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Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 1768 |
1 files changed, 1768 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp new file mode 100644 index 000000000..45e0307e6 --- /dev/null +++ b/src/modules/commander/commander.cpp @@ -0,0 +1,1768 @@ +/**************************************************************************** + * + * 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> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file commander.cpp + * Main system state machine implementation. + * + */ + +#include <nuttx/config.h> +#include <pthread.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdbool.h> +#include <string.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> +#include <sys/prctl.h> +#include <sys/stat.h> +#include <string.h> +#include <math.h> +#include <poll.h> + +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/battery_status.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/home_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <uORB/topics/subsystem_info.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/parameter_update.h> +#include <uORB/topics/differential_pressure.h> +#include <uORB/topics/safety.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 <systemlib/rc_check.h> + +#include "px4_custom_mode.h" +#include "commander_helper.h" +#include "state_machine_helper.h" +#include "calibration_routines.h" +#include "accelerometer_calibration.h" +#include "gyro_calibration.h" +#include "mag_calibration.h" +#include "baro_calibration.h" +#include "rc_calibration.h" +#include "airspeed_calibration.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +extern struct system_load_s system_load; + +#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f +#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f + +/* Decouple update interval and hysteris counters, all depends on intervals */ +#define COMMANDER_MONITORING_INTERVAL 50000 +#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) +#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) +#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define STICK_ON_OFF_LIMIT 0.75f +#define STICK_THRUST_RANGE 1.0f +#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 +#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ +#define RC_TIMEOUT 100000 +#define DIFFPRESS_TIMEOUT 2000000 + +#define PRINT_INTERVAL 5000000 +#define PRINT_MODE_REJECT_INTERVAL 2000000 + +enum MAV_MODE_FLAG { + MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */ + MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */ + MAV_MODE_FLAG_AUTO_ENABLED = 4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */ + MAV_MODE_FLAG_GUIDED_ENABLED = 8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */ + MAV_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */ + MAV_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */ + MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */ + MAV_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */ + MAV_MODE_FLAG_ENUM_END = 129, /* | */ +}; + +/* Mavlink file descriptors */ +static int mavlink_fd; + +/* 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 */ + +static unsigned int leds_counter; +/* To remember when last notification was sent */ +static uint64_t last_print_mode_reject_time = 0; +/* if connected via USB */ +static bool on_usb_power = false; + +static float takeoff_alt = 5.0f; + +/* tasks waiting for low prio thread */ +typedef 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_t; + +static low_prio_task_t low_prio_task = LOW_PRIO_TASK_NONE; + +/** + * The daemon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + * + * @ingroup apps + */ +extern "C" __EXPORT int commander_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +void usage(const char *reason); + +/** + * React to commands that are sent e.g. from the mavlink module. + */ +void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); + +/** + * Mainloop of commander. + */ +int commander_thread_main(int argc, char *argv[]); + +void toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed); + +void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); + +void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status); + +transition_result_t check_main_state_machine(struct vehicle_status_s *current_status); + +void print_reject_mode(const char *msg); + +void print_reject_arm(const char *msg); + +void print_status(); + +transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); + +/** + * Loop that runs at a lower rate and priority for calibration and parameter tasks. + */ +void *commander_low_prio_loop(void *arg); + +void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result); + + +int commander_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + warnx("commander already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + daemon_task = task_spawn_cmd("commander", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 3000, + commander_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + warnx("\tcommander is running\n"); + print_status(); + + } else { + warnx("\tcommander not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +void usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n"); + exit(1); +} + +void print_status() +{ + warnx("usb powered: %s", (on_usb_power) ? "yes" : "no"); + + /* read all relevant states */ + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + struct vehicle_status_s state; + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + + const char *armed_str; + + switch (state.arming_state) { + case ARMING_STATE_INIT: + armed_str = "INIT"; + break; + + case ARMING_STATE_STANDBY: + armed_str = "STANDBY"; + break; + + case ARMING_STATE_ARMED: + armed_str = "ARMED"; + break; + + case ARMING_STATE_ARMED_ERROR: + armed_str = "ARMED_ERROR"; + break; + + case ARMING_STATE_STANDBY_ERROR: + armed_str = "STANDBY_ERROR"; + break; + + case ARMING_STATE_REBOOT: + armed_str = "REBOOT"; + break; + + case ARMING_STATE_IN_AIR_RESTORE: + armed_str = "IN_AIR_RESTORE"; + break; + + default: + armed_str = "ERR: UNKNOWN STATE"; + break; + } + + + warnx("arming: %s", armed_str); +} + +void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) +{ + /* result of the command */ + uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; + + /* only handle high-priority commands here */ + + /* 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; + + // TODO remove debug code + //mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_main_mode); + /* set arming state */ + transition_result_t arming_res = TRANSITION_NOT_CHANGED; + + if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { + arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by command"); + } + + } else { + if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { + arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + arming_res = arming_state_transition(status, safety, new_arming_state, armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command"); + } + + } else { + arming_res = TRANSITION_NOT_CHANGED; + } + } + + /* set main state */ + transition_result_t main_res = TRANSITION_DENIED; + + 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); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) { + /* SEATBELT */ + main_res = main_state_transition(status, MAIN_STATE_SEATBELT); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) { + /* EASY */ + main_res = main_state_transition(status, MAIN_STATE_EASY); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { + /* AUTO */ + main_res = main_state_transition(status, MAIN_STATE_AUTO); + } + + } else { + /* use base mode */ + if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) { + /* AUTO */ + main_res = main_state_transition(status, MAIN_STATE_AUTO); + + } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { + if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { + /* EASY */ + main_res = main_state_transition(status, MAIN_STATE_EASY); + + } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { + /* MANUAL */ + main_res = main_state_transition(status, MAIN_STATE_MANUAL); + } + } + } + + if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + break; + } + + case VEHICLE_CMD_NAV_TAKEOFF: { + if (armed->armed) { + transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); + + if (nav_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command"); + } + + if (nav_res != TRANSITION_DENIED) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + } else { + /* reject TAKEOFF not armed */ + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + break; + } + + case VEHICLE_CMD_COMPONENT_ARM_DISARM: + // XXX implement later + result = VEHICLE_CMD_RESULT_DENIED; + break; + + default: + break; + } + + /* supported command handling stop */ + if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + tune_positive(); + + } else if (result == VEHICLE_CMD_RESULT_UNSUPPORTED) { + /* we do not care in the high prio loop about commands we don't know */ + } else { + tune_negative(); + + if (result == VEHICLE_CMD_RESULT_DENIED) { + mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd->command); + + } else if (result == VEHICLE_CMD_RESULT_FAILED) { + mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd->command); + + } else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { + mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd->command); + + } + } + + /* send any requested ACKs */ + if (cmd->confirmation > 0 && result != VEHICLE_CMD_RESULT_UNSUPPORTED) { + /* send acknowledge command */ + // XXX TODO + } + +} + +static struct vehicle_status_s status; + +/* armed topic */ +static struct actuator_armed_s armed; + +static struct safety_s safety; + +int commander_thread_main(int argc, char *argv[]) +{ + /* not yet initialized */ + commander_initialized = false; + bool home_position_set = false; + + bool battery_tune_played = false; + bool arm_tune_played = false; + + /* set parameters */ + param_t _param_sys_type = param_find("MAV_TYPE"); + param_t _param_system_id = param_find("MAV_SYS_ID"); + param_t _param_component_id = param_find("MAV_COMP_ID"); + param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT"); + + /* welcome user */ + warnx("starting"); + + /* pthread for slow low prio thread */ + pthread_t commander_low_prio_thread; + + /* initialize */ + if (led_init() != 0) { + warnx("ERROR: Failed to initialize leds"); + } + + if (buzzer_init() != OK) { + warnx("ERROR: Failed to initialize buzzer"); + } + + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + if (mavlink_fd < 0) { + /* try again later */ + usleep(20000); + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + if (mavlink_fd < 0) { + warnx("ERROR: Failed to open MAVLink log stream again, start mavlink app first."); + } + } + + /* Main state machine */ + orb_advert_t status_pub; + /* make sure we are in preflight state */ + memset(&status, 0, sizeof(status)); + status.condition_landed = true; // initialize to safe value + + /* armed topic */ + orb_advert_t armed_pub; + /* Initialize armed with all false */ + memset(&armed, 0, sizeof(armed)); + + /* 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)); + + status.main_state = MAIN_STATE_MANUAL; + status.navigation_state = NAVIGATION_STATE_DIRECT; + status.arming_state = ARMING_STATE_INIT; + status.hil_state = HIL_STATE_OFF; + + /* neither manual nor offboard control commands have been received */ + status.offboard_control_signal_found_once = false; + status.rc_signal_found_once = false; + + /* mark all signals lost as long as they haven't been found */ + status.rc_signal_lost = true; + status.offboard_control_signal_lost = true; + + /* allow manual override initially */ + control_mode.flag_external_manual_override_ok = true; + + /* set battery warning flag */ + status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; + status.condition_battery_voltage_valid = false; + + // XXX for now just set sensors as initialized + status.condition_system_sensors_initialized = true; + + // XXX just disable offboard control for now + control_mode.flag_control_offboard_enabled = false; + + /* advertise to ORB */ + status_pub = orb_advertise(ORB_ID(vehicle_status), &status); + /* publish current state machine */ + + /* publish initial state */ + status.counter++; + status.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_status), status_pub, &status); + + armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); + + control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode); + + /* home position */ + orb_advert_t home_pub = -1; + struct home_position_s home; + memset(&home, 0, sizeof(home)); + + if (status_pub < 0) { + warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); + warnx("exiting."); + exit(ERROR); + } + + mavlink_log_info(mavlink_fd, "[cmd] started"); + + pthread_attr_t commander_low_prio_attr; + pthread_attr_init(&commander_low_prio_attr); + pthread_attr_setstacksize(&commander_low_prio_attr, 2992); + + 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 */ + unsigned counter = 0; + unsigned low_voltage_counter = 0; + unsigned critical_voltage_counter = 0; + unsigned stick_off_counter = 0; + unsigned stick_on_counter = 0; + + bool low_battery_voltage_actions_done = false; + bool critical_battery_voltage_actions_done = false; + + uint64_t last_idle_time = 0; + + uint64_t start_time = 0; + + bool status_changed = true; + bool param_init_forced = true; + + bool updated = false; + + bool rc_calibration_ok = (OK == rc_calibration_check()); + + /* Subscribe to safety topic */ + int safety_sub = orb_subscribe(ORB_ID(safety)); + memset(&safety, 0, sizeof(safety)); + safety.safety_switch_available = false; + safety.safety_off = false; + + /* Subscribe to manual control data */ + int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp_man; + memset(&sp_man, 0, sizeof(sp_man)); + + /* Subscribe to offboard control data */ + int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); + struct offboard_control_setpoint_s sp_offboard; + memset(&sp_offboard, 0, sizeof(sp_offboard)); + + /* 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)); + + /* 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)); + + /* + * The home position is set based on GPS only, to prevent a dependency between + * 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)); + + /* Subscribe to differential pressure topic */ + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + memset(&diff_pres, 0, sizeof(diff_pres)); + + /* Subscribe to command topic */ + int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + struct vehicle_command_s cmd; + memset(&cmd, 0, sizeof(cmd)); + + /* Subscribe to parameters changed topic */ + int param_changed_sub = orb_subscribe(ORB_ID(parameter_update)); + struct parameter_update_s param_changed; + memset(¶m_changed, 0, sizeof(param_changed)); + + /* Subscribe to battery topic */ + int battery_sub = orb_subscribe(ORB_ID(battery_status)); + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + battery.voltage_v = 0.0f; + + /* Subscribe to subsystem info topic */ + int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); + struct subsystem_info_s info; + memset(&info, 0, sizeof(info)); + + toggle_status_leds(&status, &armed, true); + + /* now initialized */ + commander_initialized = true; + thread_running = true; + + start_time = hrt_absolute_time(); + + while (!thread_should_exit) { + + /* update parameters */ + orb_check(param_changed_sub, &updated); + + if (updated || param_init_forced) { + param_init_forced = false; + /* parameters changed */ + orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); + + /* update parameters */ + if (!armed.armed) { + if (param_get(_param_sys_type, &(status.system_type)) != OK) { + warnx("failed getting new system type"); + } + + /* disable manual override for all systems that rely on electronic stabilization */ + if (status.system_type == VEHICLE_TYPE_COAXIAL || + status.system_type == VEHICLE_TYPE_HELICOPTER || + status.system_type == VEHICLE_TYPE_TRICOPTER || + status.system_type == VEHICLE_TYPE_QUADROTOR || + status.system_type == VEHICLE_TYPE_HEXAROTOR || + status.system_type == VEHICLE_TYPE_OCTOROTOR) { + control_mode.flag_external_manual_override_ok = false; + status.is_rotary_wing = true; + + } else { + control_mode.flag_external_manual_override_ok = true; + status.is_rotary_wing = false; + } + + /* check and update system / component ID */ + param_get(_param_system_id, &(status.system_id)); + param_get(_param_component_id, &(status.component_id)); + status_changed = true; + + /* re-check RC calibration */ + rc_calibration_ok = (OK == rc_calibration_check()); + + /* navigation parameters */ + param_get(_param_takeoff_alt, &takeoff_alt); + } + } + + orb_check(sp_man_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); + } + + orb_check(sp_offboard_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); + } + + orb_check(sensor_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); + } + + orb_check(diff_pres_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + } + + check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed); + + orb_check(cmd_sub, &updated); + + if (updated) { + /* got command */ + orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); + + /* handle it */ + handle_command(&status, &safety, &control_mode, &cmd, &armed); + } + + /* update safety topic */ + orb_check(safety_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(safety), safety_sub, &safety); + } + + /* update global position estimate */ + orb_check(global_position_sub, &updated); + + if (updated) { + /* position changed */ + orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); + } + + /* update condition_global_position_valid */ + check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.valid, &(status.condition_global_position_valid), &status_changed); + + /* 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 */ + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(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); + + if (status.condition_local_altitude_valid) { + if (status.condition_landed != local_position.landed) { + status.condition_landed = local_position.landed; + status_changed = true; + + if (status.condition_landed) { + mavlink_log_critical(mavlink_fd, "[cmd] LANDED"); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] IN AIR"); + } + } + } + + /* update battery status */ + orb_check(battery_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + + // warnx("bat v: %2.2f", battery.voltage_v); + + /* only consider battery voltage if system has been running 2s and battery voltage is not 0 */ + if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_v > 0.001f) { + status.battery_voltage = battery.voltage_v; + status.condition_battery_voltage_valid = true; + status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage); + } + } + + /* update subsystem */ + orb_check(subsys_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); + + warnx("subsystem changed: %d\n", (int)info.subsystem_type); + + /* mark / unmark as present */ + if (info.present) { + status.onboard_control_sensors_present |= info.subsystem_type; + + } else { + status.onboard_control_sensors_present &= ~info.subsystem_type; + } + + /* mark / unmark as enabled */ + if (info.enabled) { + status.onboard_control_sensors_enabled |= info.subsystem_type; + + } else { + status.onboard_control_sensors_enabled &= ~info.subsystem_type; + } + + /* mark / unmark as ok */ + if (info.ok) { + status.onboard_control_sensors_health |= info.subsystem_type; + + } else { + status.onboard_control_sensors_health &= ~info.subsystem_type; + } + + status_changed = true; + } + + 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) + status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + + last_idle_time = system_load.tasks[0].total_runtime; + + /* check if board is connected via USB */ + struct stat statbuf; + //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); + } + + // XXX remove later + //warnx("bat remaining: %2.2f", status.battery_remaining); + + /* if battery voltage is getting lower, warn using buzzer, etc. */ + if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) { + //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS + if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { + low_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] WARNING: LOW BATTERY"); + status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; + status_changed = true; + battery_tune_played = false; + } + + low_voltage_counter++; + + } else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { + /* critical battery voltage, this is rather an emergency, change state machine */ + if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { + critical_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY"); + status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; + battery_tune_played = false; + + if (armed.armed) { + // XXX not sure what should happen when voltage is low in flight + //arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + } else { + // XXX should we still allow to arm with critical battery? + //arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); + } + + status_changed = true; + } + + critical_voltage_counter++; + + } else { + low_voltage_counter = 0; + critical_voltage_counter = 0; + } + + /* End battery voltage check */ + + /* 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); + + } else { + // XXX: Add emergency stuff if sensors are lost + } + + + /* + * Check for valid position information. + * + * If the system has a valid position source from an onboard + * position estimator, it is safe to operate it autonomously. + * The flag_vector_flight_mode_ok flag indicates that a minimum + * set of position measurements is available. + */ + + orb_check(gps_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); + /* check if GPS fix is ok */ + float hdop_threshold_m = 4.0f; + float vdop_threshold_m = 8.0f; + + /* + * If horizontal dilution of precision (hdop / eph) + * and vertical diluation of precision (vdop / epv) + * are below a certain threshold (e.g. 4 m), AND + * home position is not yet set AND the last GPS + * GPS measurement is not older than two seconds AND + * the system is currently not armed, set home + * position to the current position. + */ + + if (!home_position_set && gps_position.fix_type >= 3 && + (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) && // XXX note that vdop is 0 for mtk + (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed) { + /* copy position data to uORB home message, store it locally as well */ + // TODO use global position estimate + home.lat = gps_position.lat; + home.lon = gps_position.lon; + home.alt = gps_position.alt; + + home.eph_m = gps_position.eph_m; + home.epv_m = gps_position.epv_m; + + home.s_variance_m_s = gps_position.s_variance_m_s; + home.p_variance_m = gps_position.p_variance_m; + + double home_lat_d = home.lat * 1e-7; + double home_lon_d = home.lon * 1e-7; + warnx("home: lat = %.7f, lon = %.7f", home_lat_d, home_lon_d); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f", home_lat_d, home_lon_d); + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + home_position_set = true; + tune_positive(); + } + } + + /* ignore RC signals if in offboard control mode */ + if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0) { + /* start RC input check */ + if (hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { + /* handle the case where RC signal was regained */ + if (!status.rc_signal_found_once) { + status.rc_signal_found_once = true; + mavlink_log_critical(mavlink_fd, "[cmd] detected RC signal first time"); + status_changed = true; + + } else { + if (status.rc_signal_lost) { + mavlink_log_critical(mavlink_fd, "[cmd] RC signal regained"); + status_changed = true; + } + } + + status.rc_signal_lost = false; + + transition_result_t res; // store all transitions results here + + /* arm/disarm by RC */ + res = TRANSITION_NOT_CHANGED; + + /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm + * do it only for rotary wings */ + if (status.is_rotary_wing && + (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && + (status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY || + (status.condition_landed && ( + status.navigation_state == NAVIGATION_STATE_ALTHOLD || + status.navigation_state == NAVIGATION_STATE_VECTOR + ))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { + /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + res = arming_state_transition(&status, &safety, new_arming_state, &armed); + stick_off_counter = 0; + + } else { + stick_off_counter++; + } + + } else { + stick_off_counter = 0; + } + + /* check if left stick is in lower right position and we're in MANUAL mode -> arm */ + if (status.arming_state == ARMING_STATE_STANDBY && + status.main_state == MAIN_STATE_MANUAL && + sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { + res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + stick_on_counter = 0; + + } else { + stick_on_counter++; + } + + } else { + stick_on_counter = 0; + } + + if (res == 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"); + } + + } else if (res == TRANSITION_DENIED) { + /* DENIED here indicates safety switch not pressed */ + + if (!(!safety.safety_switch_available || safety.safety_off)) { + print_reject_arm("NOT ARMING: Press safety switch first."); + + } else { + warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + } + } + + /* fill current_status according to mode switches */ + check_mode_switches(&sp_man, &status); + + /* evaluate the main state machine */ + res = check_main_state_machine(&status); + + if (res == TRANSITION_CHANGED) { + //mavlink_log_info(mavlink_fd, "[cmd] main state: %d", status.main_state); + tune_positive(); + + } else if (res == TRANSITION_DENIED) { + /* DENIED here indicates bug in the commander */ + warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + } + + } else { + if (!status.rc_signal_lost) { + mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: RC SIGNAL LOST"); + status.rc_signal_lost = true; + status_changed = true; + } + } + } + + /* evaluate the navigation state machine */ + transition_result_t res = check_navigation_state_machine(&status, &control_mode, &local_position); + + if (res == TRANSITION_DENIED) { + /* DENIED here indicates bug in the commander */ + warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + mavlink_log_critical(mavlink_fd, "[cmd] ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + } + + /* check which state machines for changes, clear "changed" flag */ + bool arming_state_changed = check_arming_state_changed(); + bool main_state_changed = check_main_state_changed(); + bool navigation_state_changed = check_navigation_state_changed(); + + if (arming_state_changed || main_state_changed || navigation_state_changed) { + mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d, nav %d", status.arming_state, status.main_state, status.navigation_state); + status_changed = true; + + } else { + status_changed = false; + } + + hrt_abstime t1 = hrt_absolute_time(); + + /* publish arming state */ + if (arming_state_changed) { + armed.timestamp = t1; + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); + } + + /* publish control mode */ + if (navigation_state_changed || arming_state_changed) { + /* publish new navigation state */ + control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic + control_mode.counter++; + control_mode.timestamp = t1; + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); + } + + /* publish states (armed, control mode, vehicle status) at least with 5 Hz */ + if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { + status.counter++; + status.timestamp = t1; + orb_publish(ORB_ID(vehicle_status), status_pub, &status); + control_mode.timestamp = t1; + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); + armed.timestamp = t1; + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); + } + + /* play arming and battery warning tunes */ + if (!arm_tune_played && armed.armed) { + /* play tune when armed */ + if (tune_arm() == OK) + arm_tune_played = true; + + } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { + /* play tune on battery warning */ + if (tune_low_bat() == OK) + battery_tune_played = true; + + } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { + /* play tune on battery critical */ + if (tune_critical_bat() == OK) + battery_tune_played = true; + + } else if (battery_tune_played) { + tune_stop(); + battery_tune_played = false; + } + + /* reset arm_tune_played when disarmed */ + if (!(armed.armed && (!safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) { + arm_tune_played = false; + } + + fflush(stdout); + counter++; + + toggle_status_leds(&status, &armed, arming_state_changed || status_changed); + + usleep(COMMANDER_MONITORING_INTERVAL); + } + + /* wait for threads to complete */ + pthread_join(commander_low_prio_thread, NULL); + + /* close fds */ + led_deinit(); + buzzer_deinit(); + close(sp_man_sub); + close(sp_offboard_sub); + close(local_position_sub); + close(global_position_sub); + close(gps_sub); + close(sensor_sub); + close(safety_sub); + close(cmd_sub); + close(subsys_sub); + close(diff_pres_sub); + close(param_changed_sub); + close(battery_sub); + + warnx("exiting"); + fflush(stdout); + + thread_running = false; + + return 0; +} + +void +check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed) +{ + hrt_abstime t = hrt_absolute_time(); + bool valid_new = (t < timestamp + timeout && t > timeout && valid_in); + + if (*valid_out != valid_new) { + *valid_out = valid_new; + *changed = true; + } +} + +void +toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed) +{ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + + /* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */ + if (armed->armed) { + /* armed, solid */ + led_on(LED_BLUE); + + } else if (armed->ready_to_arm) { + /* ready to arm, blink at 1Hz */ + if (leds_counter % 20 == 0) + led_toggle(LED_BLUE); + + } else { + /* not ready to arm, blink at 10Hz */ + if (leds_counter % 2 == 0) + led_toggle(LED_BLUE); + } + +#endif + + if (changed) { + /* XXX TODO blink fast when armed and serious error occurs */ + + if (armed->armed) { + rgbled_set_mode(RGBLED_MODE_ON); + } else if (armed->ready_to_arm) { + rgbled_set_mode(RGBLED_MODE_BREATHE); + } else { + rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + } + } + + if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) { + switch (status->battery_warning) { + case VEHICLE_BATTERY_WARNING_LOW: + rgbled_set_color(RGBLED_COLOR_YELLOW); + break; + case VEHICLE_BATTERY_WARNING_CRITICAL: + rgbled_set_color(RGBLED_COLOR_AMBER); + break; + default: + break; + } + } else { + switch (status->main_state) { + case MAIN_STATE_MANUAL: + rgbled_set_color(RGBLED_COLOR_WHITE); + break; + case MAIN_STATE_SEATBELT: + case MAIN_STATE_EASY: + rgbled_set_color(RGBLED_COLOR_GREEN); + break; + case MAIN_STATE_AUTO: + rgbled_set_color(RGBLED_COLOR_BLUE); + break; + default: + break; + } + } + + /* give system warnings on error LED, XXX maybe add memory usage warning too */ + if (status->load > 0.95f) { + if (leds_counter % 2 == 0) + led_toggle(LED_AMBER); + + } else { + led_off(LED_AMBER); + } + + leds_counter++; +} + +void +check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status) +{ + /* main mode switch */ + if (!isfinite(sp_man->mode_switch)) { + warnx("mode sw not finite"); + current_status->mode_switch = MODE_SWITCH_MANUAL; + + } else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) { + current_status->mode_switch = MODE_SWITCH_AUTO; + + } else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) { + current_status->mode_switch = MODE_SWITCH_MANUAL; + + } else { + current_status->mode_switch = MODE_SWITCH_ASSISTED; + } + + /* land switch */ + if (!isfinite(sp_man->return_switch)) { + current_status->return_switch = RETURN_SWITCH_NONE; + + } else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) { + current_status->return_switch = RETURN_SWITCH_RETURN; + + } else { + current_status->return_switch = RETURN_SWITCH_NONE; + } + + /* assisted switch */ + if (!isfinite(sp_man->assisted_switch)) { + current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT; + + } else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) { + current_status->assisted_switch = ASSISTED_SWITCH_EASY; + + } else { + current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT; + } + + /* mission switch */ + if (!isfinite(sp_man->mission_switch)) { + current_status->mission_switch = MISSION_SWITCH_MISSION; + + } else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) { + current_status->mission_switch = MISSION_SWITCH_NONE; + + } else { + current_status->mission_switch = MISSION_SWITCH_MISSION; + } +} + +transition_result_t +check_main_state_machine(struct vehicle_status_s *current_status) +{ + /* evaluate the main state machine */ + transition_result_t res = TRANSITION_DENIED; + + switch (current_status->mode_switch) { + case MODE_SWITCH_MANUAL: + res = main_state_transition(current_status, MAIN_STATE_MANUAL); + // TRANSITION_DENIED is not possible here + break; + + case MODE_SWITCH_ASSISTED: + if (current_status->assisted_switch == ASSISTED_SWITCH_EASY) { + res = main_state_transition(current_status, MAIN_STATE_EASY); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this state + + // else fallback to SEATBELT + print_reject_mode("EASY"); + } + + res = main_state_transition(current_status, MAIN_STATE_SEATBELT); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this mode + + if (current_status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages + print_reject_mode("SEATBELT"); + + // else fallback to MANUAL + res = main_state_transition(current_status, MAIN_STATE_MANUAL); + // TRANSITION_DENIED is not possible here + break; + + case MODE_SWITCH_AUTO: + res = main_state_transition(current_status, MAIN_STATE_AUTO); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this state + + // else fallback to SEATBELT (EASY likely will not work too) + print_reject_mode("AUTO"); + res = main_state_transition(current_status, MAIN_STATE_SEATBELT); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this state + + // else fallback to MANUAL + res = main_state_transition(current_status, MAIN_STATE_MANUAL); + // TRANSITION_DENIED is not possible here + break; + + default: + break; + } + + return res; +} + +void +print_reject_mode(const char *msg) +{ + hrt_abstime t = hrt_absolute_time(); + + if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { + last_print_mode_reject_time = t; + char s[80]; + sprintf(s, "[cmd] WARNING: reject %s", msg); + mavlink_log_critical(mavlink_fd, s); + tune_negative(); + } +} + +void +print_reject_arm(const char *msg) +{ + hrt_abstime t = hrt_absolute_time(); + + if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { + last_print_mode_reject_time = t; + char s[80]; + sprintf(s, "[cmd] %s", msg); + mavlink_log_critical(mavlink_fd, s); + tune_negative(); + } +} + +transition_result_t +check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos) +{ + transition_result_t res = TRANSITION_DENIED; + + if (status->main_state == MAIN_STATE_AUTO) { + if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { + // TODO AUTO_LAND handling + if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { + /* don't switch to other states until takeoff not completed */ + if (local_pos->z > -takeoff_alt || status->condition_landed) { + return TRANSITION_NOT_CHANGED; + } + } + if (status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF && + status->navigation_state != NAVIGATION_STATE_AUTO_LOITER && + status->navigation_state != NAVIGATION_STATE_AUTO_MISSION && + status->navigation_state != NAVIGATION_STATE_AUTO_RTL) { + /* possibly on ground, switch to TAKEOFF if needed */ + if (local_pos->z > -takeoff_alt || status->condition_landed) { + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); + return res; + } + } + /* switch to AUTO mode */ + if (status->rc_signal_found_once && !status->rc_signal_lost) { + /* act depending on switches when manual control enabled */ + if (status->return_switch == RETURN_SWITCH_RETURN) { + /* RTL */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_RTL, control_mode); + + } else { + if (status->mission_switch == MISSION_SWITCH_MISSION) { + /* MISSION */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); + + } else { + /* LOITER */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_LOITER, control_mode); + } + } + } else { + /* switch to MISSION when no RC control and first time in some AUTO mode */ + if (status->navigation_state == NAVIGATION_STATE_AUTO_LOITER || + status->navigation_state == NAVIGATION_STATE_AUTO_MISSION || + status->navigation_state == NAVIGATION_STATE_AUTO_RTL || + status->navigation_state == NAVIGATION_STATE_AUTO_LAND) { + res = TRANSITION_NOT_CHANGED; + + } else { + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); + } + } + } else { + /* disarmed, always switch to AUTO_READY */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_READY, control_mode); + } + + } else { + /* manual control modes */ + if (status->rc_signal_lost && (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR)) { + /* switch to failsafe mode */ + bool manual_control_old = control_mode->flag_control_manual_enabled; + + if (!status->condition_landed) { + /* in air: try to hold position */ + res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); + + } else { + /* landed: don't try to hold position but land (if taking off) */ + res = TRANSITION_DENIED; + } + + if (res == TRANSITION_DENIED) { + res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); + } + + control_mode->flag_control_manual_enabled = false; + + if (res == TRANSITION_NOT_CHANGED && manual_control_old) { + /* mark navigation state as changed to force immediate flag publishing */ + set_navigation_state_changed(); + res = TRANSITION_CHANGED; + } + + if (res == TRANSITION_CHANGED) { + if (control_mode->flag_control_position_enabled) { + mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: POS HOLD"); + + } else { + if (status->condition_landed) { + mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD (LAND)"); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD"); + } + } + } + + } else { + switch (status->main_state) { + case MAIN_STATE_MANUAL: + res = navigation_state_transition(status, status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode); + break; + + case MAIN_STATE_SEATBELT: + res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); + break; + + case MAIN_STATE_EASY: + res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); + break; + + default: + break; + } + } + } + + return res; +} + +void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result) +{ + switch (result) { + case VEHICLE_CMD_RESULT_ACCEPTED: + tune_positive(); + break; + + case VEHICLE_CMD_RESULT_DENIED: + mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd.command); + tune_negative(); + break; + + case VEHICLE_CMD_RESULT_FAILED: + mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd.command); + tune_negative(); + break; + + case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: + mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd.command); + tune_negative(); + break; + + case VEHICLE_CMD_RESULT_UNSUPPORTED: + mavlink_log_critical(mavlink_fd, "[cmd] command unsupported: %u", cmd.command); + tune_negative(); + break; + + default: + break; + } +} + +void *commander_low_prio_loop(void *arg) +{ + /* Set thread name */ + prctl(PR_SET_NAME, "commander_low_prio", getpid()); + + /* Subscribe to command topic */ + int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + struct vehicle_command_s cmd; + memset(&cmd, 0, sizeof(cmd)); + + /* wakeup source(s) */ + struct pollfd fds[1]; + + /* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */ + fds[0].fd = cmd_sub; + fds[0].events = POLLIN; + + while (!thread_should_exit) { + + /* wait for up to 100ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + /* if we reach here, we have a valid command */ + orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); + + /* ignore commands the high-prio loop handles */ + if (cmd.command == VEHICLE_CMD_DO_SET_MODE || + cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM || + cmd.command == VEHICLE_CMD_NAV_TAKEOFF) + continue; + + /* only handle low-priority commands here */ + switch (cmd.command) { + + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: + if (is_safe(&status, &safety, &armed)) { + + if (((int)(cmd.param1)) == 1) { + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + usleep(1000000); + /* reboot */ + systemreset(false); + + } else if (((int)(cmd.param1)) == 3) { + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + usleep(1000000); + /* reboot to bootloader */ + systemreset(true); + + } else { + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + } + + } else { + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + } + + break; + + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { + + int calib_ret = ERROR; + + /* 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; + } + + if ((int)(cmd.param1) == 1) { + /* gyro calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_gyro_calibration(mavlink_fd); + + } else if ((int)(cmd.param2) == 1) { + /* magnetometer calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_mag_calibration(mavlink_fd); + + } else if ((int)(cmd.param3) == 1) { + /* zero-altitude pressure calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + + } else if ((int)(cmd.param4) == 1) { + /* RC calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + + } else if ((int)(cmd.param5) == 1) { + /* accelerometer calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_accel_calibration(mavlink_fd); + + } else if ((int)(cmd.param6) == 1) { + /* airspeed calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_airspeed_calibration(mavlink_fd); + } + + if (calib_ret == OK) + tune_positive(); + else + tune_negative(); + + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + + break; + } + + case VEHICLE_CMD_PREFLIGHT_STORAGE: { + + if (((int)(cmd.param1)) == 0) { + if (0 == param_load_default()) { + mavlink_log_info(mavlink_fd, "[cmd] parameters loaded"); + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR"); + answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); + } + + } else if (((int)(cmd.param1)) == 1) { + if (0 == param_save_default()) { + mavlink_log_info(mavlink_fd, "[cmd] parameters saved"); + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] parameters save error"); + answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); + } + } + + break; + } + + default: + answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); + break; + } + + /* send any requested ACKs */ + if (cmd.confirmation > 0 && cmd.command != VEHICLE_CMD_DO_SET_MODE + && cmd.command != VEHICLE_CMD_COMPONENT_ARM_DISARM) { + /* send acknowledge command */ + // XXX TODO + } + + } + + return 0; +} |