diff options
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 357 |
1 files changed, 291 insertions, 66 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index 2e4935471..e6344f1a8 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -56,60 +56,195 @@ /** * Transition from one sytem state to another */ -void state_machine_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +void navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) { int ret = ERROR; - system_state_t new_system_state; + navigation_state_t new_navigation_state; + /* do the navigation state update depending on the arming state */ + switch (current_status->arming_state) { - /* - * Firstly evaluate mode switch position - * */ + /* evaluate the navigation state when disarmed */ + case ARMING_STATE_STANDBY: - /* Always accept manual mode */ - if (current_status->mode_switch == MODE_SWITCH_MANUAL) { - new_system_state = SYSTEM_STATE_MANUAL; + /* Always accept manual mode */ + if (current_status->mode_switch == MODE_SWITCH_MANUAL) { + new_navigation_state = NAVIGATION_STATE_MANUAL_STANDBY; - /* Accept SEATBELT if there is a local position estimate */ - } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT) { + /* Accept SEATBELT if there is a local position estimate */ + } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT) { - if (current_status->flag_local_position_valid) { - new_system_state = SYSTEM_STATE_SEATBELT; - } else { - /* or just fall back to manual */ - mavlink_log_critical(mavlink_fd, "REJ SEATBELT: no local position"); - new_system_state = SYSTEM_STATE_MANUAL); - } + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT_STANDBY; + } else { + /* or just fall back to manual */ + mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position"); + new_navigation_state = NAVIGATION_STATE_MANUAL_STANDBY; + } - /* Accept AUTO if there is a global position estimate */ - } else if (current_status->mode_switch == MODE_SWITCH_AUTO) { - if (current_status->flag_local_position_valid) { - new_system_state = SYSTEM_STATE_SEATBELT); - } else { - mavlink_log_critical(mavlink_fd, "REJ AUTO: no global position"); - - /* otherwise fallback to seatbelt or even manual */ - if (current_status->flag_local_position_valid) { - new_system_state = SYSTEM_STATE_SEATBELT; - } else { - mavlink_log_critical(mavlink_fd, "REJ SEATBELT: no local position"); - new_system_state = SYSTEM_STATE_MANUAL; + /* Accept AUTO if there is a global position estimate */ + } else if (current_status->mode_switch == MODE_SWITCH_AUTO) { + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT_STANDBY; + } else { + mavlink_log_critical(mavlink_fd, "Rej. AUTO: no global position"); + + /* otherwise fallback to seatbelt or even manual */ + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT_STANDBY; + } else { + mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position"); + new_navigation_state = NAVIGATION_STATE_MANUAL_STANDBY; + } + } } - } - } - /* - * Next up, check for - */ + break; + + /* evaluate the navigation state when armed */ + case ARMING_STATE_ARMED: + + /* Always accept manual mode */ + if (current_status->mode_switch == MODE_SWITCH_MANUAL) { + new_navigation_state = NAVIGATION_STATE_MANUAL; + + /* Accept SEATBELT if there is a local position estimate */ + } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT + && current_status->return_switch == RETURN_SWITCH_NONE) { + + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT; + } else { + /* or just fall back to manual */ + mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position"); + new_navigation_state = NAVIGATION_STATE_MANUAL; + } + + /* Accept SEATBELT_DESCENT if there is a local position estimate and the return switch is on */ + } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT + && current_status->return_switch == RETURN_SWITCH_RETURN) { + + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT_DESCENT; + } else { + /* descent not possible without baro information, fall back to manual */ + mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: no local position"); + new_navigation_state = NAVIGATION_STATE_MANUAL; + } + + /* Accept LOITER if there is a global position estimate */ + } else if (current_status->mode_switch == MODE_SWITCH_AUTO + && current_status->return_switch == RETURN_SWITCH_NONE + && current_status->mission_switch == MISSION_SWITCH_NONE) { + + if (current_status->flag_global_position_valid) { + new_navigation_state = NAVIGATION_STATE_AUTO_LOITER; + } else { + mavlink_log_critical(mavlink_fd, "Rej. LOITER: no global position"); + + /* otherwise fallback to SEATBELT or even manual */ + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT; + } else { + mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position"); + new_navigation_state = NAVIGATION_STATE_MANUAL; + } + } + + /* Accept MISSION if there is a global position estimate and home position */ + } else if (current_status->mode_switch == MODE_SWITCH_AUTO + && current_status->return_switch == RETURN_SWITCH_NONE + && current_status->mission_switch == MISSION_SWITCH_MISSION) { + + if (current_status->flag_global_position_valid && current_status->flag_valid_home_position) { + new_navigation_state = NAVIGATION_STATE_AUTO_MISSION; + } else { + + /* spit out what exactly is unavailable */ + if (current_status->flag_global_position_valid) { + mavlink_log_critical(mavlink_fd, "Rej. MISSION: no home position"); + } else if (current_status->flag_valid_home_position) { + mavlink_log_critical(mavlink_fd, "Rej. MISSION: no global position"); + } else { + mavlink_log_critical(mavlink_fd, "Rej. MISSION: no global position and no home position"); + } + + /* otherwise fallback to SEATBELT or even manual */ + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT; + } else { + mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position"); + new_navigation_state = NAVIGATION_STATE_MANUAL; + } + } + + /* Go to RTL or land if global position estimate and home position is available */ + } else if (current_status->mode_switch == MODE_SWITCH_AUTO + && current_status->return_switch == RETURN_SWITCH_RETURN + && (current_status->mission_switch == MISSION_SWITCH_NONE || current_status->mission_switch == MISSION_SWITCH_MISSION)) { + + if (current_status->flag_global_position_valid && current_status->flag_valid_home_position) { + + /* after RTL go to LAND */ + if (current_status->flag_system_returned_to_home) { + new_navigation_state = NAVIGATION_STATE_AUTO_LAND; + } else { + new_navigation_state = NAVIGATION_STATE_AUTO_RTL; + } + + } else { + + /* spit out what exactly is unavailable */ + if (current_status->flag_global_position_valid) { + mavlink_log_critical(mavlink_fd, "Rej. RTL/LAND: no home position"); + } else if (current_status->flag_valid_home_position) { + mavlink_log_critical(mavlink_fd, "Rej. RTL/LAND: no global position"); + } else { + mavlink_log_critical(mavlink_fd, "Rej. RTL/LAND: no global position and no home position"); + } + + /* otherwise fallback to SEATBELT_DESCENT or even MANUAL */ + if (current_status->flag_local_position_valid) { + new_navigation_state = NAVIGATION_STATE_SEATBELT_DESCENT; + } else { + mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position"); + new_navigation_state = NAVIGATION_STATE_MANUAL; + } + } + } + break; + + case ARMING_STATE_ARMED_ERROR: + + // TODO work out fail-safe scenarios + break; + + case ARMING_STATE_STANDBY_ERROR: + + // TODO work out fail-safe scenarios + break; + + case ARMING_STATE_REBOOT: + + // XXX I don't think we should end up here + break; + + case ARMING_STATE_IN_AIR_RESTORE: + + // XXX not sure what to do here + break; + default: + break; + } /* Update the system state in case it has changed */ - if (current_status->system_state != new_system_state) { + if (current_status->navigation_state != new_navigation_state) { /* Check if the transition is valid */ - if (system_state_update(current_status->system_state, new_system_state) == OK) { - current_status->system_state = new_system_state; + if (check_navigation_state_transition(current_status->navigation_state, new_navigation_state) == OK) { + current_status->navigation_state = new_navigation_state; state_machine_publish(status_pub, current_status, mavlink_fd); } else { mavlink_log_critical(mavlink_fd, "System state transition not valid"); @@ -123,74 +258,164 @@ void state_machine_update(int status_pub, struct vehicle_status_s *current_statu * This functions does not evaluate any input flags but only checks if the transitions * are valid. */ -int system_state_update(system_state_t current_system_state, system_state_t new_system_state) { +int check_navigation_state_transition(navigation_state_t current_navigation_state, navigation_state_t new_navigation_state) { int ret = ERROR; /* only check transition if the new state is actually different from the current one */ - if (new_system_state != current_system_state) { + if (new_navigation_state != current_navigation_state) { - switch (new_system_state) { - case SYSTEM_STATE_INIT: + switch (new_navigation_state) { + case NAVIGATION_STATE_INIT: /* transitions back to INIT are possible for calibration */ - if (current_system_state == SYSTEM_STATE_MANUAL - || current_system_state == SYSTEM_STATE_SEATBELT - || current_system_state == SYSTEM_STATE_AUTO) { + if (current_navigation_state == NAVIGATION_STATE_MANUAL_STANDBY + || current_navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY + || current_navigation_state == NAVIGATION_STATE_AUTO_STANDBY) { + + ret = OK; + } + break; + + case NAVIGATION_STATE_MANUAL_STANDBY: + + /* transitions from INIT and other STANDBY states as well as MANUAL are possible */ + if (current_navigation_state == NAVIGATION_STATE_INIT + || current_navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY + || current_navigation_state == NAVIGATION_STATE_AUTO_STANDBY + || current_navigation_state == NAVIGATION_STATE_MANUAL) { ret = OK; } + break; + case NAVIGATION_STATE_MANUAL: + + /* all transitions possible */ + ret = OK; break; - case SYSTEM_STATE_MANUAL: + case NAVIGATION_STATE_SEATBELT_STANDBY: - /* transitions from INIT or from other modes */ - if (current_system_state == SYSTEM_STATE_INIT - || current_system_state == SYSTEM_STATE_SEATBELT - || current_system_state == SYSTEM_STATE_AUTO) { + /* transitions from INIT and other STANDBY states as well as SEATBELT and SEATBELT_DESCENT are possible */ + if (current_navigation_state == NAVIGATION_STATE_INIT + || current_navigation_state == NAVIGATION_STATE_MANUAL_STANDBY + || current_navigation_state == NAVIGATION_STATE_AUTO_STANDBY + || current_navigation_state == NAVIGATION_STATE_SEATBELT + || current_navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT) { ret = OK; } + break; + + case NAVIGATION_STATE_SEATBELT: + + /* transitions from all AUTO modes except AUTO_STANDBY and except MANUAL_STANDBY and INIT*/ + if (current_navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY + || current_navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT + || current_navigation_state == NAVIGATION_STATE_MANUAL + || current_navigation_state == NAVIGATION_STATE_AUTO_LAND + || current_navigation_state == NAVIGATION_STATE_AUTO_LOITER + || current_navigation_state == NAVIGATION_STATE_AUTO_MISSION + || current_navigation_state == NAVIGATION_STATE_AUTO_READY + || current_navigation_state == NAVIGATION_STATE_AUTO_RTL + || current_navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { + ret = OK; + } break; - case SYSTEM_STATE_SEATBELT: + case NAVIGATION_STATE_SEATBELT_DESCENT: - /* transitions from INIT or from other modes */ - if (current_system_state == SYSTEM_STATE_INIT - || current_system_state == SYSTEM_STATE_MANUAL - || current_system_state == SYSTEM_STATE_AUTO) { + /* transitions from all AUTO modes except AUTO_STANDBY and except MANUAL_STANDBY and INIT and SEATBELT_STANDBY */ + if (current_navigation_state == NAVIGATION_STATE_SEATBELT + || current_navigation_state == NAVIGATION_STATE_MANUAL + || current_navigation_state == NAVIGATION_STATE_AUTO_LAND + || current_navigation_state == NAVIGATION_STATE_AUTO_LOITER + || current_navigation_state == NAVIGATION_STATE_AUTO_MISSION + || current_navigation_state == NAVIGATION_STATE_AUTO_READY + || current_navigation_state == NAVIGATION_STATE_AUTO_RTL + || current_navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { ret = OK; } + break; + + case NAVIGATION_STATE_AUTO_STANDBY: + /* transitions from INIT or from other STANDBY modes or from AUTO READY */ + if (current_navigation_state == NAVIGATION_STATE_INIT + || current_navigation_state == NAVIGATION_STATE_MANUAL_STANDBY + || current_navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY + || current_navigation_state == NAVIGATION_STATE_AUTO_READY) { + + ret = OK; + } break; - case SYSTEM_STATE_AUTO: + case NAVIGATION_STATE_AUTO_READY: - /* transitions from INIT or from other modes */ - if (current_system_state == SYSTEM_STATE_INIT - || current_system_state == SYSTEM_STATE_MANUAL - || current_system_state == SYSTEM_STATE_SEATBELT) { + /* transitions from AUTO_STANDBY or AUTO_LAND */ + if (current_navigation_state == NAVIGATION_STATE_AUTO_STANDBY + || current_navigation_state == NAVIGATION_STATE_AUTO_LAND) { ret = OK; } break; - case SYSTEM_STATE_REBOOT: + case NAVIGATION_STATE_AUTO_TAKEOFF: - /* from INIT you can go straight to REBOOT */ - if (current_system_state == SYSTEM_STATE_INIT) { + /* only transitions from AUTO_READY */ + if (current_navigation_state == NAVIGATION_STATE_AUTO_READY) { ret = OK; } break; - case SYSTEM_STATE_IN_AIR_RESTORE: + case NAVIGATION_STATE_AUTO_LOITER: + + /* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */ + if (current_navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF + || current_navigation_state == NAVIGATION_STATE_AUTO_MISSION + || current_navigation_state == NAVIGATION_STATE_AUTO_RTL + || current_navigation_state == NAVIGATION_STATE_SEATBELT + || current_navigation_state == NAVIGATION_STATE_MANUAL) { + + ret = OK; + } + break; + + case NAVIGATION_STATE_AUTO_MISSION: + + /* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */ + if (current_navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF + || current_navigation_state == NAVIGATION_STATE_AUTO_LOITER + || current_navigation_state == NAVIGATION_STATE_AUTO_RTL + || current_navigation_state == NAVIGATION_STATE_SEATBELT + || current_navigation_state == NAVIGATION_STATE_MANUAL) { + + ret = OK; + } + break; + + case NAVIGATION_STATE_AUTO_RTL: + + /* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */ + if (current_navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF + || current_navigation_state == NAVIGATION_STATE_AUTO_MISSION + || current_navigation_state == NAVIGATION_STATE_AUTO_LOITER + || current_navigation_state == NAVIGATION_STATE_SEATBELT + || current_navigation_state == NAVIGATION_STATE_MANUAL) { + + ret = OK; + } + break; - /* from INIT you can go straight to an IN AIR RESTORE */ - if (current_system_state == SYSTEM_STATE_INIT) { + case NAVIGATION_STATE_AUTO_LAND: + /* after AUTO_RTL or when in AUTO_LOITER or AUTO_MISSION */ + if (current_navigation_state == NAVIGATION_STATE_AUTO_RTL + || current_navigation_state == NAVIGATION_STATE_AUTO_MISSION + || current_navigation_state == NAVIGATION_STATE_AUTO_LOITER) { ret = OK; } |