diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 278 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 189 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.h | 9 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 3 | ||||
| -rw-r--r-- | src/modules/mavlink_onboard/mavlink.c | 3 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 2 | ||||
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 134 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 285 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 3 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 19 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 18 |
11 files changed, 250 insertions, 693 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 28118b990..199bfb0da 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -69,7 +69,6 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_command.h> -#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/subsystem_info.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_armed.h> @@ -194,7 +193,7 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); +void handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); /** * Mainloop of commander. @@ -215,8 +214,6 @@ void print_reject_arm(const char *msg); void print_status(); -transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); - /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. */ @@ -346,13 +343,12 @@ void print_status() warnx("arming: %s", armed_str); } -static orb_advert_t control_mode_pub; static orb_advert_t status_pub; -void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) +void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) { /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; + enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED; /* only handle high-priority commands here */ @@ -365,12 +361,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* set HIL state */ hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF; - int hil_ret = hil_state_transition(new_hil_state, status_pub, status, control_mode_pub, control_mode, mavlink_fd); + int hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd); /* if HIL got enabled, reset battery status state */ - if (hil_ret == OK && control_mode->flag_system_hil_enabled) { + if (hil_ret == OK && status->hil_state == HIL_STATE_ON) { /* reset the arming mode to disarmed */ - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_STANDBY, armed); + arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed); if (arming_res != TRANSITION_DENIED) { mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby"); @@ -386,12 +382,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe arming_res = TRANSITION_NOT_CHANGED; if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - if ((safety->safety_switch_available && !safety->safety_off) && !control_mode->flag_system_hil_enabled) { + if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); arming_res = TRANSITION_DENIED; } else { - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); + arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); } if (arming_res == TRANSITION_CHANGED) { @@ -401,7 +397,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else { if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_res = arming_state_transition(status, safety, control_mode, new_arming_state, armed); + arming_res = arming_state_transition(status, safety, new_arming_state, armed); if (arming_res == TRANSITION_CHANGED) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command"); @@ -462,29 +458,6 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; } - case VEHICLE_CMD_NAV_TAKEOFF: { - if (armed->armed) { - transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); - - if (nav_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command"); - } - - if (nav_res != TRANSITION_DENIED) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - } - - } else { - /* reject TAKEOFF not armed */ - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - } - - break; - } - case VEHICLE_CMD_COMPONENT_ARM_DISARM: { transition_result_t arming_res = TRANSITION_NOT_CHANGED; @@ -494,7 +467,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe arming_res = TRANSITION_DENIED; } else { - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); + arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); } if (arming_res == TRANSITION_CHANGED) { @@ -513,7 +486,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO - transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON, control_mode); + transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { @@ -524,29 +497,22 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: + case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: + case VEHICLE_CMD_PREFLIGHT_STORAGE: + /* ignore commands that handled in low prio loop */ + break; + default: + /* warn about unsupported commands */ + answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); break; } - /* supported command handling stop */ - if (result == VEHICLE_CMD_RESULT_ACCEPTED) { - tune_positive(); - - } else if (result == VEHICLE_CMD_RESULT_UNSUPPORTED) { - /* we do not care in the high prio loop about commands we don't know */ - } else { - tune_negative(); - - if (result == VEHICLE_CMD_RESULT_DENIED) { - mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd->command); - - } else if (result == VEHICLE_CMD_RESULT_FAILED) { - mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd->command); - - } else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { - mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command); - - } + if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) { + /* already warned about unsupported commands in "default" case */ + answer_command(*cmd, result); } /* send any requested ACKs */ @@ -564,9 +530,6 @@ static struct actuator_armed_s armed; static struct safety_s safety; -/* flags for control apps */ -struct vehicle_control_mode_s control_mode; - int commander_thread_main(int argc, char *argv[]) { /* not yet initialized */ @@ -609,11 +572,9 @@ int commander_thread_main(int argc, char *argv[]) /* Initialize armed with all false */ memset(&armed, 0, sizeof(armed)); - /* Initialize all flags to false */ - memset(&control_mode, 0, sizeof(control_mode)); - status.main_state = MAIN_STATE_MANUAL; - status.navigation_state = NAVIGATION_STATE_DIRECT; + status.set_nav_state = NAV_STATE_INIT; + status.set_nav_state_timestamp = 0; status.arming_state = ARMING_STATE_INIT; status.hil_state = HIL_STATE_OFF; @@ -625,9 +586,6 @@ int commander_thread_main(int argc, char *argv[]) status.rc_signal_lost = true; status.offboard_control_signal_lost = true; - /* allow manual override initially */ - control_mode.flag_external_manual_override_ok = true; - /* set battery warning flag */ status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; status.condition_battery_voltage_valid = false; @@ -635,9 +593,6 @@ int commander_thread_main(int argc, char *argv[]) // XXX for now just set sensors as initialized status.condition_system_sensors_initialized = true; - // XXX just disable offboard control for now - control_mode.flag_control_offboard_enabled = false; - /* advertise to ORB */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); /* publish current state machine */ @@ -649,8 +604,6 @@ int commander_thread_main(int argc, char *argv[]) armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); - control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode); - /* home position */ orb_advert_t home_pub = -1; struct home_position_s home; @@ -803,11 +756,9 @@ int commander_thread_main(int argc, char *argv[]) status.system_type == VEHICLE_TYPE_QUADROTOR || status.system_type == VEHICLE_TYPE_HEXAROTOR || status.system_type == VEHICLE_TYPE_OCTOROTOR) { - control_mode.flag_external_manual_override_ok = false; status.is_rotary_wing = true; } else { - control_mode.flag_external_manual_override_ok = true; status.is_rotary_wing = false; } @@ -859,7 +810,7 @@ int commander_thread_main(int argc, char *argv[]) // XXX this would be the right approach to do it, but do we *WANT* this? // /* disarm if safety is now on and still armed */ // if (safety.safety_switch_available && !safety.safety_off) { - // (void)arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed); + // (void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); // } } @@ -990,10 +941,10 @@ int commander_thread_main(int argc, char *argv[]) battery_tune_played = false; if (armed.armed) { - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); } else { - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); } status_changed = true; @@ -1012,7 +963,7 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { // XXX check for sensors - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); } else { // XXX: Add emergency stuff if sensors are lost @@ -1102,15 +1053,13 @@ int commander_thread_main(int argc, char *argv[]) * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY || - (status.condition_landed && ( - status.navigation_state == NAVIGATION_STATE_ALTHOLD || - status.navigation_state == NAVIGATION_STATE_VECTOR - ))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - res = arming_state_transition(&status, &safety, &control_mode, new_arming_state, &armed); + res = arming_state_transition(&status, &safety, new_arming_state, &armed); stick_off_counter = 0; } else { @@ -1132,7 +1081,7 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); } else { - res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED, &armed); + res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); } stick_on_counter = 0; @@ -1185,12 +1134,12 @@ int commander_thread_main(int argc, char *argv[]) /* Flight termination in manual mode if assisted switch is on easy position //xxx hack! */ if (armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { - transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON, &control_mode); + transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON); if (flighttermination_res == TRANSITION_CHANGED) { tune_positive(); } } else { - flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF, &control_mode); + flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF); } @@ -1202,32 +1151,18 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - handle_command(&status, &safety, &control_mode, &cmd, &armed); - } - - /* evaluate the navigation state machine */ - transition_result_t res = check_navigation_state_machine(&status, &control_mode, &local_position); - - if (res == TRANSITION_DENIED) { - /* DENIED here indicates bug in the commander */ - warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); - mavlink_log_critical(mavlink_fd, "#audio: ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + handle_command(&status, &safety, &cmd, &armed); } /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = check_arming_state_changed(); bool main_state_changed = check_main_state_changed(); - bool navigation_state_changed = check_navigation_state_changed(); bool flighttermination_state_changed = check_flighttermination_state_changed(); hrt_abstime t1 = hrt_absolute_time(); - if (navigation_state_changed || arming_state_changed) { - control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic - } - - if (arming_state_changed || main_state_changed || navigation_state_changed) { - mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d, nav %d", status.arming_state, status.main_state, status.navigation_state); + if (arming_state_changed || main_state_changed) { + mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d", status.arming_state, status.main_state); status_changed = true; } @@ -1235,8 +1170,6 @@ int commander_thread_main(int argc, char *argv[]) if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { status.timestamp = t1; orb_publish(ORB_ID(vehicle_status), status_pub, &status); - control_mode.timestamp = t1; - orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); armed.timestamp = t1; orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); } @@ -1549,133 +1482,6 @@ print_reject_arm(const char *msg) } } -transition_result_t -check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos) -{ - transition_result_t res = TRANSITION_DENIED; - - if (status->main_state == MAIN_STATE_AUTO) { - if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { - // TODO AUTO_LAND handling - if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { - /* don't switch to other states until takeoff not completed */ - // XXX: only respect the condition_landed when the local position is actually valid - if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) { - return TRANSITION_NOT_CHANGED; - } - } - - if (status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF && - status->navigation_state != NAVIGATION_STATE_AUTO_LOITER && - status->navigation_state != NAVIGATION_STATE_AUTO_MISSION && - status->navigation_state != NAVIGATION_STATE_AUTO_RTL) { - /* possibly on ground, switch to TAKEOFF if needed */ - if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) { - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); - return res; - } - } - - /* switch to AUTO mode */ - if (status->rc_signal_found_once && !status->rc_signal_lost) { - /* act depending on switches when manual control enabled */ - if (status->return_switch == RETURN_SWITCH_RETURN) { - /* RTL */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_RTL, control_mode); - - } else { - if (status->mission_switch == MISSION_SWITCH_MISSION) { - /* MISSION */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); - - } else { - /* LOITER */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_LOITER, control_mode); - } - } - - } else { - /* switch to MISSION when no RC control and first time in some AUTO mode */ - if (status->navigation_state == NAVIGATION_STATE_AUTO_LOITER || - status->navigation_state == NAVIGATION_STATE_AUTO_MISSION || - status->navigation_state == NAVIGATION_STATE_AUTO_RTL || - status->navigation_state == NAVIGATION_STATE_AUTO_LAND) { - res = TRANSITION_NOT_CHANGED; - - } else { - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); - } - } - - } else { - /* disarmed, always switch to AUTO_READY */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_READY, control_mode); - } - - } else { - /* manual control modes */ - if (status->rc_signal_lost && (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR)) { - /* switch to failsafe mode */ - bool manual_control_old = control_mode->flag_control_manual_enabled; - - if (!status->condition_landed && status->condition_local_position_valid) { - /* in air: try to hold position if possible */ - res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); - - } else { - /* landed: don't try to hold position but land (if taking off) */ - res = TRANSITION_DENIED; - } - - if (res == TRANSITION_DENIED) { - res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); - } - - control_mode->flag_control_manual_enabled = false; - - if (res == TRANSITION_NOT_CHANGED && manual_control_old) { - /* mark navigation state as changed to force immediate flag publishing */ - set_navigation_state_changed(); - res = TRANSITION_CHANGED; - } - - if (res == TRANSITION_CHANGED) { - if (control_mode->flag_control_position_enabled) { - mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: POS HOLD"); - - } else { - if (status->condition_landed) { - mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD (LAND)"); - - } else { - mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD"); - } - } - } - - } else { - switch (status->main_state) { - case MAIN_STATE_MANUAL: - res = navigation_state_transition(status, status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode); - break; - - case MAIN_STATE_SEATBELT: - res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); - break; - - case MAIN_STATE_EASY: - res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); - break; - - default: - break; - } - } - } - - return res; -} - void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result) { switch (result) { @@ -1784,7 +1590,7 @@ void *commander_low_prio_loop(void *arg) /* try to go to INIT/PREFLIGHT arming state */ // XXX disable interrupts in arming_state_transition - if (TRANSITION_DENIED == arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_INIT, &armed)) { + if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) { answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); break; } @@ -1824,7 +1630,7 @@ void *commander_low_prio_loop(void *arg) else tune_negative(); - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); break; } @@ -1876,7 +1682,7 @@ void *commander_low_prio_loop(void *arg) } default: - answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); + /* don't answer on unsupported commands, it will be done in main loop */ break; } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index ca3ec94b8..731e0e3ff 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -46,7 +46,6 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_control_mode.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> #include <systemlib/err.h> @@ -64,12 +63,10 @@ static const int ERROR = -1; static bool arming_state_changed = true; static bool main_state_changed = true; -static bool navigation_state_changed = true; static bool flighttermination_state_changed = true; transition_result_t arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, - const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed) { /* @@ -86,7 +83,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * } else { /* enforce lockdown in HIL */ - if (control_mode->flag_system_hil_enabled) { + if (status->hil_state == HIL_STATE_ON) { armed->lockdown = true; } else { armed->lockdown = false; @@ -109,7 +106,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * /* allow coming from INIT and disarming from ARMED */ if (status->arming_state == ARMING_STATE_INIT || status->arming_state == ARMING_STATE_ARMED - || control_mode->flag_system_hil_enabled) { + || status->hil_state == HIL_STATE_ON) { /* sensors need to be initialized for STANDBY state */ if (status->condition_system_sensors_initialized) { @@ -126,7 +123,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * /* allow arming from STANDBY and IN-AIR-RESTORE */ if ((status->arming_state == ARMING_STATE_STANDBY || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) - && (!safety->safety_switch_available || safety->safety_off || control_mode->flag_system_hil_enabled)) { /* only allow arming if safety is off */ + && (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */ ret = TRANSITION_CHANGED; armed->armed = true; armed->ready_to_arm = true; @@ -289,169 +286,6 @@ check_main_state_changed() } } -transition_result_t -navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode) -{ - transition_result_t ret = TRANSITION_DENIED; - - /* only check transition if the new state is actually different from the current one */ - if (new_navigation_state == status->navigation_state) { - ret = TRANSITION_NOT_CHANGED; - - } else { - - switch (new_navigation_state) { - case NAVIGATION_STATE_DIRECT: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = false; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = false; - control_mode->flag_control_climb_rate_enabled = false; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_STABILIZE: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = false; - control_mode->flag_control_climb_rate_enabled = false; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_ALTHOLD: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_VECTOR: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_AUTO_READY: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = false; - control_mode->flag_control_attitude_enabled = false; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = false; - control_mode->flag_control_climb_rate_enabled = false; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_TAKEOFF: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_LOITER: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_AUTO_MISSION: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_RTL: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_LAND: - - /* deny transitions from landed state */ - if (status->navigation_state != NAVIGATION_STATE_AUTO_READY) { - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - } - - break; - - default: - break; - } - - if (ret == TRANSITION_CHANGED) { - status->navigation_state = new_navigation_state; - control_mode->auto_state = status->navigation_state; - navigation_state_changed = true; - } - } - - return ret; -} - -bool -check_navigation_state_changed() -{ - if (navigation_state_changed) { - navigation_state_changed = false; - return true; - - } else { - return false; - } -} - bool check_flighttermination_state_changed() { @@ -464,16 +298,10 @@ check_flighttermination_state_changed() } } -void -set_navigation_state_changed() -{ - navigation_state_changed = true; -} - /** * Transition from one hil state to another */ -int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd) +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) { bool valid_transition = false; int ret = ERROR; @@ -502,7 +330,6 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s || current_status->arming_state == ARMING_STATE_STANDBY || current_status->arming_state == ARMING_STATE_STANDBY_ERROR) { - current_control_mode->flag_system_hil_enabled = true; mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); valid_transition = true; } @@ -521,9 +348,6 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s current_status->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - current_control_mode->timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode); - // XXX also set lockdown here ret = OK; @@ -539,7 +363,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s /** * Transition from one flightermination state to another */ -transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode) +transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state) { transition_result_t ret = TRANSITION_DENIED; @@ -566,7 +390,8 @@ transition_result_t flighttermination_state_transition(struct vehicle_status_s * if (ret == TRANSITION_CHANGED) { flighttermination_state_changed = true; - control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON; + // TODO + //control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON; } } diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index e1ec9d4ad..e569fb4f3 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -48,7 +48,6 @@ #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/safety.h> -#include <uORB/topics/vehicle_control_mode.h> typedef enum { TRANSITION_DENIED = -1, @@ -58,7 +57,7 @@ typedef enum { } transition_result_t; transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, - const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed); + arming_state_t new_arming_state, struct actuator_armed_s *armed); bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); @@ -68,9 +67,7 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state bool check_main_state_changed(); -transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode); - -transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode); +transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state); bool check_navigation_state_changed(); @@ -78,6 +75,6 @@ bool check_flighttermination_state_changed(); void set_navigation_state_changed(); -int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd); +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd); #endif /* STATE_MACHINE_HELPER_H_ */ diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 2ec00a9bc..eec6c567c 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -221,6 +221,8 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (v_status.main_state == MAIN_STATE_AUTO) { *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + // TODO use control_mode topic + /* if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { @@ -234,6 +236,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; } + */ } *mavlink_custom_mode = custom_mode.data; diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 0edb53a3e..ab9ce45f3 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -441,7 +441,8 @@ int mavlink_thread_main(int argc, char *argv[]) get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode); /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state); + // TODO fix navigation state, use control_mode topic + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, 0, mavlink_state); /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 60a211817..111e9197f 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -316,7 +316,7 @@ mc_thread_main(int argc, char *argv[]) } } else { - if (!control_mode.flag_control_auto_enabled) { + if (!control_mode.flag_control_attitude_enabled) { /* no control, try to stay on place */ if (!control_mode.flag_control_velocity_enabled) { /* no velocity control, reset attitude setpoint */ diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 5af7e2a82..2ca650420 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -415,140 +415,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* force reprojection of global setpoint after manual mode */ reset_mission_sp = true; - - } else if (control_mode.flag_control_auto_enabled) { - /* AUTO mode, use global setpoint */ - if (control_mode.auto_state == NAVIGATION_STATE_AUTO_READY) { - reset_auto_sp_xy = true; - reset_auto_sp_z = true; - - } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_TAKEOFF) { - if (reset_takeoff_sp) { - reset_takeoff_sp = false; - local_pos_sp.x = local_pos.x; - local_pos_sp.y = local_pos.y; - local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap; - att_sp.yaw_body = att.yaw; - mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z); - } - - reset_auto_sp_xy = false; - reset_auto_sp_z = true; - - } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) { - // TODO - reset_auto_sp_xy = true; - reset_auto_sp_z = true; - - } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_MISSION) { - /* init local projection using local position ref */ - if (local_pos.ref_timestamp != local_ref_timestamp) { - reset_mission_sp = true; - local_ref_timestamp = local_pos.ref_timestamp; - double lat_home = local_pos.ref_lat * 1e-7; - double lon_home = local_pos.ref_lon * 1e-7; - map_projection_init(lat_home, lon_home); - mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home); - } - - if (reset_mission_sp) { - reset_mission_sp = false; - /* update global setpoint projection */ - - if (global_pos_sp_valid) { - - /* project global setpoint to local setpoint */ - map_projection_project(triplet.current.lat, triplet.current.lon, &(local_pos_sp.x), &(local_pos_sp.y)); - - if (triplet.current.altitude_is_relative) { - local_pos_sp.z = -triplet.current.altitude; - - } else { - local_pos_sp.z = local_pos.ref_alt - triplet.current.lat; - } - /* update yaw setpoint only if value is valid */ - if (isfinite(triplet.current.yaw) && fabsf(triplet.current.yaw) < M_TWOPI) { - att_sp.yaw_body = triplet.current.yaw; - } - - mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", triplet.current.lat, triplet.current.lon, (double)local_pos_sp.x, (double)local_pos_sp.y); - - } else { - if (reset_auto_sp_xy) { - reset_auto_sp_xy = false; - /* local position setpoint is invalid, - * use current position as setpoint for loiter */ - local_pos_sp.x = local_pos.x; - local_pos_sp.y = local_pos.y; - local_pos_sp.yaw = att.yaw; - } - - if (reset_auto_sp_z) { - reset_auto_sp_z = false; - local_pos_sp.z = local_pos.z; - } - - mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); - } - } - - reset_auto_sp_xy = true; - reset_auto_sp_z = true; - } - - if (control_mode.auto_state != NAVIGATION_STATE_AUTO_TAKEOFF) { - reset_takeoff_sp = true; - } - - if (control_mode.auto_state != NAVIGATION_STATE_AUTO_MISSION) { - reset_mission_sp = true; - } - - /* copy yaw setpoint to vehicle_local_position_setpoint topic */ - local_pos_sp.yaw = att_sp.yaw_body; - - /* reset setpoints after AUTO mode */ - reset_man_sp_xy = true; - reset_man_sp_z = true; - - } else { - /* no control (failsafe), loiter or stay on ground */ - if (local_pos.landed) { - /* landed: move setpoint down */ - /* in air: hold altitude */ - if (local_pos_sp.z < 5.0f) { - /* set altitude setpoint to 5m under ground, - * don't set it too deep to avoid unexpected landing in case of false "landed" signal */ - local_pos_sp.z = 5.0f; - mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z); - } - - reset_man_sp_z = true; - - } else { - /* in air: hold altitude */ - if (reset_man_sp_z) { - reset_man_sp_z = false; - local_pos_sp.z = local_pos.z; - mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z); - } - - reset_auto_sp_z = false; - } - - if (control_mode.flag_control_position_enabled) { - if (reset_man_sp_xy) { - reset_man_sp_xy = false; - local_pos_sp.x = local_pos.x; - local_pos_sp.y = local_pos.y; - local_pos_sp.yaw = att.yaw; - att_sp.yaw_body = att.yaw; - mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); - } - - reset_auto_sp_xy = false; - } } + /* AUTO not implemented */ /* publish local position setpoint */ orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp); diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 7be9229c9..37c2a0389 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -61,6 +61,7 @@ #include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/mission_result.h> #include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> @@ -145,8 +146,10 @@ private: orb_advert_t _triplet_pub; /**< publish position setpoint triplet */ orb_advert_t _fence_pub; /**< publish fence topic */ orb_advert_t _mission_result_pub; /**< publish mission result topic */ + orb_advert_t _control_mode_pub; /**< publish vehicle control mode topic */ struct vehicle_status_s _vstatus; /**< vehicle status */ + struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct home_position_s _home_pos; /**< home position for RTL */ struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */ @@ -168,6 +171,8 @@ private: MissionFeasibilityChecker missionFeasiblityChecker; + uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */ + struct { float min_altitude; float loiter_radius; @@ -192,21 +197,10 @@ private: MAX_EVENT }; - enum State { - STATE_INIT, - STATE_NONE, - STATE_LOITER, - STATE_MISSION, - STATE_MISSION_LOITER, - STATE_RTL, - STATE_RTL_LOITER, - MAX_STATE - }; - /** * State machine transition table */ - static StateTable::Tran const myTable[MAX_STATE][MAX_EVENT]; + static StateTable::Tran const myTable[NAV_STATE_MAX][MAX_EVENT]; /** * Update our local parameter cache. @@ -300,6 +294,10 @@ private: */ void publish_mission_item_triplet(); + /** + * Publish vehicle_control_mode topic for controllers + */ + void publish_control_mode(); /** @@ -328,7 +326,7 @@ Navigator *g_navigator; Navigator::Navigator() : /* state machine transition table */ - StateTable(&myTable[0][0], MAX_STATE, MAX_EVENT), + StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT), _task_should_exit(false), _navigator_task(-1), @@ -347,6 +345,7 @@ Navigator::Navigator() : _triplet_pub(-1), _fence_pub(-1), _mission_result_pub(-1), + _control_mode_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), @@ -357,7 +356,8 @@ Navigator::Navigator() : _mission(), _waypoint_position_reached(false), _waypoint_yaw_reached(false), - _time_first_inside_orbit(0) + _time_first_inside_orbit(0), + _set_nav_state_timestamp(0) { memset(&_fence, 0, sizeof(_fence)); @@ -375,7 +375,7 @@ Navigator::Navigator() : memset(&_mission_result, 0, sizeof(struct mission_result_s)); /* Initialize state machine */ - myState = STATE_INIT; + myState = NAV_STATE_INIT; } Navigator::~Navigator() @@ -513,7 +513,6 @@ Navigator::task_main() _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _home_pos_sub = orb_subscribe(ORB_ID(home_position)); - /* copy all topics first time */ vehicle_status_update(); @@ -524,9 +523,6 @@ Navigator::task_main() offboard_mission_update(_vstatus.is_rotary_wing); onboard_mission_update(); - - /* rate limit vehicle status updates to 5Hz */ - orb_set_interval(_vstatus_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); @@ -575,49 +571,41 @@ Navigator::task_main() /* Evaluate state machine from commander and set the navigator mode accordingly */ if (_vstatus.main_state == MAIN_STATE_AUTO) { - - switch (_vstatus.navigation_state) { - case NAVIGATION_STATE_DIRECT: - case NAVIGATION_STATE_STABILIZE: - case NAVIGATION_STATE_ALTHOLD: - case NAVIGATION_STATE_VECTOR: - - /* don't publish a mission item triplet */ - dispatch(EVENT_NONE_REQUESTED); - break; - - case NAVIGATION_STATE_AUTO_READY: - case NAVIGATION_STATE_AUTO_TAKEOFF: - case NAVIGATION_STATE_AUTO_MISSION: - - /* try mission if none is available, fallback to loiter instead */ - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); - } else { - dispatch(EVENT_LOITER_REQUESTED); - } + if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { + /* commander requested new navigation mode, try to set it */ + _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; + + switch (_vstatus.set_nav_state) { + case NAV_STATE_INIT: + case NAV_STATE_NONE: + /* nothing to do */ break; - case NAVIGATION_STATE_AUTO_LOITER: - + case NAV_STATE_LOITER: dispatch(EVENT_LOITER_REQUESTED); break; - - case NAVIGATION_STATE_AUTO_RTL: - - dispatch(EVENT_RTL_REQUESTED); + case NAV_STATE_MISSION: + dispatch(EVENT_MISSION_REQUESTED); break; - case NAVIGATION_STATE_AUTO_LAND: - - /* TODO add this */ - + case NAV_STATE_RTL: + dispatch(EVENT_RTL_REQUESTED); break; default: - warnx("ERROR: Navigation state not supported"); + warnx("ERROR: Requested navigation state not supported"); break; + } + + } else { + /* try mission, if none is available fallback to loiter instead */ + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); + } else { + dispatch(EVENT_LOITER_REQUESTED); + } + break; } } else { @@ -632,10 +620,8 @@ Navigator::task_main() } } - /* only update parameters if it changed */ if (fds[0].revents & POLLIN) { - parameters_update(); /* note that these new parameters won't be in effect until a mission triplet is published again */ } @@ -670,9 +656,7 @@ Navigator::task_main() if (mission_item_reached()) { if (_vstatus.main_state == MAIN_STATE_AUTO && - (_vstatus.navigation_state == NAVIGATION_STATE_AUTO_READY || - _vstatus.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF || - _vstatus.navigation_state == NAVIGATION_STATE_AUTO_MISSION)) { + (myState == NAV_STATE_MISSION)) { /* advance by one mission item */ _mission.move_to_next(); @@ -688,6 +672,9 @@ Navigator::task_main() } } } + + publish_control_mode(); + perf_end(_loop_perf); } @@ -740,25 +727,25 @@ Navigator::status() } switch (myState) { - case STATE_INIT: + case NAV_STATE_INIT: warnx("State: Init"); break; - case STATE_NONE: + case NAV_STATE_NONE: warnx("State: None"); break; - case STATE_LOITER: + case NAV_STATE_LOITER: warnx("State: Loiter"); break; - case STATE_MISSION: + case NAV_STATE_MISSION: warnx("State: Mission"); break; - case STATE_MISSION_LOITER: + case NAV_STATE_MISSION_LOITER: warnx("State: Loiter after Mission"); break; - case STATE_RTL: + case NAV_STATE_RTL: warnx("State: RTL"); break; - case STATE_RTL_LOITER: + case NAV_STATE_RTL_LOITER: warnx("State: Loiter after RTL"); break; default: @@ -857,76 +844,76 @@ Navigator::fence_point(int argc, char *argv[]) -StateTable::Tran const Navigator::myTable[MAX_STATE][MAX_EVENT] = { +StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { { /* STATE_INIT */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_INIT}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_INIT}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_INIT}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* 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_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_INIT}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_INIT}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_INIT}, }, { /* STATE_NONE */ - /* EVENT_NONE_REQUESTED */ {NO_ACTION, STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_NONE}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_NONE}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_NONE}, + /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE}, + /* 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_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_NONE}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, }, { /* STATE_LOITER */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_LOITER}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_LOITER}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_LOITER}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* 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_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, }, { /* STATE_MISSION */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {NO_ACTION, STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_mission_loiter), STATE_MISSION_LOITER}, - /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_MISSION}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* 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_MISSION_FINISHED */ {ACTION(&Navigator::start_mission_loiter), NAV_STATE_MISSION_LOITER}, + /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION}, }, { /* STATE_MISSION_LOITER */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_MISSION_LOITER}, - /* EVENT_MISSION_REQUESTED */ {NO_ACTION, STATE_MISSION_LOITER}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_MISSION_LOITER}, - /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_MISSION_LOITER}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, + /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, + /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, }, { /* STATE_RTL */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {NO_ACTION, STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_rtl_loiter), STATE_RTL_LOITER}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_RTL}, - /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), STATE_RTL}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* 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_MISSION_FINISHED */ {ACTION(&Navigator::start_rtl_loiter), NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL}, + /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), NAV_STATE_RTL}, }, { /* STATE_RTL_LOITER */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, }, }; @@ -949,7 +936,7 @@ Navigator::start_loiter() _mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d; _mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d; - _mission_item_triplet.current.yaw = 0.0f; + _mission_item_triplet.current.yaw = 0.0f; // TODO use current yaw sp here or set to undefined? get_loiter_item(&_mission_item_triplet.current); @@ -1239,6 +1226,76 @@ Navigator::publish_mission_item_triplet() } } +void +Navigator::publish_control_mode() +{ + /* update vehicle_control_mode topic*/ + _control_mode.main_state = _vstatus.main_state; + _control_mode.nav_state = static_cast<nav_state_t>(myState); + _control_mode.flag_armed = _vstatus.arming_state == ARMING_STATE_ARMED || _vstatus.arming_state == ARMING_STATE_ARMED_ERROR; + _control_mode.flag_external_manual_override_ok = !_vstatus.is_rotary_wing; + _control_mode.flag_system_hil_enabled = _vstatus.hil_state == HIL_STATE_ON; + + _control_mode.flag_control_offboard_enabled = false; + _control_mode.flag_control_flighttermination_enabled = false; + + switch (_vstatus.main_state) { + case MAIN_STATE_MANUAL: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = _vstatus.is_rotary_wing; + _control_mode.flag_control_attitude_enabled = _vstatus.is_rotary_wing; + _control_mode.flag_control_altitude_enabled = false; + _control_mode.flag_control_climb_rate_enabled = false; + _control_mode.flag_control_position_enabled = false; + _control_mode.flag_control_velocity_enabled = false; + break; + + case MAIN_STATE_SEATBELT: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + _control_mode.flag_control_position_enabled = false; + _control_mode.flag_control_velocity_enabled = false; + break; + + case MAIN_STATE_EASY: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + _control_mode.flag_control_position_enabled = true; + _control_mode.flag_control_velocity_enabled = true; + break; + + case MAIN_STATE_AUTO: + _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 = true; + _control_mode.flag_control_velocity_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + break; + + default: + break; + } + + _control_mode.timestamp = hrt_absolute_time(); + + /* lazily publish the mission triplet only once available */ + if (_control_mode_pub > 0) { + /* publish the mission triplet */ + orb_publish(ORB_ID(vehicle_control_mode), _control_mode_pub, &_control_mode); + + } else { + /* advertise and publish */ + _control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &_control_mode); + } +} bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b) { if (fabsf(a.altitude_is_relative - b.altitude_is_relative) < FLT_EPSILON && diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 9f634d9e4..78322aff3 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -969,7 +969,8 @@ int sdlog2_thread_main(int argc, char *argv[]) // Don't orb_copy, it's already done few lines above log_msg.msg_type = LOG_STAT_MSG; log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; - log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state; + // TODO use control_mode topic + //log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state; log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage; log_msg.body.log_STAT.battery_current = buf_status.battery_current; diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index e26fb97c8..5ce968f67 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -48,6 +48,7 @@ #include <stdint.h> #include <stdbool.h> #include "../uORB.h" +#include "vehicle_status.h" /** * @addtogroup topics @{ @@ -59,10 +60,25 @@ * * Encodes the complete system state and is set by the commander app. */ + +typedef enum { + NAV_STATE_INIT = 0, + NAV_STATE_NONE, + NAV_STATE_LOITER, + NAV_STATE_MISSION, + NAV_STATE_MISSION_LOITER, + NAV_STATE_RTL, + NAV_STATE_RTL_LOITER, + NAV_STATE_MAX +} nav_state_t; + struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + main_state_t main_state; + nav_state_t nav_state; + bool flag_armed; bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ @@ -79,9 +95,6 @@ struct vehicle_control_mode_s bool flag_control_altitude_enabled; /**< true if altitude is controlled */ bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ bool flag_control_flighttermination_enabled; /**< true if flighttermination is enabled */ - - bool flag_control_auto_enabled; // TEMP - uint8_t auto_state; // TEMP navigation state for AUTO modes }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1c3763924..ae3a24a1b 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -66,20 +66,6 @@ typedef enum { MAIN_STATE_AUTO, } main_state_t; -/* navigation state machine */ -typedef enum { - NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization - NAVIGATION_STATE_STABILIZE, // attitude stabilization - NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization - NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization - NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff - NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode - NAVIGATION_STATE_AUTO_LOITER, // pause mission - NAVIGATION_STATE_AUTO_MISSION, // fly mission - NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND - NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector) -} navigation_state_t; - typedef enum { ARMING_STATE_INIT = 0, ARMING_STATE_STANDBY, @@ -95,7 +81,6 @@ typedef enum { HIL_STATE_ON } hil_state_t; - typedef enum { FLIGHTTERMINATION_STATE_OFF = 0, FLIGHTTERMINATION_STATE_ON @@ -182,7 +167,8 @@ struct vehicle_status_s uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ main_state_t main_state; /**< main state machine */ - navigation_state_t navigation_state; /**< navigation state machine */ + unsigned int set_nav_state; /**< set navigation state machine to specified value */ + uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */ arming_state_t arming_state; /**< current arming state */ hil_state_t hil_state; /**< current hil state */ |