v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
+ // (v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
+ // (v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
+ // vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
+ // vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
+ // vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
+ // vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
+ // vcmd.param5 = 0;
+ // vcmd.param6 = 0;
+ // vcmd.param7 = 0;
+ // vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
+ // vcmd.target_system = mavlink_system.sysid;
+ // vcmd.target_component = MAV_COMP_ID_ALL;
+ // vcmd.source_system = msg->sysid;
+ // vcmd.source_component = msg->compid;
+ // vcmd.confirmation = 1;
+
+ // cmd_generated = true;
+ // }
+
+ // if (cmd_generated) {
+ // /* check if topic is advertised */
+ // if (cmd_pub <= 0) {
+ // cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+ // } else {
+ // /* create command */
+ // orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+ // }
+ // }
}
}
@@ -1542,7 +1561,7 @@ int mavlink_thread_main(int argc, char *argv[])
memset(&rc, 0, sizeof(rc));
memset(&hil_attitude, 0, sizeof(hil_attitude));
memset(&hil_global_pos, 0, sizeof(hil_global_pos));
- memset(&vehicle_rates_sp, 0, sizeof(vehicle_rates_sp));
+ memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));
memset(&vcmd, 0, sizeof(vcmd));
/* print welcome text */
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 3f0d56245..6cf811158 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -58,6 +58,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
@@ -94,6 +95,8 @@ mc_thread_main(int argc, char *argv[])
memset(&manual, 0, sizeof(manual));
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
+ struct offboard_control_setpoint_s offboard_sp;
+ memset(&offboard_sp, 0, sizeof(offboard_sp));
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
@@ -102,7 +105,7 @@ mc_thread_main(int argc, char *argv[])
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
- int setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+ int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -150,7 +153,7 @@ mc_thread_main(int argc, char *argv[])
bool updated;
orb_check(setpoint_sub, &updated);
if (updated) {
- orb_copy(ORB_ID(vehicle_rates_setpoint), setpoint_sub, &rates_sp);
+ orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
}
/* get a local copy of the current sensor values */
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
@@ -177,6 +180,17 @@ mc_thread_main(int argc, char *argv[])
}
} else if (state.flag_control_offboard_enabled) {
/* offboard inputs */
+ if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
+ rates_sp.roll = offboard_sp.p1;
+ rates_sp.pitch = offboard_sp.p2;
+ rates_sp.yaw = offboard_sp.p3;
+ rates_sp.thrust = offboard_sp.p4;
+ } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
+ att_sp.roll_body = offboard_sp.p1;
+ att_sp.pitch_body = offboard_sp.p2;
+ att_sp.yaw_body = offboard_sp.p3;
+ att_sp.thrust = offboard_sp.p4;
+ }
/* decide wether we want rate or position input */
}
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index bd1b7b37d..eb22ac8a7 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -567,7 +567,7 @@ Sensors::accel_init()
_fd_bma180 = open("/dev/bma180", O_RDONLY);
if (_fd_bma180 < 0) {
warn("/dev/bma180");
- errx(1, "FATAL: no accelerometer found");
+ warn("FATAL: no accelerometer found");
}
/* discard first (junk) reading */
@@ -600,7 +600,7 @@ Sensors::gyro_init()
_fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY);
if (_fd_gyro_l3gd20 < 0) {
warn("/dev/l3gd20");
- errx(1, "FATAL: no gyro found");
+ warn("FATAL: no gyro found");
}
/* discard first (junk) reading */
@@ -988,6 +988,8 @@ Sensors::ppm_poll()
_rc.chan_count = ppm_decoded_channels;
_rc.timestamp = ppm_last_valid_decode;
+ manual_control.timestamp = ppm_last_valid_decode;
+
/* roll input - rolling right is stick-wise and rotation-wise positive */
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled;
if (manual_control.roll < -1.0f) manual_control.roll = -1.0f;
@@ -1090,7 +1092,7 @@ Sensors::task_main()
/* advertise the manual_control topic */
{
struct manual_control_setpoint_s manual_control;
- manual_control.mode = ROLLPOS_PITCHPOS_YAWRATE_THROTTLE;
+ manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_RATE;
manual_control.roll = 0.0f;
manual_control.pitch = 0.0f;
manual_control.yaw = 0.0f;
diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index be85a345a..f211648a9 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -59,7 +59,6 @@ ORB_DEFINE(output_pwm, struct pwm_output_values);
#include <drivers/drv_rc_input.h>
ORB_DEFINE(input_rc, struct rc_input_values);
-// XXX need to check wether these should be here
#include "topics/vehicle_attitude.h"
ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
@@ -99,6 +98,9 @@ ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
#include "topics/manual_control_setpoint.h"
ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
+#include "topics/offboard_control_setpoint.h"
+ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
+
#include "topics/optical_flow.h"
ORB_DEFINE(optical_flow, struct optical_flow_s);
diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h
index b01c7438d..a7f5be708 100644
--- a/apps/uORB/topics/manual_control_setpoint.h
+++ b/apps/uORB/topics/manual_control_setpoint.h
@@ -1,21 +1,21 @@
/****************************************************************************
*
- * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- * Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ * Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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.
+ * 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.
+ * 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.
+ * 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
@@ -57,31 +57,27 @@
*/
enum MANUAL_CONTROL_MODE
{
- DIRECT = 0,
- ROLLPOS_PITCHPOS_YAWRATE_THROTTLE = 1,
- ROLLRATE_PITCHRATE_YAWRATE_THROTTLE = 2,
- ROLLPOS_PITCHPOS_YAWPOS_THROTTLE = 3
+ MANUAL_CONTROL_MODE_DIRECT = 0,
+ MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1,
+ MANUAL_CONTROL_MODE_ATT_YAW_POS = 2,
+ MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
struct manual_control_setpoint_s {
+ uint64_t timestamp;
- enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */
- float roll; /**< roll / roll rate input */
- float pitch;
- float yaw;
- float throttle;
+ enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */
+ float roll; /**< ailerons roll / roll rate input */
+ float pitch; /**< elevator / pitch / pitch rate */
+ float yaw; /**< rudder / yaw rate / yaw */
+ float throttle; /**< throttle / collective thrust / altitude */
- float override_mode_switch;
+ float override_mode_switch;
- float ailerons;
- float elevator;
- float rudder;
- float flaps;
-
- float aux1_cam_pan;
- float aux2_cam_tilt;
- float aux3_cam_zoom;
- float aux4_cam_roll;
+ float aux1_cam_pan_flaps;
+ float aux2_cam_tilt;
+ float aux3_cam_zoom;
+ float aux4_cam_roll;
}; /**< manual control inputs */
diff --git a/apps/uORB/topics/offboard_control_setpoint.h b/apps/uORB/topics/offboard_control_setpoint.h
new file mode 100644
index 000000000..2e895c59c
--- /dev/null
+++ b/apps/uORB/topics/offboard_control_setpoint.h
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ * Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 offboard_control_setpoint.h
+ * Definition of the manual_control_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Off-board control inputs.
+ *
+ * Typically sent by a ground control station / joystick or by
+ * some off-board controller via C or SIMULINK.
+ */
+enum OFFBOARD_CONTROL_MODE
+{
+ OFFBOARD_CONTROL_MODE_DIRECT = 0,
+ OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
+ OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
+ OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
+ OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
+ OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
+ OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
+ OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
+};
+
+struct offboard_control_setpoint_s {
+ uint64_t timestamp;
+
+ enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
+ bool armed; /**< Armed flag set, yes / no */
+ float p1; /**< ailerons roll / roll rate input */
+ float p2; /**< elevator / pitch / pitch rate */
+ float p3; /**< rudder / yaw rate / yaw */
+ float p4; /**< throttle / collective thrust / altitude */
+
+ float override_mode_switch;
+
+ float aux1_cam_pan_flaps;
+ float aux2_cam_tilt;
+ float aux3_cam_zoom;
+ float aux4_cam_roll;
+
+}; /**< offboard control inputs */
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(offboard_control_setpoint);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_rates_setpoint.h b/apps/uORB/topics/vehicle_rates_setpoint.h
index 3400e5399..46e62c4b7 100644
--- a/apps/uORB/topics/vehicle_rates_setpoint.h
+++ b/apps/uORB/topics/vehicle_rates_setpoint.h
@@ -47,7 +47,6 @@
* @addtogroup topics
* @{
*/
-
struct vehicle_rates_setpoint_s
{
uint64_t timestamp; /**< in microseconds since system start */
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 850029f01..c727527b1 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -110,6 +110,8 @@ struct vehicle_status_s
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
+ uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */
+ //uint64_t failsave_highlevel_begin; TO BE COMPLETED
commander_state_machine_t state_machine; /**< current flight state, main state machine */
enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */
@@ -134,10 +136,18 @@ struct vehicle_status_s
bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */
bool flag_preflight_accel_calibration;
+ bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception is terminally lost */
bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */
uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */
+ bool offboard_control_signal_found_once;
+ bool offboard_control_signal_lost;
+ uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */
+
+ bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
+ //bool failsave_highlevel;
+
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present;
uint32_t onboard_control_sensors_enabled;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-15 23:13:51 +0000