diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 232 |
1 files changed, 158 insertions, 74 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 52e658019..6f86e0c2f 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -117,7 +117,7 @@ extern struct system_load_s system_load; #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 POSITION_TIMEOUT 30000 /**< consider the local or global position estimate invalid after 30ms */ #define RC_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 @@ -153,6 +153,7 @@ static bool on_usb_power = false; static float takeoff_alt = 5.0f; static int parachute_enabled = 0; +static float eph_epv_threshold = 5.0f; static struct vehicle_status_s status; static struct actuator_armed_s armed; @@ -194,7 +195,7 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -bool handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *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); /** * Mainloop of commander. @@ -378,7 +379,7 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armed return arming_res; } -bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *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; @@ -534,6 +535,51 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; + case VEHICLE_CMD_DO_SET_HOME: { + bool use_current = cmd->param1 > 0.5f; + if (use_current) { + /* use current position */ + if (status->condition_global_position_valid) { + home->lat = global_pos->lat; + home->lon = global_pos->lon; + home->alt = global_pos->alt; + + home->timestamp = hrt_absolute_time(); + + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + } else { + /* use specified position */ + home->lat = cmd->param5; + home->lon = cmd->param6; + home->alt = cmd->param7; + + home->timestamp = hrt_absolute_time(); + + result = VEHICLE_CMD_RESULT_ACCEPTED; + } + + if (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); + + /* 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 */ + status->condition_home_position_valid = true; + } + } + break; case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case VEHICLE_CMD_PREFLIGHT_CALIBRATION: case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: @@ -566,6 +612,7 @@ int commander_thread_main(int argc, char *argv[]) commander_initialized = false; bool arm_tune_played = false; + bool was_armed = false; /* set parameters */ param_t _param_sys_type = param_find("MAV_TYPE"); @@ -877,9 +924,6 @@ int commander_thread_main(int argc, char *argv[]) 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.global_valid, &(status.condition_global_position_valid), &status_changed); - /* update local position estimate */ orb_check(local_position_sub, &updated); @@ -888,8 +932,53 @@ int commander_thread_main(int argc, char *argv[]) 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; + if (status.condition_global_position_valid) { + if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { + eph_epv_good = false; + } + + } else { + if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) { + eph_epv_good = true; + } + } + check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed); + + /* check if GPS fix is ok */ + + /* update home position */ + if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + + home.lat = global_position.lat; + 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); + + /* 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 */ + status.condition_home_position_valid = true; + tune_positive(true); + } + /* 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.xy_valid && eph_epv_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; @@ -964,7 +1053,7 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; } - /* update subsystem */ + /* update position setpoint triplet */ orb_check(pos_sp_triplet_sub, &updated); if (updated) { @@ -1033,45 +1122,6 @@ int commander_thread_main(int argc, char *argv[]) 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 (!status.condition_home_position_valid && gps_position.fix_type >= 3 && - (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) && - (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed - && global_position.global_valid) { - - /* copy position data to uORB home message, store it locally as well */ - home.lat = global_position.lat; - home.lon = global_position.lon; - home.alt = global_position.alt; - - warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt); - mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt); - - /* 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 */ - status.condition_home_position_valid = true; - tune_positive(true); - } } /* start RC input check */ @@ -1171,30 +1221,27 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied"); } - if (sp_man.mode_switch == SWITCH_POS_ON) { + /* 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 = NAVIGATION_STATE_RTL; - /* 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 = NAVIGATION_STATE_RTL; - } else { - /* MISSION switch */ - if (sp_man.mission_switch == SWITCH_POS_ON) { - /* stick is in LOITER position */ - status.set_nav_state = NAVIGATION_STATE_LOITER; - - } else if (sp_man.mission_switch != SWITCH_POS_NONE) { - /* stick is in MISSION position */ - status.set_nav_state = NAVIGATION_STATE_MISSION; - } - /* XXX: I don't understand this */ - //else if ((sp_man.return_switch == SWITCH_POS_OFF || sp_man.return_switch == SWITCH_POS_MIDDLE) && - // pos_sp_triplet.nav_state == NAVIGATION_STATE_RTL) { - // /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ - // status.set_nav_state = NAV_STATE_MISSION; - // } + } else { + /* MISSION switch */ + if (sp_man.loiter_switch == SWITCH_POS_ON) { + /* stick is in LOITER position */ + status.set_nav_state = NAVIGATION_STATE_LOITER; + + } else if (sp_man.loiter_switch != SWITCH_POS_NONE) { + /* stick is in MISSION position */ + status.set_nav_state = NAVIGATION_STATE_MISSION; + + } 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 = NAVIGATION_STATE_MISSION; } } @@ -1222,10 +1269,15 @@ int commander_thread_main(int argc, char *argv[]) } else { /* failsafe for manual modes */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + transition_result_t res = TRANSITION_DENIED; + + if (!status.condition_landed) { + /* vehicle is not landed, try to perform RTL */ + res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + } if (res == TRANSITION_DENIED) { - /* RTL not allowed (no global position estimate), try LAND */ + /* RTL not allowed (no global position estimate) or not wanted, try LAND */ res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); if (res == TRANSITION_DENIED) { @@ -1259,7 +1311,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - if (handle_command(&status, &safety, &cmd, &armed)) + if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub)) status_changed = true; } @@ -1274,7 +1326,36 @@ int commander_thread_main(int argc, char *argv[]) if (arming_state_changed) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]); + + /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ + if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid && + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + + // TODO remove code duplication + home.lat = global_position.lat; + 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); + + /* 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 */ + status.condition_home_position_valid = true; + } } + was_armed = armed.armed; if (main_state_changed) { status_changed = true; @@ -1620,8 +1701,11 @@ set_control_mode() 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_position_enabled = true; - control_mode.flag_control_velocity_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; } |