diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 530 |
1 files changed, 239 insertions, 291 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 5c0628a16..d7a95b0d6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1,11 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * Lorenz Meier <lm@inf.ethz.ch> - * Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> - * Anton Babushkin <anton.babushkin@me.com> + * Copyright (C) 2013-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,8 +33,13 @@ /** * @file commander.cpp - * Main system state machine implementation. + * Main fail-safe handling. * + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <nuttx/config.h> @@ -76,6 +76,7 @@ #include <uORB/topics/parameter_update.h> #include <uORB/topics/differential_pressure.h> #include <uORB/topics/safety.h> +#include <uORB/topics/mission_result.h> #include <drivers/drv_led.h> #include <drivers/drv_hrt.h> @@ -87,6 +88,7 @@ #include <systemlib/err.h> #include <systemlib/cpuload.h> #include <systemlib/rc_check.h> +#include <systemlib/state_table.h> #include "px4_custom_mode.h" #include "commander_helper.h" @@ -387,109 +389,80 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armed bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) { - /* result of the command */ - enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED; - bool ret = false; - /* only handle commands that are meant to be handled by this system and component */ if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components return false; } - /* only handle high-priority commands here */ + /* result of the command */ + enum VEHICLE_CMD_RESULT cmd_result = VEHICLE_CMD_RESULT_UNSUPPORTED; /* request to set different system mode */ switch (cmd->command) { case VEHICLE_CMD_DO_SET_MODE: { - uint8_t base_mode = (uint8_t) cmd->param1; - uint8_t custom_main_mode = (uint8_t) cmd->param2; - transition_result_t arming_res = TRANSITION_NOT_CHANGED; - - /* 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, mavlink_fd); + uint8_t base_mode = (uint8_t)cmd->param1; + uint8_t custom_main_mode = (uint8_t)cmd->param2; - /* if HIL got enabled, reset battery status state */ - if (hil_ret == OK && status->hil_state == HIL_STATE_ON) { - /* reset the arming mode to disarmed */ - arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed); + transition_result_t arming_ret = TRANSITION_NOT_CHANGED; - if (arming_res != TRANSITION_DENIED) { - mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby"); + transition_result_t main_ret = TRANSITION_NOT_CHANGED; - } else { - mavlink_log_info(mavlink_fd, "[cmd] HIL: FAILED resetting armed state"); - } - } - - if (hil_ret == OK) { - ret = true; - } + /* set HIL state */ + hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF; + transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd); // Transition the arming state - arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); - - if (arming_res == TRANSITION_CHANGED) { - ret = true; - } - - /* set main state */ - transition_result_t main_res = TRANSITION_DENIED; + arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) { /* use autopilot-specific mode */ if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) { /* MANUAL */ - main_res = main_state_transition(status, MAIN_STATE_MANUAL); + main_ret = main_state_transition(status, MAIN_STATE_MANUAL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) { /* ALTCTL */ - main_res = main_state_transition(status, MAIN_STATE_ALTCTL); + main_ret = main_state_transition(status, MAIN_STATE_ALTCTL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { /* POSCTL */ - main_res = main_state_transition(status, MAIN_STATE_POSCTL); + main_ret = main_state_transition(status, MAIN_STATE_POSCTL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ - main_res = main_state_transition(status, MAIN_STATE_AUTO); + main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) { /* ACRO */ - main_res = main_state_transition(status, MAIN_STATE_ACRO); + main_ret = main_state_transition(status, MAIN_STATE_ACRO); } } else { /* use base mode */ if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) { /* AUTO */ - main_res = main_state_transition(status, MAIN_STATE_AUTO); + main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION); } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { /* POSCTL */ - main_res = main_state_transition(status, MAIN_STATE_POSCTL); + main_ret = main_state_transition(status, MAIN_STATE_POSCTL); } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { /* MANUAL */ - main_res = main_state_transition(status, MAIN_STATE_MANUAL); + main_ret = main_state_transition(status, MAIN_STATE_MANUAL); } } } - if (main_res == TRANSITION_CHANGED) { - ret = true; - } - - if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) { - result = VEHICLE_CMD_RESULT_ACCEPTED; + if (hil_ret != TRANSITION_DENIED && arming_ret != TRANSITION_DENIED && main_ret != TRANSITION_DENIED) { + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } - - break; } + break; case VEHICLE_CMD_COMPONENT_ARM_DISARM: { // Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm. @@ -508,10 +481,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe if (arming_res == TRANSITION_DENIED) { mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } else { - result = VEHICLE_CMD_RESULT_ACCEPTED; + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } } } @@ -522,18 +495,14 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe unsigned int mav_goto = cmd->param1; if (mav_goto == 0) { // MAV_GOTO_DO_HOLD - status->set_nav_state = NAV_STATE_LOITER; - status->set_nav_state_timestamp = hrt_absolute_time(); + status->set_nav_state = NAVIGATION_STATE_AUTO_LOITER; mavlink_log_critical(mavlink_fd, "#audio: pause mission cmd"); - result = VEHICLE_CMD_RESULT_ACCEPTED; - ret = true; + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE - status->set_nav_state = NAV_STATE_MISSION; - status->set_nav_state_timestamp = hrt_absolute_time(); + status->set_nav_state = NAVIGATION_STATE_AUTO_MISSION; mavlink_log_critical(mavlink_fd, "#audio: continue mission cmd"); - result = VEHICLE_CMD_RESULT_ACCEPTED; - ret = true; + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } else { mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", cmd->param1, cmd->param2, cmd->param3, cmd->param4, cmd->param5, cmd->param6, cmd->param7); @@ -541,6 +510,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; +#if 0 /* Flight termination */ case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command @@ -548,16 +518,16 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) { transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION); - result = VEHICLE_CMD_RESULT_ACCEPTED; - ret = true; + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } else { /* reject parachute depoyment not armed */ - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } break; +#endif case VEHICLE_CMD_DO_SET_HOME: { bool use_current = cmd->param1 > 0.5f; @@ -571,10 +541,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe home->timestamp = hrt_absolute_time(); - result = VEHICLE_CMD_RESULT_ACCEPTED; + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } else { @@ -585,10 +555,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe home->timestamp = hrt_absolute_time(); - result = VEHICLE_CMD_RESULT_ACCEPTED; + cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } - if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + if (cmd_result == VEHICLE_CMD_RESULT_ACCEPTED) { warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt); mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt); @@ -620,13 +590,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; } - if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) { + if (cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) { /* already warned about unsupported commands in "default" case */ - answer_command(*cmd, result); + answer_command(*cmd, cmd_result); } /* send any requested ACKs */ - if (cmd->confirmation > 0 && result != VEHICLE_CMD_RESULT_UNSUPPORTED) { + if (cmd->confirmation > 0 && cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) { /* send acknowledge command */ // XXX TODO } @@ -655,8 +625,10 @@ int commander_thread_main(int argc, char *argv[]) main_states_str[0] = "MANUAL"; main_states_str[1] = "ALTCTL"; main_states_str[2] = "POSCTL"; - main_states_str[3] = "AUTO"; - main_states_str[4] = "ACRO"; + main_states_str[3] = "AUTO_MISSION"; + main_states_str[4] = "AUTO_LOITER"; + main_states_str[5] = "AUTO_RTL"; + main_states_str[6] = "ACRO"; char *arming_states_str[ARMING_STATE_MAX]; arming_states_str[0] = "INIT"; @@ -669,9 +641,10 @@ int commander_thread_main(int argc, char *argv[]) char *failsafe_states_str[FAILSAFE_STATE_MAX]; failsafe_states_str[0] = "NORMAL"; - failsafe_states_str[1] = "RTL"; - failsafe_states_str[2] = "LAND"; - failsafe_states_str[3] = "TERMINATION"; + failsafe_states_str[1] = "RTL_RC"; + failsafe_states_str[2] = "RTL_DL"; + failsafe_states_str[3] = "LAND"; + failsafe_states_str[4] = "TERMINATION"; /* pthread for slow low prio thread */ pthread_t commander_low_prio_thread; @@ -693,8 +666,7 @@ int commander_thread_main(int argc, char *argv[]) // We want to accept RC inputs as default status.rc_input_blocked = false; status.main_state = MAIN_STATE_MANUAL; - status.set_nav_state = NAV_STATE_NONE; - status.set_nav_state_timestamp = 0; + status.set_nav_state = NAVIGATION_STATE_MANUAL; status.arming_state = ARMING_STATE_INIT; status.hil_state = HIL_STATE_OFF; status.failsafe_state = FAILSAFE_STATE_NORMAL; @@ -784,6 +756,11 @@ int commander_thread_main(int argc, char *argv[]) safety.safety_switch_available = false; safety.safety_off = false; + /* Subscribe to mission result topic */ + int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); + struct mission_result_s mission_result; + memset(&mission_result, 0, sizeof(mission_result)); + /* Subscribe to manual control data */ int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); struct manual_control_setpoint_s sp_man; @@ -861,6 +838,13 @@ int commander_thread_main(int argc, char *argv[]) start_time = hrt_absolute_time(); + transition_result_t arming_ret; + + /* check which state machines for changes, clear "changed" flag */ + bool arming_state_changed = false; + bool main_state_changed = false; + bool failsafe_state_changed = false; + while (!thread_should_exit) { if (mavlink_fd < 0 && counter % (1000000 / MAVLINK_OPEN_INTERVAL) == 0) { @@ -868,6 +852,9 @@ int commander_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } + arming_ret = TRANSITION_NOT_CHANGED; + + /* update parameters */ orb_check(param_changed_sub, &updated); @@ -947,6 +934,7 @@ int commander_thread_main(int argc, char *argv[]) if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); + arming_state_changed = true; } } } @@ -959,6 +947,14 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); } + /* update local position estimate */ + orb_check(local_position_sub, &updated); + + if (updated) { + /* position changed */ + orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); + } + /* update condition_global_position_valid */ /* hysteresis for EPH/EPV */ bool eph_epv_good; @@ -992,6 +988,10 @@ int commander_thread_main(int argc, char *argv[]) home.lon = global_position.lon; home.alt = global_position.alt; + home.x = local_position.x; + home.y = local_position.y; + home.z = local_position.z; + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); @@ -1008,14 +1008,6 @@ int commander_thread_main(int argc, char *argv[]) tune_positive(true); } - /* update local position estimate */ - orb_check(local_position_sub, &updated); - - if (updated) { - /* position changed */ - orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); - } - /* update condition_local_position_valid and condition_local_altitude_valid */ /* hysteresis for EPH */ bool local_eph_good; @@ -1039,13 +1031,10 @@ int commander_thread_main(int argc, char *argv[]) check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed); check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); - static bool published_condition_landed_fw = false; - - if (status.is_rotary_wing && status.condition_local_altitude_valid) { + if (status.condition_local_altitude_valid) { if (status.condition_landed != local_position.landed) { status.condition_landed = local_position.landed; status_changed = true; - published_condition_landed_fw = false; //make sure condition_landed is published again if the system type changes if (status.condition_landed) { mavlink_log_critical(mavlink_fd, "#audio: LANDED"); @@ -1054,13 +1043,6 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "#audio: IN AIR"); } } - - } else { - if (!published_condition_landed_fw) { - status.condition_landed = false; // Fixedwing does not have a landing detector currently - published_condition_landed_fw = true; - status_changed = true; - } } /* update battery status */ @@ -1149,12 +1131,21 @@ int commander_thread_main(int argc, char *argv[]) status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; if (armed.armed) { - arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + + if (arming_ret == TRANSITION_CHANGED) { + warnx("changed 1"); + arming_state_changed = true; + } } else { - arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); - } + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); + if (arming_ret == TRANSITION_CHANGED) { + warnx("changed 2"); + arming_state_changed = true; + } + } status_changed = true; } @@ -1162,11 +1153,15 @@ 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, ARMING_STATE_STANDBY, &armed); + /* TODO: check for sensors */ + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + + if (arming_ret == TRANSITION_CHANGED) { + arming_state_changed = true; + } } else { - // XXX: Add emergency stuff if sensors are lost + /* TODO: Add emergency stuff if sensors are lost */ } @@ -1185,6 +1180,12 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); } + orb_check(mission_result_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); + } + /* start RC input check */ if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { /* handle the case where RC signal was regained */ @@ -1197,16 +1198,14 @@ int commander_thread_main(int argc, char *argv[]) if (status.rc_signal_lost) { mavlink_log_critical(mavlink_fd, "#audio: RC signal regained"); status_changed = true; + + status.failsafe_state = FAILSAFE_STATE_NORMAL; + failsafe_state_changed = true; } } status.rc_signal_lost = false; - transition_result_t arming_res; // store all transitions results here - - /* arm/disarm by RC */ - arming_res = TRANSITION_NOT_CHANGED; - /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm * do it only for rotary wings */ if (status.is_rotary_wing && @@ -1217,7 +1216,10 @@ int commander_thread_main(int argc, char *argv[]) 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); - arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed); + arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed); + if (arming_ret == TRANSITION_CHANGED) { + arming_state_changed = true; + } stick_off_counter = 0; } else { @@ -1239,7 +1241,10 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first."); } else { - arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + if (arming_ret == TRANSITION_CHANGED) { + arming_state_changed = true; + } } stick_on_counter = 0; @@ -1252,23 +1257,25 @@ int commander_thread_main(int argc, char *argv[]) stick_on_counter = 0; } - if (arming_res == TRANSITION_CHANGED) { + if (arming_ret == TRANSITION_CHANGED) { if (status.arming_state == ARMING_STATE_ARMED) { mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC"); } else { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC"); } + arming_state_changed = true; - } else if (arming_res == TRANSITION_DENIED) { + } else if (arming_ret == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied"); } - if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { - /* recover from failsafe */ - (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); - } + + // if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { + // /* recover from failsafe */ + // (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); + // } /* evaluate the main state machine according to mode switches */ transition_result_t main_res = set_main_state_rc(&status, &sp_man); @@ -1276,100 +1283,30 @@ int commander_thread_main(int argc, char *argv[]) /* play tune on mode change only if armed, blink LED always */ if (main_res == TRANSITION_CHANGED) { tune_positive(armed.armed); + main_state_changed = true; } else if (main_res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied"); } - /* set navigation state */ - /* RETURN switch, overrides MISSION switch */ - if (sp_man.return_switch == SWITCH_POS_ON) { - /* switch to RTL if not already landed after RTL and home position set */ - status.set_nav_state = NAV_STATE_RTL; - status.set_nav_state_timestamp = hrt_absolute_time(); - - } else { - - /* LOITER switch */ - if (sp_man.loiter_switch == SWITCH_POS_ON) { - /* stick is in LOITER position */ - status.set_nav_state = NAV_STATE_LOITER; - status.set_nav_state_timestamp = hrt_absolute_time(); - - } else if (sp_man.loiter_switch != SWITCH_POS_NONE) { - /* stick is in MISSION position */ - status.set_nav_state = NAV_STATE_MISSION; - status.set_nav_state_timestamp = hrt_absolute_time(); - - } else if ((sp_man.return_switch == SWITCH_POS_OFF || sp_man.return_switch == SWITCH_POS_MIDDLE) && - pos_sp_triplet.nav_state == NAV_STATE_RTL) { - /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ - status.set_nav_state = NAV_STATE_MISSION; - status.set_nav_state_timestamp = hrt_absolute_time(); - } - } - } else { if (!status.rc_signal_lost) { mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST"); status.rc_signal_lost = true; status_changed = true; - } - - if (armed.armed) { - if (status.main_state == MAIN_STATE_AUTO) { - /* check if AUTO mode still allowed */ - transition_result_t auto_res = main_state_transition(&status, MAIN_STATE_AUTO); - - if (auto_res == TRANSITION_NOT_CHANGED) { - last_auto_state_valid = hrt_absolute_time(); - } - /* still invalid state after the timeout interval, execute failsafe */ - if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (auto_res == TRANSITION_DENIED)) { - /* AUTO mode denied, don't try RTL, switch to failsafe state LAND */ - auto_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - if (auto_res == TRANSITION_DENIED) { - /* LAND not allowed, set TERMINATION state */ - (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); - } - } - - } else { - /* failsafe for manual modes */ - transition_result_t manual_res = TRANSITION_DENIED; - - if (!status.condition_landed) { - /* vehicle is not landed, try to perform RTL */ - manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); - } + if (!(status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && !mission_result.mission_finished)) { - if (manual_res == TRANSITION_DENIED) { - /* RTL not allowed (no global position estimate) or not wanted, try LAND */ - manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - - if (manual_res == TRANSITION_DENIED) { - /* LAND not allowed, set TERMINATION state */ - (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); - } + /* if we have a global position, we can switch to RTL, if not, we can try to land */ + if (status.condition_global_position_valid) { + status.failsafe_state = FAILSAFE_STATE_RTL_RC; + } else { + status.failsafe_state = FAILSAFE_STATE_LAND; } + failsafe_state_changed = true; } - - } else { - if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { - /* reset failsafe when disarmed */ - (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); - } - } - } - - // TODO remove this hack - /* flight termination in manual mode if assist switch is on POSCTL position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) { - if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { - tune_positive(armed.armed); } } @@ -1386,11 +1323,6 @@ int commander_thread_main(int argc, char *argv[]) } } - /* 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 failsafe_state_changed = check_failsafe_state_changed(); - hrt_abstime t1 = hrt_absolute_time(); /* print new state */ @@ -1407,8 +1339,12 @@ int commander_thread_main(int argc, char *argv[]) home.lon = global_position.lon; home.alt = global_position.alt; + home.x = local_position.x; + home.y = local_position.y; + home.z = local_position.z; + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); - mavlink_log_info(mavlink_fd, "#audio: home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); + mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); /* announce new home position */ if (home_pub > 0) { @@ -1421,18 +1357,24 @@ int commander_thread_main(int argc, char *argv[]) /* mark home position as set */ status.condition_home_position_valid = true; } + arming_state_changed = false; } was_armed = armed.armed; + /* now set nav state according to failsafe and main state */ + set_nav_state(&status); + if (main_state_changed) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]); + main_state_changed = false; } if (failsafe_state_changed) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %s", failsafe_states_str[status.failsafe_state]); + failsafe_state_changed = false; } /* publish states (armed, control mode, vehicle status) at least with 5 Hz */ @@ -1621,6 +1563,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin switch (sp_man->mode_switch) { case SWITCH_POS_NONE: res = TRANSITION_NOT_CHANGED; + warnx("NONE"); break; case SWITCH_POS_OFF: // MANUAL @@ -1661,14 +1604,27 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; case SWITCH_POS_ON: // AUTO - res = main_state_transition(status, MAIN_STATE_AUTO); + if (sp_man->return_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_AUTO_RTL); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } + } else if (sp_man->loiter_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_AUTO_LOITER); + + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } + } else { + res = main_state_transition(status, MAIN_STATE_AUTO_MISSION); + + if (res != TRANSITION_DENIED) { + break; // changed successfully or already in this state + } } // else fallback to ALTCTL (POSCTL likely will not work too) - print_reject_mode(status, "AUTO"); res = main_state_transition(status, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { @@ -1688,85 +1644,93 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin } void - set_control_mode() { - /* set vehicle_control_mode according to main state and failsafe state */ + /* set vehicle_control_mode according to set_navigation_state */ control_mode.flag_armed = armed.armed; + /* TODO: check this */ control_mode.flag_external_manual_override_ok = !status.is_rotary_wing; control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON; - control_mode.flag_control_termination_enabled = false; - - /* set this flag when navigator should act */ - bool navigator_enabled = false; - - switch (status.failsafe_state) { - case FAILSAFE_STATE_NORMAL: - switch (status.main_state) { - case MAIN_STATE_MANUAL: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = status.is_rotary_wing; - control_mode.flag_control_attitude_enabled = status.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_ALTCTL: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - 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_POSCTL: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - 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: - navigator_enabled = true; - break; + switch (status.set_nav_state) { + case NAVIGATION_STATE_MANUAL: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = status.is_rotary_wing; + control_mode.flag_control_attitude_enabled = status.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; + control_mode.flag_control_termination_enabled = false; + break; - case MAIN_STATE_ACRO: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - 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 NAVIGATION_STATE_ACRO: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + 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; + control_mode.flag_control_termination_enabled = false; + break; - default: - break; - } + case NAVIGATION_STATE_ALTCTL: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + 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; + control_mode.flag_control_termination_enabled = false; + break; + case NAVIGATION_STATE_POSCTL: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + 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; + control_mode.flag_control_termination_enabled = false; break; - case FAILSAFE_STATE_RTL: - navigator_enabled = true; + case NAVIGATION_STATE_AUTO_MISSION: + case NAVIGATION_STATE_AUTO_LOITER: + case NAVIGATION_STATE_AUTO_RTL: + case NAVIGATION_STATE_AUTO_RTL_RC: + case NAVIGATION_STATE_AUTO_RTL_DL: + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_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; + control_mode.flag_control_termination_enabled = false; break; - case FAILSAFE_STATE_LAND: - navigator_enabled = true; + case NAVIGATION_STATE_LAND: + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = true; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + /* in failsafe LAND mode position may be not available */ + control_mode.flag_control_position_enabled = status.condition_local_position_valid; + control_mode.flag_control_velocity_enabled = status.condition_local_position_valid; + control_mode.flag_control_altitude_enabled = true; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_termination_enabled = false; break; - case FAILSAFE_STATE_TERMINATION: + case NAVIGATION_STATE_TERMINATION: /* disable all controllers on termination */ control_mode.flag_control_manual_enabled = false; control_mode.flag_control_auto_enabled = false; @@ -1782,21 +1746,6 @@ set_control_mode() default: break; } - - /* navigator has control, set control mode flags according to nav state*/ - if (navigator_enabled) { - control_mode.flag_control_manual_enabled = false; - control_mode.flag_control_auto_enabled = true; - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - - /* in failsafe LAND mode position may be not available */ - control_mode.flag_control_position_enabled = status.condition_local_position_valid; - control_mode.flag_control_velocity_enabled = status.condition_local_position_valid; - - control_mode.flag_control_altitude_enabled = true; - control_mode.flag_control_climb_rate_enabled = true; - } } void @@ -1940,7 +1889,6 @@ 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, ARMING_STATE_INIT, &armed)) { answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); break; |