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Diffstat (limited to 'src/modules/commander/state_machine_helper.c')
| -rw-r--r-- | src/modules/commander/state_machine_helper.c | 752 |
1 files changed, 752 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c new file mode 100644 index 000000000..bea388a10 --- /dev/null +++ b/src/modules/commander/state_machine_helper.c @@ -0,0 +1,752 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: 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 state_machine_helper.c + * State machine helper functions implementations + */ + +#include <stdio.h> +#include <unistd.h> + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_controls.h> +#include <systemlib/systemlib.h> +#include <drivers/drv_hrt.h> +#include <mavlink/mavlink_log.h> + +#include "state_machine_helper.h" + +static const char *system_state_txt[] = { + "SYSTEM_STATE_PREFLIGHT", + "SYSTEM_STATE_STANDBY", + "SYSTEM_STATE_GROUND_READY", + "SYSTEM_STATE_MANUAL", + "SYSTEM_STATE_STABILIZED", + "SYSTEM_STATE_AUTO", + "SYSTEM_STATE_MISSION_ABORT", + "SYSTEM_STATE_EMCY_LANDING", + "SYSTEM_STATE_EMCY_CUTOFF", + "SYSTEM_STATE_GROUND_ERROR", + "SYSTEM_STATE_REBOOT", + +}; + +/** + * Transition from one state to another + */ +int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state) +{ + int invalid_state = false; + int ret = ERROR; + + commander_state_machine_t old_state = current_status->state_machine; + + switch (new_state) { + case SYSTEM_STATE_MISSION_ABORT: { + /* Indoor or outdoor */ + // if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { + ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING); + + // } else { + // ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF); + // } + } + break; + + case SYSTEM_STATE_EMCY_LANDING: + /* Tell the controller to land */ + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + warnx("EMERGENCY LANDING!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!"); + break; + + case SYSTEM_STATE_EMCY_CUTOFF: + /* Tell the controller to cutoff the motors (thrust = 0) */ + + /* set system flags according to state */ + current_status->flag_system_armed = false; + + warnx("EMERGENCY MOTOR CUTOFF!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!"); + break; + + case SYSTEM_STATE_GROUND_ERROR: + + /* set system flags according to state */ + + /* prevent actuators from arming */ + current_status->flag_system_armed = false; + + warnx("GROUND ERROR, locking down propulsion system\n"); + mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system"); + break; + + case SYSTEM_STATE_PREFLIGHT: + if (current_status->state_machine == SYSTEM_STATE_STANDBY + || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + /* set system flags according to state */ + current_status->flag_system_armed = false; + mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state"); + + } else { + invalid_state = true; + mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state"); + } + + break; + + case SYSTEM_STATE_REBOOT: + if (current_status->state_machine == SYSTEM_STATE_STANDBY + || current_status->state_machine == SYSTEM_STATE_PREFLIGHT + || current_status->flag_hil_enabled) { + invalid_state = false; + /* set system flags according to state */ + current_status->flag_system_armed = false; + mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); + usleep(500000); + up_systemreset(); + /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ + + } else { + invalid_state = true; + mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT"); + } + + break; + + case SYSTEM_STATE_STANDBY: + /* set system flags according to state */ + + /* standby enforces disarmed */ + current_status->flag_system_armed = false; + + mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); + break; + + case SYSTEM_STATE_GROUND_READY: + + /* set system flags according to state */ + + /* ground ready has motors / actuators armed */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state"); + break; + + case SYSTEM_STATE_AUTO: + + /* set system flags according to state */ + + /* auto is airborne and in auto mode, motors armed */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode"); + break; + + case SYSTEM_STATE_STABILIZED: + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode"); + break; + + case SYSTEM_STATE_MANUAL: + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode"); + break; + + default: + invalid_state = true; + break; + } + + if (invalid_state == false || old_state != new_state) { + current_status->state_machine = new_state; + state_machine_publish(status_pub, current_status, mavlink_fd); + publish_armed_status(current_status); + ret = OK; + } + + if (invalid_state) { + mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition"); + ret = ERROR; + } + + return ret; +} + +void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* publish the new state */ + current_status->counter++; + current_status->timestamp = hrt_absolute_time(); + + /* assemble state vector based on flag values */ + if (current_status->flag_control_rates_enabled) { + current_status->onboard_control_sensors_present |= 0x400; + + } else { + current_status->onboard_control_sensors_present &= ~0x400; + } + + current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; + + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; + + orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]); +} + +void publish_armed_status(const struct vehicle_status_s *current_status) +{ + struct actuator_armed_s armed; + armed.armed = current_status->flag_system_armed; + /* lock down actuators if required, only in HIL */ + armed.lockdown = (current_status->flag_hil_enabled) ? true : false; + orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); +} + + +/* + * Private functions, update the state machine + */ +void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + warnx("EMERGENCY HANDLER\n"); + /* Depending on the current state go to one of the error states */ + + if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR); + + } else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) { + + // DO NOT abort mission + //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); + + } else { + warnx("Unknown system state: #%d\n", current_status->state_machine); + } +} + +void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors +{ + if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself + state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd); + + } else { + //global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL); + } + +} + + + +// /* +// * Wrapper functions (to be used in the commander), all functions assume lock on current_status +// */ + +// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR +// * +// * START SUBSYSTEM/EMERGENCY FUNCTIONS +// * */ + +// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was removed something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + +// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was disabled something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + + +// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_health |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //TODO state machine change (recovering) +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //TODO state machine change +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //TODO state machine change +// break; + +// case SUBSYSTEM_TYPE_GPS: +// //TODO state machine change +// break; + +// default: +// break; +// } + + +// } + + +// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type); +// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_GPS: +// // //TODO: remove this block +// // break; +// // /////////////////// +// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL); + +// // printf("previosly_healthy = %u\n", previosly_healthy); +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency(status_pub, current_status); + +// break; + +// default: +// break; +// } + +// } + + +/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ + + +void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* Depending on the current state switch state */ + if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + } +} + +void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* Depending on the current state switch state */ + if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) { + state_machine_emergency(status_pub, current_status, mavlink_fd); + } +} + +void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_STANDBY) { + printf("[cmd] arming\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); + } +} + +void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + printf("[cmd] going standby\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + + } else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] MISSION ABORT!\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + } +} + +void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; + + current_status->flag_control_manual_enabled = true; + + /* set behaviour based on airframe */ + if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) { + + /* assuming a rotary wing, set to SAS */ + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + + } else { + + /* assuming a fixed wing, set to direct pass-through */ + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + current_status->flag_control_attitude_enabled = false; + current_status->flag_control_rates_enabled = false; + } + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] manual mode\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + } +} + +void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { + int old_mode = current_status->flight_mode; + int old_manual_control_mode = current_status->manual_control_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + current_status->flag_control_manual_enabled = true; + + if (old_mode != current_status->flight_mode || + old_manual_control_mode != current_status->manual_control_mode) { + printf("[cmd] att stabilized mode\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + state_machine_publish(status_pub, current_status, mavlink_fd); + } + + } +} + +void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (!current_status->flag_vector_flight_mode_ok) { + mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE"); + tune_error(); + return; + } + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] position guided mode\n"); + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB; + current_status->flag_control_manual_enabled = false; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED); + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + + } +} + +void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (!current_status->flag_vector_flight_mode_ok) { + mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE"); + return; + } + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { + printf("[cmd] auto mode\n"); + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; + current_status->flag_control_manual_enabled = false; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + } +} + + +uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) +{ + uint8_t ret = 1; + + /* Switch on HIL if in standby and not already in HIL mode */ + if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED) + && !current_status->flag_hil_enabled) { + if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) { + /* Enable HIL on request */ + current_status->flag_hil_enabled = true; + ret = OK; + state_machine_publish(status_pub, current_status, mavlink_fd); + publish_armed_status(current_status); + printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n"); + + } else if (current_status->state_machine != SYSTEM_STATE_STANDBY && + current_status->flag_system_armed) { + + mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!") + + } else { + + mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.") + } + } + + /* switch manual / auto */ + if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) { + update_state_machine_mode_auto(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) { + update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) { + update_state_machine_mode_guided(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) { + update_state_machine_mode_manual(status_pub, current_status, mavlink_fd); + } + + /* vehicle is disarmed, mode requests arming */ + if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + /* only arm in standby state */ + // XXX REMOVE + if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); + ret = OK; + printf("[cmd] arming due to command request\n"); + } + } + + /* vehicle is armed, mode requests disarming */ + if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + /* only disarm in ground ready */ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + ret = OK; + printf("[cmd] disarming due to command request\n"); + } + } + + /* NEVER actually switch off HIL without reboot */ + if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { + warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); + mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL"); + ret = ERROR; + } + + return ret; +} + +uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations +{ + commander_state_machine_t current_system_state = current_status->state_machine; + + uint8_t ret = 1; + + switch (custom_mode) { + case SYSTEM_STATE_GROUND_READY: + break; + + case SYSTEM_STATE_STANDBY: + break; + + case SYSTEM_STATE_REBOOT: + printf("try to reboot\n"); + + if (current_system_state == SYSTEM_STATE_STANDBY + || current_system_state == SYSTEM_STATE_PREFLIGHT + || current_status->flag_hil_enabled) { + printf("system will reboot\n"); + mavlink_log_critical(mavlink_fd, "Rebooting.."); + usleep(200000); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT); + ret = 0; + } + + break; + + case SYSTEM_STATE_AUTO: + printf("try to switch to auto/takeoff\n"); + + if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); + printf("state: auto\n"); + ret = 0; + } + + break; + + case SYSTEM_STATE_MANUAL: + printf("try to switch to manual\n"); + + if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + printf("state: manual\n"); + ret = 0; + } + + break; + + default: + break; + } + + return ret; +} + |