diff options
Diffstat (limited to 'src/modules/commander/commander.c')
-rw-r--r-- | src/modules/commander/commander.c | 1429 |
1 files changed, 829 insertions, 600 deletions
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 937c515e6..edcdf7e54 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -60,13 +60,9 @@ #include <debug.h> #include <sys/prctl.h> #include <string.h> -#include <drivers/drv_led.h> -#include <drivers/drv_hrt.h> -#include <drivers/drv_tone_alarm.h> -#include "state_machine_helper.h" -#include "systemlib/systemlib.h" #include <math.h> #include <poll.h> + #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/battery_status.h> @@ -77,18 +73,27 @@ #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_safety.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/differential_pressure.h> #include <uORB/topics/safety.h> #include <mavlink/mavlink_log.h> +#include <drivers/drv_led.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_tone_alarm.h> + +#include <mavlink/mavlink_log.h> #include <systemlib/param/param.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> +#include <systemlib/cpuload.h> + +#include "state_machine_helper.h" -/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */ #include <drivers/drv_accel.h> #include <drivers/drv_gyro.h> #include <drivers/drv_mag.h> @@ -103,7 +108,7 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); -#include <systemlib/cpuload.h> + extern struct system_load_s system_load; /* Decouple update interval and hysteris counters, all depends on intervals */ @@ -122,25 +127,39 @@ extern struct system_load_s system_load; #define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 #define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) +#define LOCAL_POSITION_TIMEOUT 1000000 /**< consider the local position estimate invalid after 1s */ + /* File descriptors */ static int leds; static int buzzer; static int mavlink_fd; -static bool commander_initialized = false; -static struct vehicle_status_s current_status; /**< Main state machine */ -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; +/* flags */ +static bool commander_initialized = false; static bool thread_should_exit = false; /**< daemon exit flag */ static bool thread_running = false; /**< daemon status flag */ static int daemon_task; /**< Handle of daemon task / thread */ +/* timout until lowlevel failsafe */ +static unsigned int failsafe_lowlevel_timeout_ms; + +/* tasks waiting for low prio thread */ +enum { + LOW_PRIO_TASK_NONE = 0, + LOW_PRIO_TASK_PARAM_SAVE, + LOW_PRIO_TASK_PARAM_LOAD, + LOW_PRIO_TASK_GYRO_CALIBRATION, + LOW_PRIO_TASK_MAG_CALIBRATION, + LOW_PRIO_TASK_ALTITUDE_CALIBRATION, + LOW_PRIO_TASK_RC_CALIBRATION, + LOW_PRIO_TASK_ACCEL_CALIBRATION, + LOW_PRIO_TASK_AIRSPEED_CALIBRATION +} low_prio_task; + + /* pthread loops */ -static void *orb_receive_loop(void *arg); +void *orb_receive_loop(void *arg); +void *commander_low_prio_loop(void *arg); __EXPORT int commander_main(int argc, char *argv[]); @@ -149,17 +168,25 @@ __EXPORT int commander_main(int argc, char *argv[]); */ int commander_thread_main(int argc, char *argv[]); -static int buzzer_init(void); -static void buzzer_deinit(void); -static int led_init(void); -static void led_deinit(void); -static int led_toggle(int led); -static int led_on(int led); -static int led_off(int led); -static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); -static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); -static void do_rc_calibration(int status_pub, struct vehicle_status_s *status); -static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd); +int buzzer_init(void); +void buzzer_deinit(void); +int led_init(void); +void led_deinit(void); +int led_toggle(int led); +int led_on(int led); +int led_off(int led); +void tune_error(void); +void tune_positive(void); +void tune_neutral(void); +void tune_negative(void); +void do_reboot(void); +void do_gyro_calibration(void); +void do_mag_calibration(void); +void do_rc_calibration(void); +void do_airspeed_calibration(void); + + +void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety); int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); @@ -168,7 +195,7 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u /** * Print the correct usage. */ -static void usage(const char *reason); +void usage(const char *reason); /** * Sort calibration values. @@ -180,7 +207,7 @@ static void usage(const char *reason); */ // static void cal_bsort(float a[], int n); -static int buzzer_init() +int buzzer_init() { buzzer = open("/dev/tone_alarm", O_WRONLY); @@ -192,13 +219,13 @@ static int buzzer_init() return 0; } -static void buzzer_deinit() +void buzzer_deinit() { close(buzzer); } -static int led_init() +int led_init() { leds = open(LED_DEVICE_PATH, 0); @@ -215,12 +242,12 @@ static int led_init() return 0; } -static void led_deinit() +void led_deinit() { close(leds); } -static int led_toggle(int led) +int led_toggle(int led) { static int last_blue = LED_ON; static int last_amber = LED_ON; @@ -232,68 +259,61 @@ static int led_toggle(int led) return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); } -static int led_on(int led) +int led_on(int led) { return ioctl(leds, LED_ON, led); } -static int led_off(int led) +int led_off(int led) { return ioctl(leds, LED_OFF, led); } -enum AUDIO_PATTERN { - AUDIO_PATTERN_ERROR = 2, - AUDIO_PATTERN_NOTIFY_POSITIVE = 3, - AUDIO_PATTERN_NOTIFY_NEUTRAL = 4, - AUDIO_PATTERN_NOTIFY_NEGATIVE = 5, - AUDIO_PATTERN_NOTIFY_CHARGE = 6 -}; -int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) +void tune_error() { - - /* Trigger alarm if going into any error state */ - if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) || - ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR); - } - - /* Trigger neutral on arming / disarming */ - if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL); - } - - /* Trigger Tetris on being bored */ - - return 0; + ioctl(buzzer, TONE_SET_ALARM, 2); } -void tune_confirm(void) +void tune_positive() { ioctl(buzzer, TONE_SET_ALARM, 3); } -void tune_error(void) +void tune_neutral() { ioctl(buzzer, TONE_SET_ALARM, 4); } -void do_rc_calibration(int status_pub, struct vehicle_status_s *status) +void tune_negative() { - if (current_status.offboard_control_signal_lost) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); - return; - } + ioctl(buzzer, TONE_SET_ALARM, 5); +} + +void do_reboot() +{ + mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); + usleep(500000); + up_systemreset(); + /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ +} + + +void do_rc_calibration() +{ + mavlink_log_info(mavlink_fd, "trim calibration starting"); + + /* XXX fix this */ + // if (current_status.offboard_control_signal_lost) { + // mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); + // return; + // } int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); struct manual_control_setpoint_s sp; orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); /* set parameters */ - float p = sp.roll; param_set(param_find("TRIM_ROLL"), &p); p = sp.pitch; @@ -302,22 +322,21 @@ void do_rc_calibration(int status_pub, struct vehicle_status_s *status) param_set(param_find("TRIM_YAW"), &p); /* store to permanent storage */ - /* auto-save to EEPROM */ + /* auto-save */ int save_ret = param_save_default(); if (save_ret != 0) { mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); } + tune_positive(); + mavlink_log_info(mavlink_fd, "trim calibration done"); } -void do_mag_calibration(int status_pub, struct vehicle_status_s *status) +void do_mag_calibration() { - - /* set to mag calibration mode */ - status->flag_preflight_mag_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); + mavlink_log_info(mavlink_fd, "mag calibration starting, hold still"); int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); struct mag_report mag; @@ -332,15 +351,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) /* limit update rate to get equally spaced measurements over time (in ms) */ orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); - // XXX old cal - // * FLT_MIN is not the most negative float number, - // * but the smallest number by magnitude float can - // * represent. Use -FLT_MAX to initialize the most - // * negative number - - // float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; - // float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; - int fd = open(MAG_DEVICE_PATH, O_RDONLY); /* erase old calibration */ @@ -386,10 +396,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) return; } - tune_confirm(); - sleep(2); - tune_confirm(); - while (hrt_absolute_time() < calibration_deadline && calibration_counter < calibration_maxcount) { @@ -403,9 +409,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) axis_index++; char buf[50]; - sprintf(buf, "Please rotate around %c", axislabels[axis_index]); + sprintf(buf, "please rotate around %c", axislabels[axis_index]); mavlink_log_info(mavlink_fd, buf); - tune_confirm(); + tune_neutral(); axis_deadline += calibration_interval / 3; } @@ -541,28 +547,19 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) mavlink_log_info(mavlink_fd, "mag calibration done"); - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); + tune_positive(); /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); } - /* disable calibration mode */ - status->flag_preflight_mag_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - close(sub_mag); } -void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) +void do_gyro_calibration() { - /* set to gyro calibration mode */ - status->flag_preflight_gyro_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); + mavlink_log_info(mavlink_fd, "gyro calibration starting, hold still"); const int calibration_count = 5000; @@ -613,10 +610,6 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) gyro_offset[1] = gyro_offset[1] / calibration_count; gyro_offset[2] = gyro_offset[2] / calibration_count; - /* exit gyro calibration mode */ - status->flag_preflight_gyro_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) @@ -653,10 +646,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) // mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "gyro calibration done"); - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); + tune_positive(); /* third beep by cal end routine */ } else { @@ -666,14 +656,11 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) close(sub_sensor_combined); } -void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* announce change */ - mavlink_log_info(mavlink_fd, "keep it still"); - /* set to accel calibration mode */ - status->flag_preflight_airspeed_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); +void do_airspeed_calibration() +{ + /* give directions */ + mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still"); const int calibration_count = 2500; @@ -722,340 +709,277 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) //mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "airspeed calibration done"); - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ + tune_positive(); } else { mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); } - /* exit airspeed calibration mode */ - status->flag_preflight_airspeed_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - close(diff_pres_sub); } - - -void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd) +void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety) { /* result of the command */ uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - /* announce command handling */ - tune_confirm(); - - - /* supported command handling start */ - /* request to set different system mode */ switch (cmd->command) { - case VEHICLE_CMD_DO_SET_MODE: { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; + case VEHICLE_CMD_DO_SET_MODE: - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } - break; + /* request to activate HIL */ + if ((int)cmd->param1 & VEHICLE_MODE_FLAG_HIL_ENABLED) { - case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - /* request to arm */ - if ((int)cmd->param1 == 1) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + if (OK == hil_state_transition(status_pub, current_vehicle_status, mavlink_fd, HIL_STATE_ON)) { result = VEHICLE_CMD_RESULT_ACCEPTED; - } else { result = VEHICLE_CMD_RESULT_DENIED; } + } - /* request to disarm */ - - } else if ((int)cmd->param1 == 0) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + if ((int)cmd->param1 & VEHICLE_MODE_FLAG_SAFETY_ARMED) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; - } else { result = VEHICLE_CMD_RESULT_DENIED; } - } - } - break; - - /* request for an autopilot reboot */ - case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { - if ((int)cmd->param1 == 1) { - if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) { - /* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */ + } else { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; - } else { - /* system may return here */ result = VEHICLE_CMD_RESULT_DENIED; } } - } - break; -// /* request to land */ -// case VEHICLE_CMD_NAV_LAND: -// { -// //TODO: add check if landing possible -// //TODO: add landing maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } } -// break; -// -// /* request to takeoff */ -// case VEHICLE_CMD_NAV_TAKEOFF: -// { -// //TODO: add check if takeoff possible -// //TODO: add takeoff maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } -// } -// break; -// - /* preflight calibration */ - case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { - bool handled = false; + break; - /* gyro calibration */ - if ((int)(cmd->param1) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting gyro cal"); - tune_confirm(); - do_gyro_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished gyro cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; + case VEHICLE_CMD_COMPONENT_ARM_DISARM: + /* request to arm */ + if ((int)cmd->param1 == 1) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_critical(mavlink_fd, "REJECTING gyro cal"); result = VEHICLE_CMD_RESULT_DENIED; } - - handled = true; - } - - /* magnetometer calibration */ - if ((int)(cmd->param2) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting mag cal"); - tune_confirm(); - do_mag_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished mag cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + /* request to disarm */ + } else if ((int)cmd->param1 == 0) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; - } else { - mavlink_log_critical(mavlink_fd, "REJECTING mag cal"); result = VEHICLE_CMD_RESULT_DENIED; } - - handled = true; } - /* zero-altitude pressure calibration */ - if ((int)(cmd->param3) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + break; - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented"); - tune_confirm(); + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { - } else { - mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration"); - result = VEHICLE_CMD_RESULT_DENIED; - } + /* request for an autopilot reboot */ + if ((int)cmd->param1 == 1) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, safety_pub, safety, mavlink_fd)) { + /* reboot is executed later, after positive tune is sent */ + result = VEHICLE_CMD_RESULT_ACCEPTED; + tune_positive(); + /* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */ + do_reboot(); - handled = true; + } else { + /* system may return here */ + result = VEHICLE_CMD_RESULT_DENIED; + tune_negative(); + } + } } + break; - /* trim calibration */ - if ((int)(cmd->param4) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting trim cal"); - tune_confirm(); - do_rc_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished trim cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING trim cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } + // /* request to land */ + // case VEHICLE_CMD_NAV_LAND: + // { + // //TODO: add check if landing possible + // //TODO: add landing maneuver + // + // if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) { + // result = VEHICLE_CMD_RESULT_ACCEPTED; + // } } + // break; + // + // /* request to takeoff */ + // case VEHICLE_CMD_NAV_TAKEOFF: + // { + // //TODO: add check if takeoff possible + // //TODO: add takeoff maneuver + // + // if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) { + // result = VEHICLE_CMD_RESULT_ACCEPTED; + // } + // } + // break; + // + /* preflight calibration */ + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: - handled = true; - } + /* gyro calibration */ + if ((int)(cmd->param1) == 1) { - /* accel calibration */ - if ((int)(cmd->param5) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting accel cal"); - tune_confirm(); - do_accel_calibration(status_pub, ¤t_status, mavlink_fd); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished accel cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; + /* check if no other task is scheduled */ + if(low_prio_task == LOW_PRIO_TASK_NONE) { + /* try to go to INIT/PREFLIGHT arming state */ + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + /* now set the task for the low prio thread */ + low_prio_task = LOW_PRIO_TASK_GYRO_CALIBRATION; + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } } else { - mavlink_log_critical(mavlink_fd, "REJECTING accel cal"); - result = VEHICLE_CMD_RESULT_DENIED; + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } - - handled = true; } - /* airspeed calibration */ - if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting airspeed cal"); - tune_confirm(); - do_airspeed_calibration(status_pub, ¤t_status); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished airspeed cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; + /* magnetometer calibration */ + if ((int)(cmd->param2) == 1) { + /* check if no other task is scheduled */ + if(low_prio_task == LOW_PRIO_TASK_NONE) { + + /* try to go to INIT/PREFLIGHT arming state */ + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + /* now set the task for the low prio thread */ + low_prio_task = LOW_PRIO_TASK_MAG_CALIBRATION; + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } } else { - mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal"); - result = VEHICLE_CMD_RESULT_DENIED; + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } - - handled = true; } - /* none found */ - if (!handled) { - //warnx("refusing unsupported calibration request\n"); - mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } - } - break; - case VEHICLE_CMD_PREFLIGHT_STORAGE: { - if (current_status.flag_system_armed && - ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) { - /* do not perform expensive memory tasks on multirotors in flight */ - // XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed - mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed"); + // /* zero-altitude pressure calibration */ + // if ((int)(cmd->param3) == 1) { - } else { + // /* check if no other task is scheduled */ + // if(low_prio_task == LOW_PRIO_TASK_NONE) { - // XXX move this to LOW PRIO THREAD of commander app - /* Read all parameters from EEPROM to RAM */ + // /* try to go to INIT/PREFLIGHT arming state */ + // if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + // result = VEHICLE_CMD_RESULT_ACCEPTED; + // /* now set the task for the low prio thread */ + // low_prio_task = LOW_PRIO_TASK_ALTITUDE_CALIBRATION; + // } else { + // result = VEHICLE_CMD_RESULT_DENIED; + // } + // } else { + // result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + // } + // } - if (((int)(cmd->param1)) == 0) { - /* read all parameters from EEPROM to RAM */ - int read_ret = param_load_default(); - if (read_ret == OK) { - //warnx("[mavlink pm] Loaded EEPROM params in RAM\n"); - mavlink_log_info(mavlink_fd, "OK loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; + // /* trim calibration */ + // if ((int)(cmd->param4) == 1) { - } else if (read_ret == 1) { - mavlink_log_info(mavlink_fd, "OK no changes in"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; + // /* check if no other task is scheduled */ + // if(low_prio_task == LOW_PRIO_TASK_NONE) { - } else { - if (read_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); + // /* try to go to INIT/PREFLIGHT arming state */ + // if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + // result = VEHICLE_CMD_RESULT_ACCEPTED; + // /* now set the task for the low prio thread */ + // low_prio_task = LOW_PRIO_TASK_RC_CALIBRATION; + // } else { + // result = VEHICLE_CMD_RESULT_DENIED; + // } + // } else { + // result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + // } + // } - } else { - mavlink_log_info(mavlink_fd, "ERR no param file named"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } - result = VEHICLE_CMD_RESULT_FAILED; + /* accel calibration */ + if ((int)(cmd->param5) == 1) { + + /* check if no other task is scheduled */ + if(low_prio_task == LOW_PRIO_TASK_NONE) { + + /* try to go to INIT/PREFLIGHT arming state */ + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + /* now set the task for the low prio thread */ + low_prio_task = LOW_PRIO_TASK_ACCEL_CALIBRATION; + } else { + result = VEHICLE_CMD_RESULT_DENIED; } + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + } - } else if (((int)(cmd->param1)) == 1) { + /* airspeed calibration */ + if ((int)(cmd->param6) == 1) { - /* write all parameters from RAM to EEPROM */ - int write_ret = param_save_default(); + /* check if no other task is scheduled */ + if(low_prio_task == LOW_PRIO_TASK_NONE) { - if (write_ret == OK) { - mavlink_log_info(mavlink_fd, "OK saved param file"); - mavlink_log_info(mavlink_fd, param_get_default_file()); + /* try to go to INIT/PREFLIGHT arming state */ + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; - + /* now set the task for the low prio thread */ + low_prio_task = LOW_PRIO_TASK_AIRSPEED_CALIBRATION; } else { - if (write_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR params file does not exit:"); - mavlink_log_info(mavlink_fd, param_get_default_file()); + result = VEHICLE_CMD_RESULT_DENIED; + } + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + } + break; - } else { - mavlink_log_info(mavlink_fd, "ERR writing params to"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } + case VEHICLE_CMD_PREFLIGHT_STORAGE: - result = VEHICLE_CMD_RESULT_FAILED; - } + if (((int)(cmd->param1)) == 0) { + + /* check if no other task is scheduled */ + if(low_prio_task == LOW_PRIO_TASK_NONE) { + low_prio_task = LOW_PRIO_TASK_PARAM_LOAD; + result = VEHICLE_CMD_RESULT_ACCEPTED; + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + + } else if (((int)(cmd->param1)) == 1) { + /* check if no other task is scheduled */ + if(low_prio_task == LOW_PRIO_TASK_NONE) { + low_prio_task = LOW_PRIO_TASK_PARAM_SAVE; + result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } - } break; - default: { - mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - /* announce command rejection */ - ioctl(buzzer, TONE_SET_ALARM, 4); - } + default: + mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command"); + result = VEHICLE_CMD_RESULT_UNSUPPORTED; break; } /* supported command handling stop */ if (result == VEHICLE_CMD_RESULT_FAILED || result == VEHICLE_CMD_RESULT_DENIED || - result == VEHICLE_CMD_RESULT_UNSUPPORTED) { - ioctl(buzzer, TONE_SET_ALARM, 5); + result == VEHICLE_CMD_RESULT_UNSUPPORTED || + result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { + + tune_negative(); } else if (result == VEHICLE_CMD_RESULT_ACCEPTED) { - tune_confirm(); + + tune_positive(); } /* send any requested ACKs */ @@ -1066,7 +990,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta } -static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal +void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal { /* Set thread name */ prctl(PR_SET_NAME, "commander orb rcv", getpid()); @@ -1169,8 +1093,7 @@ float battery_remaining_estimate_voltage(float voltage) return ret; } -static void -usage(const char *reason) +void usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); @@ -1245,62 +1168,100 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_component_id = param_find("MAV_COMP_ID"); /* welcome user */ - warnx("I am in command now!\n"); + warnx("[commander] starting"); /* pthreads for command and subsystem info handling */ // pthread_t command_handling_thread; pthread_t subsystem_info_thread; + pthread_t commander_low_prio_thread; /* initialize */ if (led_init() != 0) { - warnx("ERROR: Failed to initialize leds\n"); + warnx("ERROR: Failed to initialize leds"); } if (buzzer_init() != 0) { - warnx("ERROR: Failed to initialize buzzer\n"); + warnx("ERROR: Failed to initialize buzzer"); } mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); + warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first."); } - + + /* Main state machine */ + struct vehicle_status_s current_status; + orb_advert_t status_pub; /* make sure we are in preflight state */ memset(¤t_status, 0, sizeof(current_status)); - current_status.state_machine = SYSTEM_STATE_PREFLIGHT; - current_status.flag_system_armed = false; + + /* safety topic */ + struct actuator_safety_s safety; + orb_advert_t safety_pub; + /* Initialize safety with all false */ + memset(&safety, 0, sizeof(safety)); + + + /* flags for control apps */ + struct vehicle_control_mode_s control_mode; + orb_advert_t control_mode_pub; + + /* Initialize all flags to false */ + memset(&control_mode, 0, sizeof(control_mode)); + + current_status.navigation_state = NAVIGATION_STATE_INIT; + current_status.arming_state = ARMING_STATE_INIT; + current_status.hil_state = HIL_STATE_OFF; + /* neither manual nor offboard control commands have been received */ current_status.offboard_control_signal_found_once = false; current_status.rc_signal_found_once = false; + /* mark all signals lost as long as they haven't been found */ current_status.rc_signal_lost = true; current_status.offboard_control_signal_lost = true; + /* allow manual override initially */ current_status.flag_external_manual_override_ok = true; + /* flag position info as bad, do not allow auto mode */ - current_status.flag_vector_flight_mode_ok = false; + // current_status.flag_vector_flight_mode_ok = false; + /* set battery warning flag */ current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; /* set safety device detection flag */ - current_status.flag_safety_present = false; + + /* XXX do we need this? */ + //current_status.flag_safety_present = false; + + // XXX for now just set sensors as initialized + current_status.condition_system_sensors_initialized = true; + + // XXX just disable offboard control for now + control_mode.flag_control_offboard_enabled = false; /* advertise to ORB */ - stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); + status_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); /* publish current state machine */ - state_machine_publish(stat_pub, ¤t_status, mavlink_fd); + state_machine_publish(status_pub, ¤t_status, mavlink_fd); + + safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety); + + 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; memset(&home, 0, sizeof(home)); - if (stat_pub < 0) { + if (status_pub < 0) { warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); warnx("exiting."); exit(ERROR); } + // XXX needed? mavlink_log_info(mavlink_fd, "system is running"); /* create pthreads */ @@ -1309,9 +1270,18 @@ int commander_thread_main(int argc, char *argv[]) pthread_attr_setstacksize(&subsystem_info_attr, 2048); pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, ¤t_status); + pthread_attr_t commander_low_prio_attr; + pthread_attr_init(&commander_low_prio_attr); + pthread_attr_setstacksize(&commander_low_prio_attr, 2048); + + struct sched_param param; + /* low priority */ + param.sched_priority = SCHED_PRIORITY_DEFAULT - 50; + (void)pthread_attr_setschedparam(&commander_low_prio_attr, ¶m); + pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL); + /* Start monitoring loop */ uint16_t counter = 0; - uint8_t flight_env; /* Initialize to 0.0V */ float battery_voltage = 0.0f; @@ -1320,12 +1290,14 @@ int commander_thread_main(int argc, char *argv[]) bool critical_battery_voltage_actions_done = false; uint8_t low_voltage_counter = 0; uint16_t critical_voltage_counter = 0; - int16_t mode_switch_rc_value; float bat_remain = 1.0f; uint16_t stick_off_counter = 0; uint16_t stick_on_counter = 0; + /* XXX what exactly is this for? */ + uint64_t last_print_time = 0; + /* Subscribe to manual control data */ int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); struct manual_control_setpoint_s sp_man; @@ -1336,11 +1308,13 @@ int commander_thread_main(int argc, char *argv[]) struct offboard_control_setpoint_s sp_offboard; memset(&sp_offboard, 0, sizeof(sp_offboard)); + /* Subscribe to global position */ int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); struct vehicle_global_position_s global_position; memset(&global_position, 0, sizeof(global_position)); uint64_t last_global_position_time = 0; + /* Subscribe to local position data */ int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); struct vehicle_local_position_s local_position; memset(&local_position, 0, sizeof(local_position)); @@ -1351,10 +1325,13 @@ int commander_thread_main(int argc, char *argv[]) * position estimator and commander. RAW GPS is more than good enough for a * non-flying vehicle. */ + + /* Subscribe to GPS topic */ int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); struct vehicle_gps_position_s gps_position; memset(&gps_position, 0, sizeof(gps_position)); + /* Subscribe to sensor topic */ int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); struct sensor_combined_s sensors; memset(&sensors, 0, sizeof(sensors)); @@ -1380,12 +1357,6 @@ int commander_thread_main(int argc, char *argv[]) memset(&battery, 0, sizeof(battery)); battery.voltage_v = 0.0f; - /* subscribe to safety topic */ - int safety_sub = orb_subscribe(ORB_ID(safety)); - struct safety_s safety; - memset(&safety, 0, sizeof(safety)); - safety.status = SAFETY_STATUS_NOT_PRESENT; - // uint8_t vehicle_state_previous = current_status.state_machine; float voltage_previous = 0.0f; @@ -1396,7 +1367,9 @@ int commander_thread_main(int argc, char *argv[]) thread_running = true; uint64_t start_time = hrt_absolute_time(); - uint64_t failsave_ll_start_time = 0; + + /* XXX use this! */ + //uint64_t failsave_ll_start_time = 0; bool state_changed = true; bool param_init_forced = true; @@ -1416,7 +1389,7 @@ int commander_thread_main(int argc, char *argv[]) /* update parameters */ - if (!current_status.flag_system_armed) { + if (!safety.armed) { if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { warnx("failed setting new system type"); } @@ -1470,20 +1443,38 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - handle_command(stat_pub, ¤t_status, &cmd); + handle_command(status_pub, ¤t_status, &cmd, safety_pub, &safety); } + - orb_check(safety_sub, &new_data); + /* update parameters */ + orb_check(param_changed_sub, &new_data); - if (new_data) { - /* got safety change */ - orb_copy(ORB_ID(safety), safety_sub, &safety); + if (new_data || param_init_forced) { + param_init_forced = false; + /* parameters changed */ + orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); - /* handle it */ - current_status.flag_safety_present = (safety.status != SAFETY_STATUS_NOT_PRESENT); - - if (current_status.flag_safety_present) - current_status.flag_safety_safe = (safety.status == SAFETY_STATUS_SAFE); + /* update parameters */ + if (!safety.armed) { + if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { + warnx("failed setting new system type"); + } + + /* disable manual override for all systems that rely on electronic stabilization */ + if (current_status.system_type == VEHICLE_TYPE_QUADROTOR || + current_status.system_type == VEHICLE_TYPE_HEXAROTOR || + current_status.system_type == VEHICLE_TYPE_OCTOROTOR) { + current_status.flag_external_manual_override_ok = false; + + } else { + current_status.flag_external_manual_override_ok = true; + } + + /* check and update system / component ID */ + param_get(_param_system_id, &(current_status.system_id)); + param_get(_param_component_id, &(current_status.component_id)); + } } /* update global position estimate */ @@ -1504,6 +1495,13 @@ int commander_thread_main(int argc, char *argv[]) last_local_position_time = local_position.timestamp; } + /* set the condition to valid if there has recently been a local position estimate */ + if (hrt_absolute_time() - last_local_position_time < LOCAL_POSITION_TIMEOUT) { + current_status.condition_local_position_valid = true; + } else { + current_status.condition_local_position_valid = false; + } + /* update battery status */ orb_check(battery_sub, &new_data); if (new_data) { @@ -1522,10 +1520,11 @@ int commander_thread_main(int argc, char *argv[]) /* Slow but important 8 Hz checks */ if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) { - /* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */ - if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || + + /* XXX if armed */ + if ((false /*current_status.state_machine == SYSTEM_STATE_GROUND_READY || current_status.state_machine == SYSTEM_STATE_AUTO || - current_status.state_machine == SYSTEM_STATE_MANUAL)) { + current_status.state_machine == SYSTEM_STATE_MANUAL*/)) { /* armed, solid */ led_on(LED_AMBER); @@ -1560,26 +1559,18 @@ int commander_thread_main(int argc, char *argv[]) } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { /* toggle arming (red) at 5 Hz on low battery or error */ led_toggle(LED_AMBER); - - } else { - // /* Constant error indication in standby mode without GPS */ - // if (!current_status.gps_valid) { - // led_on(LED_AMBER); - - // } else { - // led_off(LED_AMBER); - // } } - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* compute system load */ - uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; + } - if (last_idle_time > 0) - current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* compute system load */ + uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; - last_idle_time = system_load.tasks[0].total_runtime; - } + if (last_idle_time > 0) + current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle + + last_idle_time = system_load.tasks[0].total_runtime; } // // XXX Export patterns and threshold to parameters @@ -1595,7 +1586,7 @@ int commander_thread_main(int argc, char *argv[]) } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { /* For less than 20%, start be slightly annoying at 1 Hz */ ioctl(buzzer, TONE_SET_ALARM, 0); - tune_confirm(); + tune_positive(); } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { ioctl(buzzer, TONE_SET_ALARM, 0); @@ -1622,13 +1613,14 @@ int commander_thread_main(int argc, char *argv[]) low_voltage_counter++; } - /* Critical, this is rather an emergency, kill signal to sdlog and change state machine */ + /* Critical, this is rather an emergency, change state machine */ else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { critical_battery_voltage_actions_done = true; mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!"); current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; - state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); + // XXX implement this + // state_machine_emergency(status_pub, ¤t_status, mavlink_fd); } critical_voltage_counter++; @@ -1640,6 +1632,14 @@ int commander_thread_main(int argc, char *argv[]) /* End battery voltage check */ + /* If in INIT state, try to proceed to STANDBY state */ + if (current_status.arming_state == ARMING_STATE_INIT) { + // XXX check for sensors + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd); + } else { + // XXX: Add emergency stuff if sensors are lost + } + /* * Check for valid position information. @@ -1651,53 +1651,53 @@ int commander_thread_main(int argc, char *argv[]) */ /* store current state to reason later about a state change */ - bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; - bool global_pos_valid = current_status.flag_global_position_valid; - bool local_pos_valid = current_status.flag_local_position_valid; - bool airspeed_valid = current_status.flag_airspeed_valid; + // bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; + bool global_pos_valid = current_status.condition_global_position_valid; + bool local_pos_valid = current_status.condition_local_position_valid; + bool airspeed_valid = current_status.condition_airspeed_valid; + /* check for global or local position updates, set a timeout of 2s */ if (hrt_absolute_time() - last_global_position_time < 2000000) { - current_status.flag_global_position_valid = true; + current_status.condition_global_position_valid = true; // XXX check for controller status and home position as well } else { - current_status.flag_global_position_valid = false; + current_status.condition_global_position_valid = false; } if (hrt_absolute_time() - last_local_position_time < 2000000) { - current_status.flag_local_position_valid = true; + current_status.condition_local_position_valid = true; // XXX check for controller status and home position as well } else { - current_status.flag_local_position_valid = false; + current_status.condition_local_position_valid = false; } /* Check for valid airspeed/differential pressure measurements */ if (hrt_absolute_time() - last_diff_pres_time < 2000000) { - current_status.flag_airspeed_valid = true; + current_status.condition_airspeed_valid = true; } else { - current_status.flag_airspeed_valid = false; + current_status.condition_airspeed_valid = false; } /* * Consolidate global position and local position valid flags * for vector flight mode. */ - if (current_status.flag_local_position_valid || - current_status.flag_global_position_valid) { - current_status.flag_vector_flight_mode_ok = true; + // if (current_status.condition_local_position_valid || + // current_status.condition_global_position_valid) { + // current_status.flag_vector_flight_mode_ok = true; - } else { - current_status.flag_vector_flight_mode_ok = false; - } + // } else { + // current_status.flag_vector_flight_mode_ok = false; + // } /* consolidate state change, flag as changed if required */ - if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok || - global_pos_valid != current_status.flag_global_position_valid || - local_pos_valid != current_status.flag_local_position_valid || - airspeed_valid != current_status.flag_airspeed_valid) { + if (global_pos_valid != current_status.condition_global_position_valid || + local_pos_valid != current_status.condition_local_position_valid || + airspeed_valid != current_status.condition_airspeed_valid) { state_changed = true; } @@ -1711,20 +1711,21 @@ int commander_thread_main(int argc, char *argv[]) * 2) The system has not aquired position lock before * 3) The system is not armed (on the ground) */ - if (!current_status.flag_valid_launch_position && - !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok && - !current_status.flag_system_armed) { - /* first time a valid position, store it and emit it */ - - // XXX implement storage and publication of RTL position - current_status.flag_valid_launch_position = true; - current_status.flag_auto_flight_mode_ok = true; - state_changed = true; - } + // if (!current_status.flag_valid_launch_position && + // !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok && + // !current_status.flag_system_armed) { + // first time a valid position, store it and emit it + + // // XXX implement storage and publication of RTL position + // current_status.flag_valid_launch_position = true; + // current_status.flag_auto_flight_mode_ok = true; + // state_changed = true; + // } orb_check(ORB_ID(vehicle_gps_position), &new_data); if (new_data) { + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); /* check for first, long-term and valid GPS lock -> set home position */ @@ -1748,10 +1749,10 @@ int commander_thread_main(int argc, char *argv[]) if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < hdop_threshold_m) - && (vdop_m < vdop_threshold_m) + && (vdop_m < vdop_threshold_m) // XXX note that vdop is 0 for mtk && !home_position_set && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) - && !current_status.flag_system_armed) { + && !safety.armed) { warnx("setting home position"); /* copy position data to uORB home message, store it locally as well */ @@ -1774,7 +1775,7 @@ int commander_thread_main(int argc, char *argv[]) /* mark home position as set */ home_position_set = true; - tune_confirm(); + tune_positive(); } } @@ -1784,100 +1785,266 @@ int commander_thread_main(int argc, char *argv[]) if ((hrt_absolute_time() - sp_man.timestamp) < 100000) { - // /* - // * Check if manual control modes have to be switched - // */ - // if (!isfinite(sp_man.manual_mode_switch)) { - // warnx("man mode sw not finite\n"); - - // /* this switch is not properly mapped, set default */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { - - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { - - // /* assuming a fixed wing, fall back to direct pass-through */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } + /* + * Check if manual control modes have to be switched + */ + if (!isfinite(sp_man.mode_switch)) { - // } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) { + warnx("mode sw not finite"); + /* no valid stick position, go to default */ + current_status.mode_switch = MODE_SWITCH_MANUAL; - // /* bottom stick position, set direct mode for vehicles supporting it */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { + } else if (sp_man.mode_switch < -STICK_ON_OFF_LIMIT) { - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { + /* bottom stick position, go to manual mode */ + current_status.mode_switch = MODE_SWITCH_MANUAL; - // /* assuming a fixed wing, set to direct pass-through as requested */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } + } else if (sp_man.mode_switch > STICK_ON_OFF_LIMIT) { - // } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) { + /* top stick position, set auto/mission for all vehicle types */ + current_status.mode_switch = MODE_SWITCH_AUTO; - // /* top stick position, set SAS for all vehicle types */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; + } else { - // } else { - // /* center stick position, set rate control */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = true; - // } + /* center stick position, set seatbelt/simple control */ + current_status.mode_switch = MODE_SWITCH_SEATBELT; + } // warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode); /* - * Check if manual stability control modes have to be switched - */ - if (!isfinite(sp_man.manual_sas_switch)) { + * Check if land/RTL is requested + */ + if (!isfinite(sp_man.return_switch)) { /* this switch is not properly mapped, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + current_status.return_switch = RETURN_SWITCH_NONE; - } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { + } else if (sp_man.return_switch < -STICK_ON_OFF_LIMIT) { /* bottom stick position, set altitude hold */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; + current_status.return_switch = RETURN_SWITCH_NONE; - } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { + } else if (sp_man.return_switch > STICK_ON_OFF_LIMIT) { /* top stick position */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; + current_status.return_switch = RETURN_SWITCH_RETURN; } else { /* center stick position, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + current_status.return_switch = RETURN_SWITCH_NONE; + } + + /* check mission switch */ + if (!isfinite(sp_man.mission_switch)) { + + /* this switch is not properly mapped, set default */ + current_status.mission_switch = MISSION_SWITCH_NONE; + + } else if (sp_man.mission_switch > STICK_ON_OFF_LIMIT) { + + /* top switch position */ + current_status.mission_switch = MISSION_SWITCH_MISSION; + + } else if (sp_man.mission_switch < -STICK_ON_OFF_LIMIT) { + + /* bottom switch position */ + current_status.mission_switch = MISSION_SWITCH_NONE; + + } else { + + /* center switch position, set default */ + current_status.mission_switch = MISSION_SWITCH_NONE; // XXX default? + } + + /* Now it's time to handle the stick inputs */ + + switch (current_status.arming_state) { + + /* evaluate the navigation state when disarmed */ + case ARMING_STATE_STANDBY: + + /* just manual, XXX this might depend on the return switch */ + if (current_status.mode_switch == MODE_SWITCH_MANUAL) { + + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL_STANDBY rejected"); + } + + /* Try seatbelt or fallback to manual */ + } else if (current_status.mode_switch == MODE_SWITCH_SEATBELT) { + + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL_STANDBY rejected"); + } + } + + /* Try auto or fallback to seatbelt or even manual */ + } else if (current_status.mode_switch == MODE_SWITCH_AUTO) { + + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_AUTO_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // first fallback to SEATBELT_STANDY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // or fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL_STANDBY rejected"); + } + } + } + } + + break; + + /* evaluate the navigation state when armed */ + case ARMING_STATE_ARMED: + + /* Always accept manual mode */ + if (current_status.mode_switch == MODE_SWITCH_MANUAL) { + + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL rejected"); + } + + /* SEATBELT_STANDBY (fallback: MANUAL) */ + } else if (current_status.mode_switch == MODE_SWITCH_SEATBELT + && current_status.return_switch == RETURN_SWITCH_NONE) { + + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL rejected"); + } + } + + /* SEATBELT_DESCENT (fallback: MANUAL) */ + } else if (current_status.mode_switch == MODE_SWITCH_SEATBELT + && current_status.return_switch == RETURN_SWITCH_RETURN) { + + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT_DESCENT, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL rejected"); + } + } + + /* AUTO_LOITER (fallback: SEATBELT, MANUAL) */ + } else if (current_status.mode_switch == MODE_SWITCH_AUTO + && current_status.return_switch == RETURN_SWITCH_NONE + && current_status.mission_switch == MISSION_SWITCH_NONE) { + + /* we might come from the disarmed state AUTO_STANDBY */ + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_AUTO_READY, control_mode_pub, &control_mode, mavlink_fd) != OK) { + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL rejected"); + } + } + /* or from some other armed state like SEATBELT or MANUAL */ + } else if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_AUTO_LOITER, control_mode_pub, &control_mode, mavlink_fd) != OK) { + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL rejected"); + } + } + } + + /* AUTO_MISSION (fallback: SEATBELT, MANUAL) */ + } else if (current_status.mode_switch == MODE_SWITCH_AUTO + && current_status.return_switch == RETURN_SWITCH_NONE + && current_status.mission_switch == MISSION_SWITCH_MISSION) { + + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_AUTO_MISSION, control_mode_pub, &control_mode, mavlink_fd) != OK) { + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL rejected"); + } + } + } + + /* AUTO_RTL (fallback: SEATBELT_DESCENT, MANUAL) */ + } 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 (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_AUTO_RTL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_SEATBELT_DESCENT, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // fallback to MANUAL_STANDBY + if (navigation_state_transition(status_pub, ¤t_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) { + // These is not supposed to happen + warnx("ERROR: Navigation state MANUAL rejected"); + } + } + } + } + break; + + // XXX we might be missing something that triggers a transition from RTL to LAND + + case ARMING_STATE_ARMED_ERROR: + + // XXX work out fail-safe scenarios + break; + + case ARMING_STATE_STANDBY_ERROR: + + // XXX 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; + } + /* 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, "DETECTED RC SIGNAL FIRST TIME."); + + } else { + if (current_status.rc_signal_lost) { + mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); + } } /* - * Check if left stick is in lower left position --> switch to standby state. - * Do this only for multirotors, not for fixed wing aircraft. - */ - if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) - ) && - ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) && - (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { + * Check if left stick is in lower left position --> switch to standby state. + * Do this only for multirotors, not for fixed wing aircraft. + */ + // printf("checking\n"); + if ((sp_man.yaw < -STICK_ON_OFF_LIMIT) && (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); - stick_on_counter = 0; + + if((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) + ) { + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd); + + } else { + mavlink_log_critical(mavlink_fd, "STICK DISARM not allowed"); + } + stick_off_counter = 0; } else { stick_off_counter++; @@ -1888,7 +2055,7 @@ int commander_thread_main(int argc, char *argv[]) /* 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) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd); stick_on_counter = 0; } else { @@ -1897,49 +2064,24 @@ int commander_thread_main(int argc, char *argv[]) } } - /* check manual override switch - switch to manual or auto mode */ - if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) { - /* enable manual override */ - update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); - - } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { - // /* check auto mode switch for correct mode */ - // if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { - // /* enable guided mode */ - // update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); - - // } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { - // XXX hardcode to auto for now - update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); - - // } - - } else { - /* center stick position, set SAS for all vehicle types */ - update_state_machine_mode_stabilized(stat_pub, ¤t_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, "DETECTED RC SIGNAL FIRST TIME."); - - } else { - if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); - } - current_status.rc_signal_cutting_off = false; current_status.rc_signal_lost = false; current_status.rc_signal_lost_interval = 0; } 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_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) { /* only complain if the offboard control is NOT active */ current_status.rc_signal_cutting_off = true; mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!"); + + if (!current_status.rc_signal_cutting_off) { + printf("Reason: not rc_signal_cutting_off\n"); + } else { + printf("last print time: %llu\n", last_print_time); + } + last_print_time = hrt_absolute_time(); } @@ -1971,60 +2113,60 @@ int commander_thread_main(int argc, char *argv[]) if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) { if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) { - /* decide about attitude control flag, enable in att/pos/vel */ - bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); + // /* decide about attitude control flag, enable in att/pos/vel */ + // bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || + // sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || + // sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); - /* decide about rate control flag, enable it always XXX (for now) */ - bool rates_ctrl_enabled = true; + // /* decide about rate control flag, enable it always XXX (for now) */ + // bool rates_ctrl_enabled = true; - /* set up control mode */ - if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { - current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; - state_changed = true; - } + // /* set up control mode */ + // if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { + // current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; + // state_changed = true; + // } - if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { - current_status.flag_control_rates_enabled = rates_ctrl_enabled; - state_changed = true; - } + // if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { + // current_status.flag_control_rates_enabled = rates_ctrl_enabled; + // state_changed = true; + // } - /* handle the case where offboard control 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; - tune_confirm(); + // /* handle the case where offboard control 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; + // tune_positive(); - mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); + // mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); - } else { - if (current_status.offboard_control_signal_lost) { - mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); - state_changed = true; - tune_confirm(); - } - } + // } else { + // if (current_status.offboard_control_signal_lost) { + // mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); + // state_changed = true; + // tune_positive(); + // } + // } current_status.offboard_control_signal_weak = false; current_status.offboard_control_signal_lost = false; current_status.offboard_control_signal_lost_interval = 0; + // XXX check if this is correct /* arm / disarm on request */ - if (sp_offboard.armed && !current_status.flag_system_armed) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); - /* switch to stabilized mode = takeoff */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); + if (sp_offboard.armed && !safety.armed) { + + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd); + + } else if (!sp_offboard.armed && safety.armed) { - } else if (!sp_offboard.armed && current_status.flag_system_armed) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, safety_pub, &safety, 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_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) { @@ -2040,7 +2182,7 @@ int commander_thread_main(int argc, char *argv[]) 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(); - tune_confirm(); + tune_positive(); /* kill motors after timeout */ if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { @@ -2056,25 +2198,28 @@ int commander_thread_main(int argc, char *argv[]) current_status.timestamp = hrt_absolute_time(); + // XXX this is missing /* If full run came back clean, transition to standby */ - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT && - current_status.flag_preflight_gyro_calibration == false && - current_status.flag_preflight_mag_calibration == false && - current_status.flag_preflight_accel_calibration == false) { - /* All ok, no calibration going on, go to standby */ - do_state_update(stat_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - } + // if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT && + // current_status.flag_preflight_gyro_calibration == false && + // current_status.flag_preflight_mag_calibration == false && + // current_status.flag_preflight_accel_calibration == false) { + // /* All ok, no calibration going on, go to standby */ + // do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + // } /* publish at least with 1 Hz */ if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) { - publish_armed_status(¤t_status); - orb_publish(ORB_ID(vehicle_status), stat_pub, ¤t_status); + + orb_publish(ORB_ID(vehicle_status), status_pub, ¤t_status); state_changed = false; } + + /* Store old modes to detect and act on state transitions */ voltage_previous = current_status.voltage_battery; - + /* XXX use this voltage_previous */ fflush(stdout); counter++; usleep(COMMANDER_MONITORING_INTERVAL); @@ -2083,6 +2228,7 @@ int commander_thread_main(int argc, char *argv[]) /* wait for threads to complete */ // pthread_join(command_handling_thread, NULL); pthread_join(subsystem_info_thread, NULL); + pthread_join(commander_low_prio_thread, NULL); /* close fds */ led_deinit(); @@ -2093,10 +2239,93 @@ int commander_thread_main(int argc, char *argv[]) close(sensor_sub); close(cmd_sub); - warnx("exiting..\n"); + warnx("exiting"); fflush(stdout); thread_running = false; return 0; } + + +void *commander_low_prio_loop(void *arg) +{ + /* Set thread name */ + prctl(PR_SET_NAME, "commander low prio", getpid()); + + while (!thread_should_exit) { + + switch (low_prio_task) { + + case LOW_PRIO_TASK_PARAM_LOAD: + + if (0 == param_load_default()) { + mavlink_log_info(mavlink_fd, "Param load success"); + } else { + mavlink_log_critical(mavlink_fd, "Param load ERROR"); + tune_error(); + } + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_PARAM_SAVE: + + if (0 == param_save_default()) { + mavlink_log_info(mavlink_fd, "Param save success"); + } else { + mavlink_log_critical(mavlink_fd, "Param save ERROR"); + tune_error(); + } + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_GYRO_CALIBRATION: + + do_gyro_calibration(); + + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_MAG_CALIBRATION: + + do_mag_calibration(); + + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_ALTITUDE_CALIBRATION: + + // do_baro_calibration(); + + case LOW_PRIO_TASK_RC_CALIBRATION: + + // do_rc_calibration(); + + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_ACCEL_CALIBRATION: + + do_accel_calibration(mavlink_fd); + + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_AIRSPEED_CALIBRATION: + + do_airspeed_calibration(); + + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_NONE: + default: + /* slow down to 10Hz */ + usleep(100000); + break; + } + + } + + return 0; +} |