diff options
Diffstat (limited to 'src/modules/commander')
23 files changed, 3793 insertions, 3070 deletions
diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.cpp index 6a304896a..b3a5d012b 100644 --- a/src/modules/commander/accelerometer_calibration.c +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -33,7 +33,7 @@ ****************************************************************************/ /** - * @file accelerometer_calibration.c + * @file accelerometer_calibration.cpp * * Implementation of accelerometer calibration. * @@ -104,32 +104,43 @@ */ #include "accelerometer_calibration.h" +#include "commander_helper.h" +#include <unistd.h> +#include <stdio.h> #include <poll.h> +#include <fcntl.h> +#include <sys/prctl.h> +#include <math.h> +#include <string.h> #include <drivers/drv_hrt.h> #include <uORB/topics/sensor_combined.h> #include <drivers/drv_accel.h> #include <systemlib/conversions.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> #include <mavlink/mavlink_log.h> -void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd); -int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]); +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]); int detect_orientation(int mavlink_fd, int sub_sensor_combined); int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num); int mat_invert3(float src[3][3], float dst[3][3]); int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g); -void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd) { +void do_accel_calibration(int mavlink_fd) { /* announce change */ mavlink_log_info(mavlink_fd, "accel calibration started"); - /* set to accel calibration mode */ - status->flag_preflight_accel_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); /* measure and calculate offsets & scales */ float accel_offs[3]; float accel_scale[3]; - int res = do_accel_calibration_mesurements(mavlink_fd, accel_offs, accel_scale); + int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_scale); if (res == OK) { /* measurements complete successfully, set parameters */ @@ -165,24 +176,17 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int m } mavlink_log_info(mavlink_fd, "accel calibration done"); - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ + tune_positive(); } else { /* measurements error */ mavlink_log_info(mavlink_fd, "accel calibration aborted"); - tune_error(); - sleep(2); + tune_negative(); } /* exit accel calibration mode */ - status->flag_preflight_accel_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); } -int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) { +int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) { const int samples_num = 2500; float accel_ref[6][3]; bool data_collected[6] = { false, false, false, false, false, false }; @@ -229,10 +233,13 @@ int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float sprintf(str, "meas started: %s", orientation_strs[orient]); mavlink_log_info(mavlink_fd, str); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); - str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], accel_ref[orient][0], accel_ref[orient][1], accel_ref[orient][2]); + str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], + (double)accel_ref[orient][0], + (double)accel_ref[orient][1], + (double)accel_ref[orient][2]); mavlink_log_info(mavlink_fd, str); data_collected[orient] = true; - tune_confirm(); + tune_neutral(); } close(sensor_combined_sub); @@ -274,7 +281,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { float accel_err_thr = 5.0f; /* still time required in us */ int64_t still_time = 2000000; - struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; hrt_abstime t_start = hrt_absolute_time(); /* set timeout to 30s */ @@ -342,29 +351,29 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { } } - if ( fabs(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 0; // [ g, 0, 0 ] - if ( fabs(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 1; // [ -g, 0, 0 ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 2; // [ 0, g, 0 ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 3; // [ 0, -g, 0 ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr ) return 4; // [ 0, 0, g ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr ) return 5; // [ 0, 0, -g ] mavlink_log_info(mavlink_fd, "ERROR: invalid orientation"); @@ -376,7 +385,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { * Read specified number of accelerometer samples, calculate average and dispersion. */ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) { - struct pollfd fds[1] = { { .fd = sensor_combined_sub, .events = POLLIN } }; + struct pollfd fds[1]; + fds[0].fd = sensor_combined_sub; + fds[0].events = POLLIN; int count = 0; float accel_sum[3] = { 0.0f, 0.0f, 0.0f }; @@ -404,7 +415,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) { float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) - src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); - if (det == 0.0) + if (det == 0.0f) return ERROR; // Singular matrix dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det; diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h index f93a867ba..3275d9461 100644 --- a/src/modules/commander/accelerometer_calibration.h +++ b/src/modules/commander/accelerometer_calibration.h @@ -44,8 +44,7 @@ #define ACCELEROMETER_CALIBRATION_H_ #include <stdint.h> -#include <uORB/topics/vehicle_status.h> -void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd); +void do_accel_calibration(int mavlink_fd); #endif /* ACCELEROMETER_CALIBRATION_H_ */ diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp new file mode 100644 index 000000000..df08292e3 --- /dev/null +++ b/src/modules/commander/airspeed_calibration.cpp @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 airspeed_calibration.cpp + * Airspeed sensor calibration routine + */ + +#include "airspeed_calibration.h" +#include "commander_helper.h" + +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/differential_pressure.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> + +void do_airspeed_calibration(int mavlink_fd) +{ + /* give directions */ + mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still"); + + const int calibration_count = 2500; + + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + + int calibration_counter = 0; + float diff_pres_offset = 0.0f; + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = diff_pres_sub; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + diff_pres_offset += diff_pres.differential_pressure_pa; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); + return; + } + } + + diff_pres_offset = diff_pres_offset / calibration_count; + + if (isfinite(diff_pres_offset)) { + + if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { + mavlink_log_critical(mavlink_fd, "Setting offs failed!"); + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + //char buf[50]; + //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); + //mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "airspeed calibration done"); + + tune_positive(); + + } else { + mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); + } + + close(diff_pres_sub); +} diff --git a/src/modules/commander/airspeed_calibration.h b/src/modules/commander/airspeed_calibration.h new file mode 100644 index 000000000..92f5651ec --- /dev/null +++ b/src/modules/commander/airspeed_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 gyro_calibration.h + * Airspeed sensor calibration routine + */ + +#ifndef AIRSPEED_CALIBRATION_H_ +#define AIRSPEED_CALIBRATION_H_ + +#include <stdint.h> + +void do_airspeed_calibration(int mavlink_fd); + +#endif /* AIRSPEED_CALIBRATION_H_ */
\ No newline at end of file diff --git a/src/modules/commander/baro_calibration.cpp b/src/modules/commander/baro_calibration.cpp new file mode 100644 index 000000000..d7515b3d9 --- /dev/null +++ b/src/modules/commander/baro_calibration.cpp @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 baro_calibration.cpp + * Barometer calibration routine + */ + +#include "baro_calibration.h" + +#include <poll.h> +#include <math.h> +#include <fcntl.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/sensor_combined.h> +#include <drivers/drv_baro.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> + +void do_baro_calibration(int mavlink_fd) +{ + // TODO implement this + return; +} diff --git a/src/modules/commander/baro_calibration.h b/src/modules/commander/baro_calibration.h new file mode 100644 index 000000000..ac0f4be36 --- /dev/null +++ b/src/modules/commander/baro_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 mag_calibration.h + * Barometer calibration routine + */ + +#ifndef BARO_CALIBRATION_H_ +#define BARO_CALIBRATION_H_ + +#include <stdint.h> + +void do_baro_calibration(int mavlink_fd); + +#endif /* BARO_CALIBRATION_H_ */
\ No newline at end of file diff --git a/src/modules/commander/calibration_routines.c b/src/modules/commander/calibration_routines.cpp index a26938637..be38ea104 100644 --- a/src/modules/commander/calibration_routines.c +++ b/src/modules/commander/calibration_routines.cpp @@ -33,7 +33,7 @@ ****************************************************************************/ /** - * @file calibration_routines.c + * @file calibration_routines.cpp * Calibration routines implementations. * * @author Lorenz Meier <lm@inf.ethz.ch> @@ -217,3 +217,4 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], return 0; } + diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c deleted file mode 100644 index e9d1f3954..000000000 --- a/src/modules/commander/commander.c +++ /dev/null @@ -1,2097 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 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.c - * Main system state machine implementation. - * - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * - */ - -#include "commander.h" - -#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 <string.h> -#include <drivers/drv_led.h> -#include <drivers/drv_hrt.h> -#include <drivers/drv_tone_alarm.h> -#include "state_machine_helper.h" -#include "systemlib/systemlib.h" -#include <math.h> -#include <poll.h> -#include <uORB/uORB.h> -#include <uORB/topics/sensor_combined.h> -#include <uORB/topics/battery_status.h> -#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/subsystem_info.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/parameter_update.h> -#include <uORB/topics/differential_pressure.h> -#include <mavlink/mavlink_log.h> - -#include <systemlib/param/param.h> -#include <systemlib/systemlib.h> -#include <systemlib/err.h> - -/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */ -#include <drivers/drv_accel.h> -#include <drivers/drv_gyro.h> -#include <drivers/drv_mag.h> -#include <drivers/drv_baro.h> - -#include "calibration_routines.h" -#include "accelerometer_calibration.h" - -PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ -//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */ -PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); -PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); -PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); - -#include <systemlib/cpuload.h> -extern struct system_load_s system_load; - -/* Decouple update interval and hysteris counters, all depends on intervals */ -#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 GPS_FIX_TYPE_2D 2 -#define GPS_FIX_TYPE_3D 3 -#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 -#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -/* File descriptors */ -static int leds; -static int buzzer; -static int mavlink_fd; -static bool commander_initialized = false; -static struct vehicle_status_s current_status; /**< Main state machine */ -static orb_advert_t stat_pub; - -// static uint16_t nofix_counter = 0; -// static uint16_t gotfix_counter = 0; - -static unsigned int failsafe_lowlevel_timeout_ms; - -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 */ - -/* pthread loops */ -static void *orb_receive_loop(void *arg); - -__EXPORT int commander_main(int argc, char *argv[]); - -/** - * Mainloop of commander. - */ -int commander_thread_main(int argc, char *argv[]); - -static int buzzer_init(void); -static void buzzer_deinit(void); -static int led_init(void); -static void led_deinit(void); -static int led_toggle(int led); -static int led_on(int led); -static int led_off(int led); -static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); -static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); -static void do_rc_calibration(int status_pub, struct vehicle_status_s *status); -static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd); - -int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); - - - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/** - * Sort calibration values. - * - * Sorts the calibration values with bubble sort. - * - * @param a The array to sort - * @param n The number of entries in the array - */ -// static void cal_bsort(float a[], int n); - -static int buzzer_init() -{ - buzzer = open("/dev/tone_alarm", O_WRONLY); - - if (buzzer < 0) { - warnx("Buzzer: open fail\n"); - return ERROR; - } - - return 0; -} - -static void buzzer_deinit() -{ - close(buzzer); -} - - -static int led_init() -{ - leds = open(LED_DEVICE_PATH, 0); - - if (leds < 0) { - warnx("LED: open fail\n"); - return ERROR; - } - - if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { - warnx("LED: ioctl fail\n"); - return ERROR; - } - - return 0; -} - -static void led_deinit() -{ - close(leds); -} - -static int led_toggle(int led) -{ - static int last_blue = LED_ON; - static int last_amber = LED_ON; - - if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; - - if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; - - return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); -} - -static int led_on(int led) -{ - return ioctl(leds, LED_ON, led); -} - -static int led_off(int led) -{ - return ioctl(leds, LED_OFF, led); -} - -enum AUDIO_PATTERN { - AUDIO_PATTERN_ERROR = 2, - AUDIO_PATTERN_NOTIFY_POSITIVE = 3, - AUDIO_PATTERN_NOTIFY_NEUTRAL = 4, - AUDIO_PATTERN_NOTIFY_NEGATIVE = 5, - AUDIO_PATTERN_NOTIFY_CHARGE = 6 -}; - -int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) -{ - - /* Trigger alarm if going into any error state */ - if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) || - ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR); - } - - /* Trigger neutral on arming / disarming */ - if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL); - } - - /* Trigger Tetris on being bored */ - - return 0; -} - -void tune_confirm(void) -{ - ioctl(buzzer, TONE_SET_ALARM, 3); -} - -void tune_error(void) -{ - ioctl(buzzer, TONE_SET_ALARM, 4); -} - -void do_rc_calibration(int status_pub, struct vehicle_status_s *status) -{ - if (current_status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); - return; - } - - int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); - struct manual_control_setpoint_s sp; - orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); - - /* set parameters */ - - float p = sp.roll; - param_set(param_find("TRIM_ROLL"), &p); - p = sp.pitch; - param_set(param_find("TRIM_PITCH"), &p); - p = sp.yaw; - param_set(param_find("TRIM_YAW"), &p); - - /* store to permanent storage */ - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); - } - - mavlink_log_info(mavlink_fd, "trim calibration done"); -} - -void do_mag_calibration(int status_pub, struct vehicle_status_s *status) -{ - - /* set to mag calibration mode */ - status->flag_preflight_mag_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); - struct mag_report mag; - - /* 45 seconds */ - uint64_t calibration_interval = 45 * 1000 * 1000; - - /* maximum 2000 values */ - const unsigned int calibration_maxcount = 500; - unsigned int calibration_counter = 0; - - /* limit update rate to get equally spaced measurements over time (in ms) */ - orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); - - // XXX old cal - // * FLT_MIN is not the most negative float number, - // * but the smallest number by magnitude float can - // * represent. Use -FLT_MAX to initialize the most - // * negative number - - // float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; - // float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; - - int fd = open(MAG_DEVICE_PATH, O_RDONLY); - - /* erase old calibration */ - struct mag_scale mscale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set scale / offsets for mag"); - mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); - } - - /* calibrate range */ - if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { - warnx("failed to calibrate scale"); - } - - close(fd); - - /* calibrate offsets */ - - // uint64_t calibration_start = hrt_absolute_time(); - - uint64_t axis_deadline = hrt_absolute_time(); - uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; - - const char axislabels[3] = { 'X', 'Y', 'Z'}; - int axis_index = -1; - - float *x = (float *)malloc(sizeof(float) * calibration_maxcount); - float *y = (float *)malloc(sizeof(float) * calibration_maxcount); - float *z = (float *)malloc(sizeof(float) * calibration_maxcount); - - if (x == NULL || y == NULL || z == NULL) { - warnx("mag cal failed: out of memory"); - mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); - warnx("x:%p y:%p z:%p\n", x, y, z); - return; - } - - tune_confirm(); - sleep(2); - tune_confirm(); - - while (hrt_absolute_time() < calibration_deadline && - calibration_counter < calibration_maxcount) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } }; - - /* user guidance */ - if (hrt_absolute_time() >= axis_deadline && - axis_index < 3) { - - axis_index++; - - char buf[50]; - sprintf(buf, "Please rotate around %c", axislabels[axis_index]); - mavlink_log_info(mavlink_fd, buf); - tune_confirm(); - - axis_deadline += calibration_interval / 3; - } - - if (!(axis_index < 3)) { - break; - } - - // int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time(); - - // if ((axis_left / 1000) == 0 && axis_left > 0) { - // char buf[50]; - // sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]); - // mavlink_log_info(mavlink_fd, buf); - // } - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); - - x[calibration_counter] = mag.x; - y[calibration_counter] = mag.y; - z[calibration_counter] = mag.z; - - /* get min/max values */ - - // if (mag.x < mag_min[0]) { - // mag_min[0] = mag.x; - // } - // else if (mag.x > mag_max[0]) { - // mag_max[0] = mag.x; - // } - - // if (raw.magnetometer_ga[1] < mag_min[1]) { - // mag_min[1] = raw.magnetometer_ga[1]; - // } - // else if (raw.magnetometer_ga[1] > mag_max[1]) { - // mag_max[1] = raw.magnetometer_ga[1]; - // } - - // if (raw.magnetometer_ga[2] < mag_min[2]) { - // mag_min[2] = raw.magnetometer_ga[2]; - // } - // else if (raw.magnetometer_ga[2] > mag_max[2]) { - // mag_max[2] = raw.magnetometer_ga[2]; - // } - - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); - break; - } - } - - float sphere_x; - float sphere_y; - float sphere_z; - float sphere_radius; - - sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); - - free(x); - free(y); - free(z); - - if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { - - fd = open(MAG_DEVICE_PATH, 0); - - struct mag_scale mscale; - - if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to get scale / offsets for mag"); - - mscale.x_offset = sphere_x; - mscale.y_offset = sphere_y; - mscale.z_offset = sphere_z; - - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to set scale / offsets for mag"); - - close(fd); - - /* announce and set new offset */ - - if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { - warnx("Setting X mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { - warnx("Setting Y mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { - warnx("Setting Z mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { - warnx("Setting X mag scale failed!\n"); - } - - if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { - warnx("Setting Y mag scale failed!\n"); - } - - if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { - warnx("Setting Z mag scale failed!\n"); - } - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - mavlink_log_info(mavlink_fd, "FAILED storing calibration"); - } - - warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", - (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, - (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); - - char buf[52]; - sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, - (double)mscale.y_offset, (double)mscale.z_offset); - mavlink_log_info(mavlink_fd, buf); - - sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, - (double)mscale.y_scale, (double)mscale.z_scale); - mavlink_log_info(mavlink_fd, buf); - - mavlink_log_info(mavlink_fd, "mag calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); - } - - /* disable calibration mode */ - status->flag_preflight_mag_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(sub_mag); -} - -void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* set to gyro calibration mode */ - status->flag_preflight_gyro_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 5000; - - int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s raw; - - int calibration_counter = 0; - float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; - - /* set offsets to zero */ - int fd = open(GYRO_DEVICE_PATH, 0); - struct gyro_scale gscale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) - warn("WARNING: failed to set scale / offsets for gyro"); - - close(fd); - - int errcount = 0; - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); - gyro_offset[0] += raw.gyro_rad_s[0]; - gyro_offset[1] += raw.gyro_rad_s[1]; - gyro_offset[2] += raw.gyro_rad_s[2]; - calibration_counter++; - - } else if (poll_ret == 0) { - errcount++; - } - - if (errcount > 1000) { - /* any persisting poll error is a reason to abort */ - mavlink_log_info(mavlink_fd, "permanent gyro error, aborted."); - return; - } - } - - gyro_offset[0] = gyro_offset[0] / calibration_count; - gyro_offset[1] = gyro_offset[1] / calibration_count; - gyro_offset[2] = gyro_offset[2] / calibration_count; - - /* exit gyro calibration mode */ - status->flag_preflight_gyro_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { - - if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) - || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) - || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { - mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); - } - - /* set offsets to actual value */ - fd = open(GYRO_DEVICE_PATH, 0); - struct gyro_scale gscale = { - gyro_offset[0], - 1.0f, - gyro_offset[1], - 1.0f, - gyro_offset[2], - 1.0f, - }; - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) - warn("WARNING: failed to set scale / offsets for gyro"); - - close(fd); - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - // char buf[50]; - // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); - // mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "gyro calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); - } - - close(sub_sensor_combined); -} - -void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* announce change */ - - mavlink_log_info(mavlink_fd, "keep it still"); - /* set to accel calibration mode */ - status->flag_preflight_airspeed_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 2500; - - int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s diff_pres; - - int calibration_counter = 0; - float diff_pres_offset = 0.0f; - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - diff_pres_offset += diff_pres.differential_pressure_pa; - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); - return; - } - } - - diff_pres_offset = diff_pres_offset / calibration_count; - - if (isfinite(diff_pres_offset)) { - - if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { - mavlink_log_critical(mavlink_fd, "Setting offs failed!"); - } - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - //char buf[50]; - //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); - //mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "airspeed calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); - } - - /* exit airspeed calibration mode */ - status->flag_preflight_airspeed_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(diff_pres_sub); -} - - - -void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd) -{ - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - - /* announce command handling */ - tune_confirm(); - - - /* supported command handling start */ - - /* request to set different system mode */ - switch (cmd->command) { - case VEHICLE_CMD_DO_SET_MODE: { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } - break; - - case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - /* request to arm */ - if ((int)cmd->param1 == 1) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - - /* request to disarm */ - - } else if ((int)cmd->param1 == 0) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } - } - break; - - /* request for an autopilot reboot */ - case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { - if ((int)cmd->param1 == 1) { - if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) { - /* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */ - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - /* system may return here */ - result = VEHICLE_CMD_RESULT_DENIED; - } - } - } - break; - -// /* request to land */ -// case VEHICLE_CMD_NAV_LAND: -// { -// //TODO: add check if landing possible -// //TODO: add landing maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } } -// break; -// -// /* request to takeoff */ -// case VEHICLE_CMD_NAV_TAKEOFF: -// { -// //TODO: add check if takeoff possible -// //TODO: add takeoff maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } -// } -// break; -// - /* preflight calibration */ - case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { - bool handled = false; - - /* gyro calibration */ - if ((int)(cmd->param1) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting gyro cal"); - tune_confirm(); - do_gyro_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished gyro cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING gyro cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* magnetometer calibration */ - if ((int)(cmd->param2) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting mag cal"); - tune_confirm(); - do_mag_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished mag cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING mag cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* zero-altitude pressure calibration */ - if ((int)(cmd->param3) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented"); - tune_confirm(); - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* trim calibration */ - if ((int)(cmd->param4) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting trim cal"); - tune_confirm(); - do_rc_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished trim cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING trim cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* accel calibration */ - if ((int)(cmd->param5) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting accel cal"); - tune_confirm(); - do_accel_calibration(status_pub, ¤t_status, mavlink_fd); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished accel cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING accel cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* airspeed calibration */ - if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting airspeed cal"); - tune_confirm(); - do_airspeed_calibration(status_pub, ¤t_status); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished airspeed cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* none found */ - if (!handled) { - //warnx("refusing unsupported calibration request\n"); - mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } - } - break; - - case VEHICLE_CMD_PREFLIGHT_STORAGE: { - if (current_status.flag_system_armed && - ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) { - /* do not perform expensive memory tasks on multirotors in flight */ - // XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed - mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed"); - - } else { - - // XXX move this to LOW PRIO THREAD of commander app - /* Read all parameters from EEPROM to RAM */ - - if (((int)(cmd->param1)) == 0) { - - /* read all parameters from EEPROM to RAM */ - int read_ret = param_load_default(); - - if (read_ret == OK) { - //warnx("[mavlink pm] Loaded EEPROM params in RAM\n"); - mavlink_log_info(mavlink_fd, "OK loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else if (read_ret == 1) { - mavlink_log_info(mavlink_fd, "OK no changes in"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - if (read_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - - } else { - mavlink_log_info(mavlink_fd, "ERR no param file named"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } - - result = VEHICLE_CMD_RESULT_FAILED; - } - - } else if (((int)(cmd->param1)) == 1) { - - /* write all parameters from RAM to EEPROM */ - int write_ret = param_save_default(); - - if (write_ret == OK) { - mavlink_log_info(mavlink_fd, "OK saved param file"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - if (write_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR params file does not exit:"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - - } else { - mavlink_log_info(mavlink_fd, "ERR writing params to"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } - - result = VEHICLE_CMD_RESULT_FAILED; - } - - } else { - mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } - } - } - break; - - default: { - mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - /* announce command rejection */ - ioctl(buzzer, TONE_SET_ALARM, 4); - } - break; - } - - /* supported command handling stop */ - if (result == VEHICLE_CMD_RESULT_FAILED || - result == VEHICLE_CMD_RESULT_DENIED || - result == VEHICLE_CMD_RESULT_UNSUPPORTED) { - ioctl(buzzer, TONE_SET_ALARM, 5); - - } else if (result == VEHICLE_CMD_RESULT_ACCEPTED) { - tune_confirm(); - } - - /* send any requested ACKs */ - if (cmd->confirmation > 0) { - /* send acknowledge command */ - // XXX TODO - } - -} - -static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal -{ - /* Set thread name */ - prctl(PR_SET_NAME, "commander orb rcv", getpid()); - - /* Subscribe to command topic */ - int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); - struct subsystem_info_s info; - - struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg; - - while (!thread_should_exit) { - struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } }; - - if (poll(fds, 1, 5000) == 0) { - /* timeout, but this is no problem, silently ignore */ - } else { - /* got command */ - orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); - - warnx("Subsys changed: %d\n", (int)info.subsystem_type); - - /* mark / unmark as present */ - if (info.present) { - vstatus->onboard_control_sensors_present |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_present &= ~info.subsystem_type; - } - - /* mark / unmark as enabled */ - if (info.enabled) { - vstatus->onboard_control_sensors_enabled |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type; - } - - /* mark / unmark as ok */ - if (info.ok) { - vstatus->onboard_control_sensors_health |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_health &= ~info.subsystem_type; - } - } - } - - close(subsys_sub); - - return NULL; -} - -/* - * Provides a coarse estimate of remaining battery power. - * - * The estimate is very basic and based on decharging voltage curves. - * - * @return the estimated remaining capacity in 0..1 - */ -float battery_remaining_estimate_voltage(float voltage); - -PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f); -PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f); -PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3); - -float battery_remaining_estimate_voltage(float voltage) -{ - float ret = 0; - static param_t bat_volt_empty; - static param_t bat_volt_full; - static param_t bat_n_cells; - static bool initialized = false; - static unsigned int counter = 0; - static float ncells = 3; - // XXX change cells to int (and param to INT32) - - if (!initialized) { - bat_volt_empty = param_find("BAT_V_EMPTY"); - bat_volt_full = param_find("BAT_V_FULL"); - bat_n_cells = param_find("BAT_N_CELLS"); - initialized = true; - } - - static float chemistry_voltage_empty = 3.2f; - static float chemistry_voltage_full = 4.05f; - - if (counter % 100 == 0) { - param_get(bat_volt_empty, &chemistry_voltage_empty); - param_get(bat_volt_full, &chemistry_voltage_full); - param_get(bat_n_cells, &ncells); - } - - counter++; - - ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty)); - - /* limit to sane values */ - ret = (ret < 0) ? 0 : ret; - ret = (ret > 1) ? 1 : ret; - return ret; -} - -static 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); -} - -/** - * 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(). - */ -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"); - - } else { - warnx("\tcommander not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int commander_thread_main(int argc, char *argv[]) -{ - /* not yet initialized */ - commander_initialized = false; - bool home_position_set = false; - - /* set parameters */ - failsafe_lowlevel_timeout_ms = 0; - param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms); - - 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"); - - /* welcome user */ - warnx("I am in command now!\n"); - - /* pthreads for command and subsystem info handling */ - // pthread_t command_handling_thread; - pthread_t subsystem_info_thread; - - /* initialize */ - if (led_init() != 0) { - warnx("ERROR: Failed to initialize leds\n"); - } - - if (buzzer_init() != 0) { - warnx("ERROR: Failed to initialize buzzer\n"); - } - - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); - } - - /* make sure we are in preflight state */ - memset(¤t_status, 0, sizeof(current_status)); - current_status.state_machine = SYSTEM_STATE_PREFLIGHT; - current_status.flag_system_armed = false; - /* neither manual nor offboard control commands have been received */ - current_status.offboard_control_signal_found_once = false; - current_status.rc_signal_found_once = false; - /* mark all signals lost as long as they haven't been found */ - current_status.rc_signal_lost = true; - current_status.offboard_control_signal_lost = true; - /* allow manual override initially */ - current_status.flag_external_manual_override_ok = true; - /* flag position info as bad, do not allow auto mode */ - current_status.flag_vector_flight_mode_ok = false; - /* set battery warning flag */ - current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; - - /* advertise to ORB */ - stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); - /* publish current state machine */ - state_machine_publish(stat_pub, ¤t_status, mavlink_fd); - - /* home position */ - orb_advert_t home_pub = -1; - struct home_position_s home; - memset(&home, 0, sizeof(home)); - - if (stat_pub < 0) { - warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); - warnx("exiting."); - exit(ERROR); - } - - mavlink_log_info(mavlink_fd, "system is running"); - - /* create pthreads */ - pthread_attr_t subsystem_info_attr; - pthread_attr_init(&subsystem_info_attr); - pthread_attr_setstacksize(&subsystem_info_attr, 2048); - pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, ¤t_status); - - /* Start monitoring loop */ - uint16_t counter = 0; - uint8_t flight_env; - - /* Initialize to 0.0V */ - float battery_voltage = 0.0f; - bool battery_voltage_valid = false; - bool low_battery_voltage_actions_done = false; - bool critical_battery_voltage_actions_done = false; - uint8_t low_voltage_counter = 0; - uint16_t critical_voltage_counter = 0; - int16_t mode_switch_rc_value; - float bat_remain = 1.0f; - - uint16_t stick_off_counter = 0; - uint16_t stick_on_counter = 0; - - /* 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)); - - int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - struct vehicle_global_position_s global_position; - memset(&global_position, 0, sizeof(global_position)); - uint64_t last_global_position_time = 0; - - 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)); - uint64_t last_local_position_time = 0; - - /* - * 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. - */ - int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - struct vehicle_gps_position_s gps_position; - memset(&gps_position, 0, sizeof(gps_position)); - - int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s sensors; - memset(&sensors, 0, sizeof(sensors)); - - int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s diff_pres; - memset(&diff_pres, 0, sizeof(diff_pres)); - uint64_t last_diff_pres_time = 0; - - /* 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; - - // uint8_t vehicle_state_previous = current_status.state_machine; - float voltage_previous = 0.0f; - - uint64_t last_idle_time = 0; - - /* now initialized */ - commander_initialized = true; - thread_running = true; - - uint64_t start_time = hrt_absolute_time(); - uint64_t failsave_ll_start_time = 0; - - enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; - bool state_changed = true; - bool param_init_forced = true; - - while (!thread_should_exit) { - - /* Get current values */ - bool new_data; - orb_check(sp_man_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); - } - - orb_check(sp_offboard_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); - } - - orb_check(sensor_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); - } - - orb_check(diff_pres_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - last_diff_pres_time = diff_pres.timestamp; - } - - orb_check(cmd_sub, &new_data); - - if (new_data) { - /* got command */ - orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); - - /* handle it */ - handle_command(stat_pub, ¤t_status, &cmd); - } - - /* update parameters */ - orb_check(param_changed_sub, &new_data); - - if (new_data || param_init_forced) { - param_init_forced = false; - /* parameters changed */ - orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); - - - /* update parameters */ - if (!current_status.flag_system_armed) { - if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { - warnx("failed setting new system type"); - } - - /* disable manual override for all systems that rely on electronic stabilization */ - if (current_status.system_type == VEHICLE_TYPE_QUADROTOR || - current_status.system_type == VEHICLE_TYPE_HEXAROTOR || - current_status.system_type == VEHICLE_TYPE_OCTOROTOR) { - current_status.flag_external_manual_override_ok = false; - - } else { - current_status.flag_external_manual_override_ok = true; - } - - /* check and update system / component ID */ - param_get(_param_system_id, &(current_status.system_id)); - param_get(_param_component_id, &(current_status.component_id)); - - } - } - - /* update global position estimate */ - orb_check(global_position_sub, &new_data); - - if (new_data) { - /* position changed */ - orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); - last_global_position_time = global_position.timestamp; - } - - /* update local position estimate */ - orb_check(local_position_sub, &new_data); - - if (new_data) { - /* position changed */ - orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); - last_local_position_time = local_position.timestamp; - } - - /* update battery status */ - orb_check(battery_sub, &new_data); - if (new_data) { - orb_copy(ORB_ID(battery_status), battery_sub, &battery); - battery_voltage = battery.voltage_v; - battery_voltage_valid = true; - - /* - * Only update battery voltage estimate if system has - * been running for two and a half seconds. - */ - if (hrt_absolute_time() - start_time > 2500000) { - bat_remain = battery_remaining_estimate_voltage(battery_voltage); - } - } - - /* Slow but important 8 Hz checks */ - if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) { - /* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */ - if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || - current_status.state_machine == SYSTEM_STATE_AUTO || - current_status.state_machine == SYSTEM_STATE_MANUAL)) { - /* armed, solid */ - led_on(LED_AMBER); - - } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* not armed */ - led_toggle(LED_AMBER); - } - - if (hrt_absolute_time() - gps_position.timestamp_position < 2000000) { - - /* toggle GPS (blue) led at 1 Hz if GPS present but no lock, make is solid once locked */ - if ((hrt_absolute_time() - gps_position.timestamp_position < 2000000) - && (gps_position.fix_type == GPS_FIX_TYPE_3D)) { - /* GPS lock */ - led_on(LED_BLUE); - - } else if ((counter + 4) % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* no GPS lock, but GPS module is aquiring lock */ - led_toggle(LED_BLUE); - } - - } else { - /* no GPS info, don't light the blue led */ - led_off(LED_BLUE); - } - - /* toggle GPS led at 5 Hz in HIL mode */ - if (current_status.flag_hil_enabled) { - /* hil enabled */ - led_toggle(LED_BLUE); - - } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { - /* toggle arming (red) at 5 Hz on low battery or error */ - led_toggle(LED_AMBER); - - } else { - // /* Constant error indication in standby mode without GPS */ - // if (!current_status.gps_valid) { - // led_on(LED_AMBER); - - // } else { - // led_off(LED_AMBER); - // } - } - - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* compute system load */ - uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; - - if (last_idle_time > 0) - current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle - - last_idle_time = system_load.tasks[0].total_runtime; - } - } - - // // XXX Export patterns and threshold to parameters - /* Trigger audio event for low battery */ - if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) { - /* For less than 10%, start be really annoying at 5 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, 3); - - } else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { - /* For less than 20%, start be slightly annoying at 1 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - tune_confirm(); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - } - - /* Check battery voltage */ - /* write to sys_status */ - if (battery_voltage_valid) { - current_status.voltage_battery = battery_voltage; - - } else { - current_status.voltage_battery = 0.0f; - } - - /* if battery voltage is getting lower, warn using buzzer, etc. */ - if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == 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!"); - current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; - } - - low_voltage_counter++; - } - - /* Critical, this is rather an emergency, kill signal to sdlog and change state machine */ - else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { - if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { - critical_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!"); - current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; - state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); - } - - critical_voltage_counter++; - - } else { - low_voltage_counter = 0; - critical_voltage_counter = 0; - } - - /* End battery voltage check */ - - - /* - * 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. - */ - - /* store current state to reason later about a state change */ - bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; - bool global_pos_valid = current_status.flag_global_position_valid; - bool local_pos_valid = current_status.flag_local_position_valid; - bool airspeed_valid = current_status.flag_airspeed_valid; - - /* check for global or local position updates, set a timeout of 2s */ - if (hrt_absolute_time() - last_global_position_time < 2000000) { - current_status.flag_global_position_valid = true; - // XXX check for controller status and home position as well - - } else { - current_status.flag_global_position_valid = false; - } - - if (hrt_absolute_time() - last_local_position_time < 2000000) { - current_status.flag_local_position_valid = true; - // XXX check for controller status and home position as well - - } else { - current_status.flag_local_position_valid = false; - } - - /* Check for valid airspeed/differential pressure measurements */ - if (hrt_absolute_time() - last_diff_pres_time < 2000000) { - current_status.flag_airspeed_valid = true; - - } else { - current_status.flag_airspeed_valid = false; - } - - /* - * Consolidate global position and local position valid flags - * for vector flight mode. - */ - if (current_status.flag_local_position_valid || - current_status.flag_global_position_valid) { - current_status.flag_vector_flight_mode_ok = true; - - } else { - current_status.flag_vector_flight_mode_ok = false; - } - - /* consolidate state change, flag as changed if required */ - if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok || - global_pos_valid != current_status.flag_global_position_valid || - local_pos_valid != current_status.flag_local_position_valid || - airspeed_valid != current_status.flag_airspeed_valid) { - state_changed = true; - } - - /* - * Mark the position of the first position lock as return to launch (RTL) - * position. The MAV will return here on command or emergency. - * - * Conditions: - * - * 1) The system aquired position lock just now - * 2) The system has not aquired position lock before - * 3) The system is not armed (on the ground) - */ - if (!current_status.flag_valid_launch_position && - !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok && - !current_status.flag_system_armed) { - /* first time a valid position, store it and emit it */ - - // XXX implement storage and publication of RTL position - current_status.flag_valid_launch_position = true; - current_status.flag_auto_flight_mode_ok = true; - state_changed = true; - } - - if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) { - - orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); - - /* check for first, long-term and valid GPS lock -> set home position */ - float hdop_m = gps_position.eph_m; - float vdop_m = gps_position.epv_m; - - /* check if gps fix is ok */ - // XXX magic number - 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 (gps_position.fix_type == GPS_FIX_TYPE_3D - && (hdop_m < hdop_threshold_m) - && (vdop_m < vdop_threshold_m) - && !home_position_set - && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) - && !current_status.flag_system_armed) { - warnx("setting home position"); - - /* copy position data to uORB home message, store it locally as well */ - 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; - - /* 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_confirm(); - } - } - - /* ignore RC signals if in offboard control mode */ - if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) { - /* Start RC state check */ - - if ((hrt_absolute_time() - sp_man.timestamp) < 100000) { - - // /* - // * Check if manual control modes have to be switched - // */ - // if (!isfinite(sp_man.manual_mode_switch)) { - // warnx("man mode sw not finite\n"); - - // /* this switch is not properly mapped, set default */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { - - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { - - // /* assuming a fixed wing, fall back to direct pass-through */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } - - // } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) { - - // /* bottom stick position, set direct mode for vehicles supporting it */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { - - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { - - // /* assuming a fixed wing, set to direct pass-through as requested */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } - - // } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) { - - // /* top stick position, set SAS for all vehicle types */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - - // } else { - // /* center stick position, set rate control */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = true; - // } - - // warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode); - - /* - * Check if manual stability control modes have to be switched - */ - if (!isfinite(sp_man.manual_sas_switch)) { - - /* this switch is not properly mapped, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; - - } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { - - /* bottom stick position, set default */ - /* this MUST be mapped to extremal position to switch easy in case of emergency */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; - - } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { - - /* top stick position */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; - - } else { - /* center stick position, set altitude hold */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; - } - - if (current_status.manual_sas_mode != manual_sas_mode) { - /* publish SAS mode changes immediately */ - manual_sas_mode = current_status.manual_sas_mode; - state_changed = true; - } - - /* - * Check if left stick is in lower left position --> switch to standby state. - * Do this only for multirotors, not for fixed wing aircraft. - */ - if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) - ) && - current_status.flag_control_manual_enabled && - current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS && - sp_man.yaw < -STICK_ON_OFF_LIMIT && - sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { - if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); - stick_on_counter = 0; - - } else { - stick_off_counter++; - stick_on_counter = 0; - } - } - - /* check if left stick is in lower right position --> arm */ - if (current_status.flag_control_manual_enabled && - current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS && - sp_man.yaw > STICK_ON_OFF_LIMIT && - sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { - if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); - stick_on_counter = 0; - - } else { - stick_on_counter++; - stick_off_counter = 0; - } - } - - /* check manual override switch - switch to manual or auto mode */ - if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) { - /* enable manual override */ - update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); - - } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { - // /* check auto mode switch for correct mode */ - // if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { - // /* enable guided mode */ - // update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); - - // } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { - // XXX hardcode to auto for now - update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); - - // } - - } else { - /* center stick position, set SAS for all vehicle types */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); - } - - /* handle the case where RC signal was regained */ - if (!current_status.rc_signal_found_once) { - current_status.rc_signal_found_once = true; - mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME."); - - } else { - if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); - } - - current_status.rc_signal_cutting_off = false; - current_status.rc_signal_lost = false; - current_status.rc_signal_lost_interval = 0; - - } else { - static uint64_t last_print_time = 0; - - /* print error message for first RC glitch and then every 5 s / 5000 ms) */ - if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) { - /* only complain if the offboard control is NOT active */ - current_status.rc_signal_cutting_off = true; - mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!"); - last_print_time = hrt_absolute_time(); - } - - /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp; - - /* if the RC signal is gone for a full second, consider it lost */ - if (current_status.rc_signal_lost_interval > 1000000) { - current_status.rc_signal_lost = true; - current_status.failsave_lowlevel = true; - state_changed = true; - } - - // if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) { - // publish_armed_status(¤t_status); - // } - } - } - - - - - /* End mode switch */ - - /* END RC state check */ - - - /* State machine update for offboard control */ - if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) { - if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) { - - /* decide about attitude control flag, enable in att/pos/vel */ - bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); - - /* decide about rate control flag, enable it always XXX (for now) */ - bool rates_ctrl_enabled = true; - - /* set up control mode */ - if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { - current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; - state_changed = true; - } - - if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { - current_status.flag_control_rates_enabled = rates_ctrl_enabled; - state_changed = true; - } - - /* handle the case where offboard control signal was regained */ - if (!current_status.offboard_control_signal_found_once) { - current_status.offboard_control_signal_found_once = true; - /* enable offboard control, disable manual input */ - current_status.flag_control_manual_enabled = false; - current_status.flag_control_offboard_enabled = true; - state_changed = true; - tune_confirm(); - - mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); - - } else { - if (current_status.offboard_control_signal_lost) { - mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); - state_changed = true; - tune_confirm(); - } - } - - current_status.offboard_control_signal_weak = false; - current_status.offboard_control_signal_lost = false; - current_status.offboard_control_signal_lost_interval = 0; - - /* arm / disarm on request */ - if (sp_offboard.armed && !current_status.flag_system_armed) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); - /* switch to stabilized mode = takeoff */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); - - } else if (!sp_offboard.armed && current_status.flag_system_armed) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); - } - - } else { - static uint64_t last_print_time = 0; - - /* print error message for first RC glitch and then every 5 s / 5000 ms) */ - if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) { - current_status.offboard_control_signal_weak = true; - mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!"); - last_print_time = hrt_absolute_time(); - } - - /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp; - - /* if the signal is gone for 0.1 seconds, consider it lost */ - if (current_status.offboard_control_signal_lost_interval > 100000) { - current_status.offboard_control_signal_lost = true; - current_status.failsave_lowlevel_start_time = hrt_absolute_time(); - tune_confirm(); - - /* kill motors after timeout */ - if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { - current_status.failsave_lowlevel = true; - state_changed = true; - } - } - } - } - - - current_status.counter++; - current_status.timestamp = hrt_absolute_time(); - - - /* If full run came back clean, transition to standby */ - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT && - current_status.flag_preflight_gyro_calibration == false && - current_status.flag_preflight_mag_calibration == false && - current_status.flag_preflight_accel_calibration == false) { - /* All ok, no calibration going on, go to standby */ - do_state_update(stat_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - } - - /* publish at least with 1 Hz */ - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) { - publish_armed_status(¤t_status); - orb_publish(ORB_ID(vehicle_status), stat_pub, ¤t_status); - state_changed = false; - } - - /* Store old modes to detect and act on state transitions */ - voltage_previous = current_status.voltage_battery; - - fflush(stdout); - counter++; - usleep(COMMANDER_MONITORING_INTERVAL); - } - - /* wait for threads to complete */ - // pthread_join(command_handling_thread, NULL); - pthread_join(subsystem_info_thread, NULL); - - /* close fds */ - led_deinit(); - buzzer_deinit(); - close(sp_man_sub); - close(sp_offboard_sub); - close(global_position_sub); - close(sensor_sub); - close(cmd_sub); - - warnx("exiting..\n"); - fflush(stdout); - - thread_running = false; - - return 0; -} diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp new file mode 100644 index 000000000..41e22d21d --- /dev/null +++ b/src/modules/commander/commander.cpp @@ -0,0 +1,1640 @@ +/**************************************************************************** + * + * 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 <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 "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 GPS_FIX_TYPE_2D 2 +#define GPS_FIX_TYPE_3D 3 +#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 +#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define LOCAL_POSITION_TIMEOUT 1000000 /**< consider the local position estimate invalid after 1s */ + +#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 */ + +/* timout until lowlevel failsafe */ +static unsigned int failsafe_lowlevel_timeout_ms; +static unsigned int leds_counter; +/* To remember when last notification was sent */ +static uint64_t last_print_mode_reject_time = 0; + + +/* 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, vehicle_gps_position_s *gps_position); + +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); + +transition_result_t check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode); + +/** + * Loop that runs at a lower rate and priority for calibration and parameter tasks. + */ +void *commander_low_prio_loop(void *arg); + + +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"); + + } 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 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; + + /* request to set different system mode */ + switch (cmd->command) { + case VEHICLE_CMD_DO_SET_MODE: { + uint8_t base_mode = (uint8_t) cmd->param1; + uint32_t custom_mode = (uint32_t) cmd->param2; + + // TODO remove debug code + mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_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_mode == PX4_CUSTOM_MODE_MANUAL) { + /* MANUAL */ + main_res = main_state_transition(status, MAIN_STATE_MANUAL); + + } else if (custom_mode == PX4_CUSTOM_MODE_SEATBELT) { + /* SEATBELT */ + main_res = main_state_transition(status, MAIN_STATE_SEATBELT); + + } else if (custom_mode == PX4_CUSTOM_MODE_EASY) { + /* EASY */ + main_res = main_state_transition(status, MAIN_STATE_EASY); + + } else if (custom_mode == PX4_CUSTOM_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_COMPONENT_ARM_DISARM: + break; + + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: + if (is_safe(status, safety, armed)) { + + if (((int)(cmd->param1)) == 1) { + /* reboot */ + systemreset(false); + } else if (((int)(cmd->param1)) == 3) { + /* reboot to bootloader */ + + // XXX implement + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + break; + + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { + low_prio_task_t new_low_prio_task = LOW_PRIO_TASK_NONE; + + if ((int)(cmd->param1) == 1) { + /* gyro calibration */ + new_low_prio_task = LOW_PRIO_TASK_GYRO_CALIBRATION; + + } else if ((int)(cmd->param2) == 1) { + /* magnetometer calibration */ + new_low_prio_task = LOW_PRIO_TASK_MAG_CALIBRATION; + + } else if ((int)(cmd->param3) == 1) { + /* zero-altitude pressure calibration */ + //new_low_prio_task = LOW_PRIO_TASK_ALTITUDE_CALIBRATION; + } else if ((int)(cmd->param4) == 1) { + /* RC calibration */ + new_low_prio_task = LOW_PRIO_TASK_RC_CALIBRATION; + + } else if ((int)(cmd->param5) == 1) { + /* accelerometer calibration */ + new_low_prio_task = LOW_PRIO_TASK_ACCEL_CALIBRATION; + + } else if ((int)(cmd->param6) == 1) { + /* airspeed calibration */ + new_low_prio_task = LOW_PRIO_TASK_AIRSPEED_CALIBRATION; + } + + /* check if we have new task and no other task is scheduled */ + if (low_prio_task == LOW_PRIO_TASK_NONE && new_low_prio_task != LOW_PRIO_TASK_NONE) { + /* try to go to INIT/PREFLIGHT arming state */ + if (TRANSITION_DENIED != arming_state_transition(status, safety, ARMING_STATE_INIT, armed)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + low_prio_task = new_low_prio_task; + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + break; + } + + case VEHICLE_CMD_PREFLIGHT_STORAGE: { + low_prio_task_t new_low_prio_task = LOW_PRIO_TASK_NONE; + + if (((int)(cmd->param1)) == 0) { + new_low_prio_task = LOW_PRIO_TASK_PARAM_LOAD; + + } else if (((int)(cmd->param1)) == 1) { + new_low_prio_task = LOW_PRIO_TASK_PARAM_SAVE; + } + + /* check if we have new task and no other task is scheduled */ + if (low_prio_task == LOW_PRIO_TASK_NONE && new_low_prio_task != LOW_PRIO_TASK_NONE) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + low_prio_task = new_low_prio_task; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + break; + } + + default: + break; + } + + /* supported command handling stop */ + if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + tune_positive(); + + } 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); + + } else if (result == VEHICLE_CMD_RESULT_UNSUPPORTED) { + mavlink_log_critical(mavlink_fd, "[cmd] command unsupported: %u", cmd->command); + } + } + + /* send any requested ACKs */ + if (cmd->confirmation > 0) { + /* send acknowledge command */ + // XXX TODO + } + +} + +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 */ + failsafe_lowlevel_timeout_ms = 0; + param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms); + + 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"); + + /* welcome user */ + warnx("[commander] 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) { + warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first."); + } + + /* Main state machine */ + struct vehicle_status_s status; + orb_advert_t status_pub; + /* make sure we are in preflight state */ + memset(&status, 0, sizeof(status)); + + /* armed topic */ + struct actuator_armed_s armed; + 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_STANDBY; + 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; + + // 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, 2048); + + struct sched_param param; + /* low priority */ + param.sched_priority = SCHED_PRIORITY_DEFAULT - 50; + (void)pthread_attr_setschedparam(&commander_low_prio_attr, ¶m); + pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL); + + /* Start monitoring loop */ + unsigned counter = 0; + unsigned low_voltage_counter = 0; + unsigned critical_voltage_counter = 0; + unsigned stick_off_counter = 0; + unsigned stick_on_counter = 0; + + /* To remember when last notification was sent */ + uint64_t last_print_control_time = 0; + + enum VEHICLE_BATTERY_WARNING battery_warning_previous = VEHICLE_BATTERY_WARNING_NONE; + bool armed_previous = false; + + bool low_battery_voltage_actions_done; + bool critical_battery_voltage_actions_done; + + uint64_t last_idle_time = 0; + + uint64_t start_time = 0; + + bool status_changed = true; + bool param_init_forced = true; + + bool updated = false; + + /* Subscribe to safety topic */ + int safety_sub = orb_subscribe(ORB_ID(safety)); + struct safety_s 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)); + uint64_t last_diff_pres_time = 0; + + /* 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)); + + /* now initialized */ + commander_initialized = true; + thread_running = true; + + start_time = hrt_absolute_time(); + + while (!thread_should_exit) { + hrt_abstime t = hrt_absolute_time(); + + /* 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; + } + } + + 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); + last_diff_pres_time = diff_pres.timestamp; + } + + 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 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); + } + + /* set the condition to valid if there has recently been a local position estimate */ + if (t - local_position.timestamp < LOCAL_POSITION_TIMEOUT) { + if (!status.condition_local_position_valid) { + status.condition_local_position_valid = true; + status_changed = true; + } + + } else { + if (status.condition_local_position_valid) { + status.condition_local_position_valid = false; + status_changed = true; + } + } + + /* update battery status */ + orb_check(battery_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + status.battery_voltage = battery.voltage_v; + status.condition_battery_voltage_valid = true; + } + + /* + * Only update battery voltage estimate if system has + * been running for two and a half seconds. + */ + if (t - start_time > 2500000 && status.condition_battery_voltage_valid) { + status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage); + + } else { + status.battery_voltage = 0.0f; + } + + /* 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; + } + + toggle_status_leds(&status, &armed, &gps_position); + + 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 = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle + + last_idle_time = system_load.tasks[0].total_runtime; + } + + /* if battery voltage is getting lower, warn using buzzer, etc. */ + if (status.condition_battery_voltage_valid && status.battery_remaining < 0.15f && !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_WARNING; + status_changed = true; + } + + 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_ALERT; + arming_state_transition(&status, &safety, ARMING_STATE_ARMED_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. + */ + + /* store current state to reason later about a state change */ + // bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; + bool global_pos_valid = status.condition_global_position_valid; + bool local_pos_valid = status.condition_local_position_valid; + bool airspeed_valid = status.condition_airspeed_valid; + + + /* check for global or local position updates, set a timeout of 2s */ + if (t - global_position.timestamp < 2000000 && t > 2000000 && global_position.valid) { + status.condition_global_position_valid = true; + + } else { + status.condition_global_position_valid = false; + } + + if (t - local_position.timestamp < 2000000 && t > 2000000 && local_position.valid) { + status.condition_local_position_valid = true; + + } else { + status.condition_local_position_valid = false; + } + + /* Check for valid airspeed/differential pressure measurements */ + if (t - last_diff_pres_time < 2000000 && t > 2000000) { + status.condition_airspeed_valid = true; + + } else { + status.condition_airspeed_valid = false; + } + + orb_check(gps_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); + + /* check for first, long-term and valid GPS lock -> set home position */ + float hdop_m = gps_position.eph_m; + float vdop_m = gps_position.epv_m; + + /* 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 == GPS_FIX_TYPE_3D && + (hdop_m < hdop_threshold_m) && (vdop_m < vdop_threshold_m) && // XXX note that vdop is 0 for mtk + (t - gps_position.timestamp_position < 2000000) + && !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 ((t - sp_man.timestamp) < 100000) { + /* 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_cutting_off = false; + status.rc_signal_lost = false; + status.rc_signal_lost_interval = 0; + + 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 mode -> 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)) { + if (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++; + } + + stick_on_counter = 0; + + } 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) { + if (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++; + } + + stick_off_counter = 0; + + } 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"); + } + } + + /* 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 { + + /* print error message for first RC glitch and then every 5s */ + if (!status.rc_signal_cutting_off || (t - last_print_control_time) > PRINT_INTERVAL) { + // TODO remove debug code + if (!status.rc_signal_cutting_off) { + warnx("Reason: not rc_signal_cutting_off\n"); + + } else { + warnx("last print time: %llu\n", last_print_control_time); + } + + /* only complain if the offboard control is NOT active */ + status.rc_signal_cutting_off = true; + mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: NO RC CONTROL"); + + last_print_control_time = t; + } + + /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ + status.rc_signal_lost_interval = t - sp_man.timestamp; + + /* if the RC signal is gone for a full second, consider it lost */ + if (status.rc_signal_lost_interval > 1000000) { + status.rc_signal_lost = true; + status.failsave_lowlevel = true; + status_changed = true; + } + } + } + + /* END mode switch */ + /* END RC state check */ + + // TODO check this + /* state machine update for offboard control */ + if (!status.rc_signal_found_once && sp_offboard.timestamp != 0) { + if ((t - sp_offboard.timestamp) < 5000000) { // TODO 5s is too long ? + + // /* decide about attitude control flag, enable in att/pos/vel */ + // bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || + // sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || + // sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); + + // /* decide about rate control flag, enable it always XXX (for now) */ + // bool rates_ctrl_enabled = true; + + // /* set up control mode */ + // if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { + // current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; + // state_changed = true; + // } + + // if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { + // current_status.flag_control_rates_enabled = rates_ctrl_enabled; + // state_changed = true; + // } + + // /* handle the case where offboard control signal was regained */ + // if (!current_status.offboard_control_signal_found_once) { + // current_status.offboard_control_signal_found_once = true; + // /* enable offboard control, disable manual input */ + // current_status.flag_control_manual_enabled = false; + // current_status.flag_control_offboard_enabled = true; + // state_changed = true; + // tune_positive(); + + // mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); + + // } else { + // if (current_status.offboard_control_signal_lost) { + // mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); + // state_changed = true; + // tune_positive(); + // } + // } + + status.offboard_control_signal_weak = false; + status.offboard_control_signal_lost = false; + status.offboard_control_signal_lost_interval = 0; + + // XXX check if this is correct + /* arm / disarm on request */ + if (sp_offboard.armed && !armed.armed) { + arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + + } else if (!sp_offboard.armed && armed.armed) { + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + } + + } else { + + /* print error message for first offboard signal glitch and then every 5s */ + if (!status.offboard_control_signal_weak || ((t - last_print_control_time) > PRINT_INTERVAL)) { + status.offboard_control_signal_weak = true; + mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: NO OFFBOARD CONTROL"); + last_print_control_time = t; + } + + /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ + status.offboard_control_signal_lost_interval = t - sp_offboard.timestamp; + + /* if the signal is gone for 0.1 seconds, consider it lost */ + if (status.offboard_control_signal_lost_interval > 100000) { + status.offboard_control_signal_lost = true; + status.failsave_lowlevel_start_time = t; + tune_positive(); + + /* kill motors after timeout */ + if (t - status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { + status.failsave_lowlevel = true; + status_changed = true; + } + } + } + } + + /* evaluate the navigation state machine */ + transition_result_t res = check_navigation_state_machine(&status, &control_mode); + + 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; + } + + /* publish arming state */ + if (arming_state_changed) { + armed.timestamp = t; + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); + } + + /* publish control mode */ + if (navigation_state_changed) { + /* publish new navigation state */ + control_mode.counter++; + control_mode.timestamp = t; + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); + } + + /* publish vehicle status at least with 1 Hz */ + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { + status.counter++; + status.timestamp = t; + orb_publish(ORB_ID(vehicle_status), status_pub, &status); + status_changed = false; + } + + /* 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_WARNING) { + /* play tune on battery warning */ + if (tune_low_bat() == OK) + battery_tune_played = true; + + } else if (status.battery_remaining == VEHICLE_BATTERY_WARNING_ALERT) { + /* 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; + } + + /* store old modes to detect and act on state transitions */ + battery_warning_previous = status.battery_warning; + armed_previous = armed.armed; + + fflush(stdout); + counter++; + 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 +toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, vehicle_gps_position_s *gps_position) +{ + if (leds_counter % 2 == 0) { + /* run at 10Hz, full cycle is 16 ticks = 10/16Hz */ + if (armed->armed) { + /* armed, solid */ + led_on(LED_AMBER); + + } else if (armed->ready_to_arm) { + /* ready to arm, blink at 2.5Hz */ + if (leds_counter & 8) { + led_on(LED_AMBER); + + } else { + led_off(LED_AMBER); + } + + } else { + /* not ready to arm, blink at 10Hz */ + led_toggle(LED_AMBER); + } + + if (status->condition_global_position_valid) { + /* position estimated, solid */ + led_on(LED_BLUE); + + } else if (leds_counter == 0) { + /* waiting for position estimate, short blink at 1.25Hz */ + led_on(LED_BLUE); + + } else { + /* no position estimator available, off */ + led_off(LED_BLUE); + } + } + + leds_counter++; + + if (leds_counter >= 16) + leds_counter = 0; +} + +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(); + } +} + +transition_result_t +check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode) +{ + transition_result_t res = TRANSITION_DENIED; + + if (current_status->arming_state == ARMING_STATE_ARMED || current_status->arming_state == ARMING_STATE_ARMED_ERROR) { + /* ARMED */ + switch (current_status->main_state) { + case MAIN_STATE_MANUAL: + res = navigation_state_transition(current_status, current_status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode); + break; + + case MAIN_STATE_SEATBELT: + res = navigation_state_transition(current_status, NAVIGATION_STATE_ALTHOLD, control_mode); + break; + + case MAIN_STATE_EASY: + res = navigation_state_transition(current_status, NAVIGATION_STATE_VECTOR, control_mode); + break; + + case MAIN_STATE_AUTO: + if (current_status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF) { + /* don't act while taking off */ + if (current_status->condition_landed) { + /* if landed: transitions only to AUTO_READY are allowed */ + res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_READY, control_mode); + // TRANSITION_DENIED is not possible here + break; + + } else { + /* if not landed: act depending on switches */ + if (current_status->return_switch == RETURN_SWITCH_RETURN) { + /* RTL */ + res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_RTL, control_mode); + + } else { + if (current_status->mission_switch == MISSION_SWITCH_MISSION) { + /* MISSION */ + res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_MISSION, control_mode); + + } else { + /* LOITER */ + res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_LOITER, control_mode); + } + } + } + } + + break; + + default: + break; + } + + } else { + /* DISARMED */ + res = navigation_state_transition(current_status, NAVIGATION_STATE_STANDBY, control_mode); + } + + return res; +} + +void *commander_low_prio_loop(void *arg) +{ + /* Set thread name */ + prctl(PR_SET_NAME, "commander_low_prio", getpid()); + + low_prio_task = LOW_PRIO_TASK_NONE; + + while (!thread_should_exit) { + + switch (low_prio_task) { + case LOW_PRIO_TASK_PARAM_LOAD: + + if (0 == param_load_default()) { + mavlink_log_info(mavlink_fd, "[cmd] parameters loaded"); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR"); + tune_error(); + } + + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_PARAM_SAVE: + + if (0 == param_save_default()) { + mavlink_log_info(mavlink_fd, "[cmd] parameters saved"); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] parameters save error"); + tune_error(); + } + + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_GYRO_CALIBRATION: + + do_gyro_calibration(mavlink_fd); + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_MAG_CALIBRATION: + + do_mag_calibration(mavlink_fd); + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_ALTITUDE_CALIBRATION: + + // do_baro_calibration(mavlink_fd); + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_RC_CALIBRATION: + + // do_rc_calibration(mavlink_fd); + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_ACCEL_CALIBRATION: + + do_accel_calibration(mavlink_fd); + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_AIRSPEED_CALIBRATION: + + do_airspeed_calibration(mavlink_fd); + low_prio_task = LOW_PRIO_TASK_NONE; + break; + + case LOW_PRIO_TASK_NONE: + default: + /* slow down to 10Hz */ + usleep(100000); + break; + } + + } + + return 0; +} diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp new file mode 100644 index 000000000..681a11568 --- /dev/null +++ b/src/modules/commander/commander_helper.cpp @@ -0,0 +1,219 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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 commander_helper.cpp + * Commander helper functions implementations + */ + +#include <stdio.h> +#include <unistd.h> +#include <stdint.h> +#include <stdbool.h> +#include <fcntl.h> + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <systemlib/err.h> +#include <systemlib/param/param.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_tone_alarm.h> +#include <drivers/drv_led.h> + +#include "commander_helper.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +bool is_multirotor(const struct vehicle_status_s *current_status) +{ + return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status->system_type == VEHICLE_TYPE_OCTOROTOR) || + (current_status->system_type == VEHICLE_TYPE_TRICOPTER)); +} + +bool is_rotary_wing(const struct vehicle_status_s *current_status) +{ + return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER) + || (current_status->system_type == VEHICLE_TYPE_COAXIAL); +} + +static int buzzer; + +int buzzer_init() +{ + buzzer = open("/dev/tone_alarm", O_WRONLY); + + if (buzzer < 0) { + warnx("Buzzer: open fail\n"); + return ERROR; + } + + return OK; +} + +void buzzer_deinit() +{ + close(buzzer); +} + +void tune_error() +{ + ioctl(buzzer, TONE_SET_ALARM, 2); +} + +void tune_positive() +{ + ioctl(buzzer, TONE_SET_ALARM, 3); +} + +void tune_neutral() +{ + ioctl(buzzer, TONE_SET_ALARM, 4); +} + +void tune_negative() +{ + ioctl(buzzer, TONE_SET_ALARM, 5); +} + +int tune_arm() +{ + return ioctl(buzzer, TONE_SET_ALARM, 12); +} + +int tune_critical_bat() +{ + return ioctl(buzzer, TONE_SET_ALARM, 14); +} + +int tune_low_bat() +{ + return ioctl(buzzer, TONE_SET_ALARM, 13); +} + +void tune_stop() +{ + ioctl(buzzer, TONE_SET_ALARM, 0); +} + +static int leds; + +int led_init() +{ + leds = open(LED_DEVICE_PATH, 0); + + if (leds < 0) { + warnx("LED: open fail\n"); + return ERROR; + } + + if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { + warnx("LED: ioctl fail\n"); + return ERROR; + } + + return 0; +} + +void led_deinit() +{ + close(leds); +} + +int led_toggle(int led) +{ + static int last_blue = LED_ON; + static int last_amber = LED_ON; + + if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; + + if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; + + return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); +} + +int led_on(int led) +{ + return ioctl(leds, LED_ON, led); +} + +int led_off(int led) +{ + return ioctl(leds, LED_OFF, led); +} + +float battery_remaining_estimate_voltage(float voltage) +{ + float ret = 0; + static param_t bat_volt_empty; + static param_t bat_volt_full; + static param_t bat_n_cells; + static bool initialized = false; + static unsigned int counter = 0; + static float ncells = 3; + // XXX change cells to int (and param to INT32) + + if (!initialized) { + bat_volt_empty = param_find("BAT_V_EMPTY"); + bat_volt_full = param_find("BAT_V_FULL"); + bat_n_cells = param_find("BAT_N_CELLS"); + initialized = true; + } + + static float chemistry_voltage_empty = 3.2f; + static float chemistry_voltage_full = 4.05f; + + if (counter % 100 == 0) { + param_get(bat_volt_empty, &chemistry_voltage_empty); + param_get(bat_volt_full, &chemistry_voltage_full); + param_get(bat_n_cells, &ncells); + } + + counter++; + + ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty)); + + /* limit to sane values */ + ret = (ret < 0.0f) ? 0.0f : ret; + ret = (ret > 1.0f) ? 1.0f : ret; + return ret; +} diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h new file mode 100644 index 000000000..c621b9823 --- /dev/null +++ b/src/modules/commander/commander_helper.h @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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 commander_helper.h + * Commander helper functions definitions + */ + +#ifndef COMMANDER_HELPER_H_ +#define COMMANDER_HELPER_H_ + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/vehicle_control_mode.h> + + +bool is_multirotor(const struct vehicle_status_s *current_status); +bool is_rotary_wing(const struct vehicle_status_s *current_status); + +int buzzer_init(void); +void buzzer_deinit(void); + +void tune_error(void); +void tune_positive(void); +void tune_neutral(void); +void tune_negative(void); +int tune_arm(void); +int tune_critical_bat(void); +int tune_low_bat(void); +void tune_stop(void); + +int led_init(void); +void led_deinit(void); +int led_toggle(int led); +int led_on(int led); +int led_off(int led); + +/** + * Provides a coarse estimate of remaining battery power. + * + * The estimate is very basic and based on decharging voltage curves. + * + * @return the estimated remaining capacity in 0..1 + */ +float battery_remaining_estimate_voltage(float voltage); + +#endif /* COMMANDER_HELPER_H_ */ diff --git a/src/modules/commander/commander.h b/src/modules/commander/commander_params.c index 04b4e72ab..6832fc5ce 100644 --- a/src/modules/commander/commander.h +++ b/src/modules/commander/commander_params.c @@ -1,10 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 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> + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,23 +33,22 @@ ****************************************************************************/ /** - * @file commander.h - * Main system state machine definition. + * @file commander_params.c + * + * Parameters defined by the sensors task. * - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> * @author Lorenz Meier <lm@inf.ethz.ch> * @author Thomas Gubler <thomasgubler@student.ethz.ch> * @author Julian Oes <joes@student.ethz.ch> - * */ -#ifndef COMMANDER_H_ -#define COMMANDER_H_ - -#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f -#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f - -void tune_confirm(void); -void tune_error(void); +#include <nuttx/config.h> +#include <systemlib/param/param.h> -#endif /* COMMANDER_H_ */ +PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ +PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); +PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f); +PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f); +PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3); diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp new file mode 100644 index 000000000..f1afb0107 --- /dev/null +++ b/src/modules/commander/gyro_calibration.cpp @@ -0,0 +1,283 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 gyro_calibration.cpp + * Gyroscope calibration routine + */ + +#include "gyro_calibration.h" +#include "commander_helper.h" + +#include <stdio.h> +#include <fcntl.h> +#include <poll.h> +#include <math.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/sensor_combined.h> +#include <drivers/drv_gyro.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> + + +void do_gyro_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "gyro calibration starting, hold still"); + + const int calibration_count = 5000; + + int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s raw; + + int calibration_counter = 0; + float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; + + /* set offsets to zero */ + int fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + gyro_offset[0] += raw.gyro_rad_s[0]; + gyro_offset[1] += raw.gyro_rad_s[1]; + gyro_offset[2] += raw.gyro_rad_s[2]; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); + return; + } + } + + gyro_offset[0] = gyro_offset[0] / calibration_count; + gyro_offset[1] = gyro_offset[1] / calibration_count; + gyro_offset[2] = gyro_offset[2] / calibration_count; + + + if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { + + if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) + || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) + || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { + mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); + } + + /* set offsets to actual value */ + fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale = { + gyro_offset[0], + 1.0f, + gyro_offset[1], + 1.0f, + gyro_offset[2], + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warnx("WARNING: auto-save of params to storage failed"); + mavlink_log_critical(mavlink_fd, "gyro store failed"); + // XXX negative tune + return; + } + + mavlink_log_info(mavlink_fd, "gyro calibration done"); + + tune_positive(); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "offset cal FAILED (NaN)"); + return; + } + + + /*** --- SCALING --- ***/ + + mavlink_log_info(mavlink_fd, "offset calibration finished. Rotate for scale 30x"); + mavlink_log_info(mavlink_fd, "or do not rotate and wait for 5 seconds to skip."); + warnx("offset calibration finished. Rotate for scale 30x, or do not rotate and wait for 5 seconds to skip."); + + unsigned rotations_count = 30; + float gyro_integral = 0.0f; + float baseline_integral = 0.0f; + + // XXX change to mag topic + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + + float mag_last = -atan2f(raw.magnetometer_ga[1],raw.magnetometer_ga[0]); + if (mag_last > M_PI_F) mag_last -= 2*M_PI_F; + if (mag_last < -M_PI_F) mag_last += 2*M_PI_F; + + + uint64_t last_time = hrt_absolute_time(); + uint64_t start_time = hrt_absolute_time(); + + while ((int)fabsf(baseline_integral / (2.0f * M_PI_F)) < rotations_count) { + + /* abort this loop if not rotated more than 180 degrees within 5 seconds */ + if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f) + && (hrt_absolute_time() - start_time > 5 * 1e6)) { + mavlink_log_info(mavlink_fd, "gyro scale calibration skipped"); + mavlink_log_info(mavlink_fd, "gyro calibration done"); + tune_positive(); + return; + } + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + + float dt_ms = (hrt_absolute_time() - last_time) / 1e3f; + last_time = hrt_absolute_time(); + + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + + // XXX this is just a proof of concept and needs world / body + // transformation and more + + //math::Vector2f magNav(raw.magnetometer_ga); + + // calculate error between estimate and measurement + // apply declination correction for true heading as well. + //float mag = -atan2f(magNav(1),magNav(0)); + float mag = -atan2f(raw.magnetometer_ga[1],raw.magnetometer_ga[0]); + if (mag > M_PI_F) mag -= 2*M_PI_F; + if (mag < -M_PI_F) mag += 2*M_PI_F; + + float diff = mag - mag_last; + + if (diff > M_PI_F) diff -= 2*M_PI_F; + if (diff < -M_PI_F) diff += 2*M_PI_F; + + baseline_integral += diff; + mag_last = mag; + // Jump through some timing scale hoops to avoid + // operating near the 1e6/1e8 max sane resolution of float. + gyro_integral += (raw.gyro_rad_s[2] * dt_ms) / 1e3f; + + warnx("dbg: b: %6.4f, g: %6.4f", baseline_integral, gyro_integral); + + // } else if (poll_ret == 0) { + // /* any poll failure for 1s is a reason to abort */ + // mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); + // return; + } + } + + float gyro_scale = baseline_integral / gyro_integral; + float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale }; + warnx("gyro scale: yaw (z): %6.4f", gyro_scale); + mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", gyro_scale); + + + if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) { + + if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scales[0])) + || param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scales[1])) + || param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scales[2]))) { + mavlink_log_critical(mavlink_fd, "Setting gyro scale failed!"); + } + + /* set offsets to actual value */ + fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale = { + gyro_offset[0], + gyro_scales[0], + gyro_offset[1], + gyro_scales[1], + gyro_offset[2], + gyro_scales[2], + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + // char buf[50]; + // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); + // mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "gyro calibration done"); + + tune_positive(); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); + } + + close(sub_sensor_combined); +} diff --git a/src/modules/commander/gyro_calibration.h b/src/modules/commander/gyro_calibration.h new file mode 100644 index 000000000..cd262507d --- /dev/null +++ b/src/modules/commander/gyro_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 gyro_calibration.h + * Gyroscope calibration routine + */ + +#ifndef GYRO_CALIBRATION_H_ +#define GYRO_CALIBRATION_H_ + +#include <stdint.h> + +void do_gyro_calibration(int mavlink_fd); + +#endif /* GYRO_CALIBRATION_H_ */
\ No newline at end of file diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp new file mode 100644 index 000000000..9a25103f8 --- /dev/null +++ b/src/modules/commander/mag_calibration.cpp @@ -0,0 +1,280 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 mag_calibration.cpp + * Magnetometer calibration routine + */ + +#include "mag_calibration.h" +#include "commander_helper.h" +#include "calibration_routines.h" + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <poll.h> +#include <math.h> +#include <fcntl.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/sensor_combined.h> +#include <drivers/drv_mag.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> + + +void do_mag_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "mag calibration starting, hold still"); + + int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); + struct mag_report mag; + + /* 45 seconds */ + uint64_t calibration_interval = 45 * 1000 * 1000; + + /* maximum 2000 values */ + const unsigned int calibration_maxcount = 500; + unsigned int calibration_counter = 0; + + /* limit update rate to get equally spaced measurements over time (in ms) */ + orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); + + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + /* erase old calibration */ + struct mag_scale mscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { + warn("WARNING: failed to set scale / offsets for mag"); + mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); + } + + /* calibrate range */ + if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { + warnx("failed to calibrate scale"); + } + + close(fd); + + /* calibrate offsets */ + + // uint64_t calibration_start = hrt_absolute_time(); + + uint64_t axis_deadline = hrt_absolute_time(); + uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; + + const char axislabels[3] = { 'X', 'Y', 'Z'}; + int axis_index = -1; + + float *x = (float *)malloc(sizeof(float) * calibration_maxcount); + float *y = (float *)malloc(sizeof(float) * calibration_maxcount); + float *z = (float *)malloc(sizeof(float) * calibration_maxcount); + + if (x == NULL || y == NULL || z == NULL) { + warnx("mag cal failed: out of memory"); + mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); + warnx("x:%p y:%p z:%p\n", x, y, z); + return; + } + + while (hrt_absolute_time() < calibration_deadline && + calibration_counter < calibration_maxcount) { + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_mag; + fds[0].events = POLLIN; + + /* user guidance */ + if (hrt_absolute_time() >= axis_deadline && + axis_index < 3) { + + axis_index++; + + char buf[50]; + sprintf(buf, "please rotate around %c", axislabels[axis_index]); + mavlink_log_info(mavlink_fd, buf); + tune_neutral(); + + axis_deadline += calibration_interval / 3; + } + + if (!(axis_index < 3)) { + break; + } + + // int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time(); + + // if ((axis_left / 1000) == 0 && axis_left > 0) { + // char buf[50]; + // sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]); + // mavlink_log_info(mavlink_fd, buf); + // } + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); + + x[calibration_counter] = mag.x; + y[calibration_counter] = mag.y; + z[calibration_counter] = mag.z; + + /* get min/max values */ + + // if (mag.x < mag_min[0]) { + // mag_min[0] = mag.x; + // } + // else if (mag.x > mag_max[0]) { + // mag_max[0] = mag.x; + // } + + // if (raw.magnetometer_ga[1] < mag_min[1]) { + // mag_min[1] = raw.magnetometer_ga[1]; + // } + // else if (raw.magnetometer_ga[1] > mag_max[1]) { + // mag_max[1] = raw.magnetometer_ga[1]; + // } + + // if (raw.magnetometer_ga[2] < mag_min[2]) { + // mag_min[2] = raw.magnetometer_ga[2]; + // } + // else if (raw.magnetometer_ga[2] > mag_max[2]) { + // mag_max[2] = raw.magnetometer_ga[2]; + // } + + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); + break; + } + } + + float sphere_x; + float sphere_y; + float sphere_z; + float sphere_radius; + + sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); + + free(x); + free(y); + free(z); + + if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { + + fd = open(MAG_DEVICE_PATH, 0); + + struct mag_scale mscale; + + if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to get scale / offsets for mag"); + + mscale.x_offset = sphere_x; + mscale.y_offset = sphere_y; + mscale.z_offset = sphere_z; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to set scale / offsets for mag"); + + close(fd); + + /* announce and set new offset */ + + if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { + warnx("Setting X mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { + warnx("Setting Y mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { + warnx("Setting Z mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { + warnx("Setting X mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { + warnx("Setting Y mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { + warnx("Setting Z mag scale failed!\n"); + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + mavlink_log_info(mavlink_fd, "FAILED storing calibration"); + } + + warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", + (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, + (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); + + char buf[52]; + sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, + (double)mscale.y_offset, (double)mscale.z_offset); + mavlink_log_info(mavlink_fd, buf); + + sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, + (double)mscale.y_scale, (double)mscale.z_scale); + mavlink_log_info(mavlink_fd, buf); + + mavlink_log_info(mavlink_fd, "mag calibration done"); + + tune_positive(); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); + } + + close(sub_mag); +}
\ No newline at end of file diff --git a/src/modules/commander/mag_calibration.h b/src/modules/commander/mag_calibration.h new file mode 100644 index 000000000..fd2085f14 --- /dev/null +++ b/src/modules/commander/mag_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 mag_calibration.h + * Magnetometer calibration routine + */ + +#ifndef MAG_CALIBRATION_H_ +#define MAG_CALIBRATION_H_ + +#include <stdint.h> + +void do_mag_calibration(int mavlink_fd); + +#endif /* MAG_CALIBRATION_H_ */
\ No newline at end of file diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index fe44e955a..91d75121e 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -36,8 +36,15 @@ # MODULE_COMMAND = commander -SRCS = commander.c \ - state_machine_helper.c \ - calibration_routines.c \ - accelerometer_calibration.c +SRCS = commander.cpp \ + commander_params.c \ + state_machine_helper.cpp \ + commander_helper.cpp \ + calibration_routines.cpp \ + accelerometer_calibration.cpp \ + gyro_calibration.cpp \ + mag_calibration.cpp \ + baro_calibration.cpp \ + rc_calibration.cpp \ + airspeed_calibration.cpp diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h new file mode 100644 index 000000000..4d4859a5c --- /dev/null +++ b/src/modules/commander/px4_custom_mode.h @@ -0,0 +1,18 @@ +/* + * px4_custom_mode.h + * + * Created on: 09.08.2013 + * Author: ton + */ + +#ifndef PX4_CUSTOM_MODE_H_ +#define PX4_CUSTOM_MODE_H_ + +enum PX4_CUSTOM_MODE { + PX4_CUSTOM_MODE_MANUAL = 1, + PX4_CUSTOM_MODE_SEATBELT, + PX4_CUSTOM_MODE_EASY, + PX4_CUSTOM_MODE_AUTO, +}; + +#endif /* PX4_CUSTOM_MODE_H_ */ diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp new file mode 100644 index 000000000..0de411713 --- /dev/null +++ b/src/modules/commander/rc_calibration.cpp @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 rc_calibration.cpp + * Remote Control calibration routine + */ + +#include "rc_calibration.h" +#include "commander_helper.h" + +#include <poll.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> + + +void do_rc_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "trim calibration starting"); + + /* XXX fix this */ + // if (current_status.rc_signal) { + // mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); + // return; + // } + + int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp; + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); + + /* set parameters */ + float p = sp.roll; + param_set(param_find("TRIM_ROLL"), &p); + p = sp.pitch; + param_set(param_find("TRIM_PITCH"), &p); + p = sp.yaw; + param_set(param_find("TRIM_YAW"), &p); + + /* store to permanent storage */ + /* auto-save */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + } + + tune_positive(); + + mavlink_log_info(mavlink_fd, "trim calibration done"); +}
\ No newline at end of file diff --git a/src/modules/commander/rc_calibration.h b/src/modules/commander/rc_calibration.h new file mode 100644 index 000000000..6505c7364 --- /dev/null +++ b/src/modules/commander/rc_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 rc_calibration.h + * Remote Control calibration routine + */ + +#ifndef RC_CALIBRATION_H_ +#define RC_CALIBRATION_H_ + +#include <stdint.h> + +void do_rc_calibration(int mavlink_fd); + +#endif /* RC_CALIBRATION_H_ */
\ No newline at end of file diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c deleted file mode 100644 index 9b6527c33..000000000 --- a/src/modules/commander/state_machine_helper.c +++ /dev/null @@ -1,757 +0,0 @@ -/**************************************************************************** - * - * 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); - systemreset(false); - /* 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; - - /* XXX allow arming by external components on multicopters only if not yet armed by RC */ - /* XXX allow arming only if core sensors are ok */ - armed.ready_to_arm = true; - - /* 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; -} - diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp new file mode 100644 index 000000000..163aceed2 --- /dev/null +++ b/src/modules/commander/state_machine_helper.cpp @@ -0,0 +1,695 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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.cpp + * State machine helper functions implementations + */ + +#include <stdio.h> +#include <unistd.h> +#include <stdint.h> +#include <stdbool.h> + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <systemlib/systemlib.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> +#include <mavlink/mavlink_log.h> + +#include "state_machine_helper.h" +#include "commander_helper.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +static bool arming_state_changed = true; +static bool main_state_changed = true; +static bool navigation_state_changed = true; + +transition_result_t +arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, arming_state_t new_arming_state, struct actuator_armed_s *armed) +{ + transition_result_t ret = TRANSITION_DENIED; + + /* only check transition if the new state is actually different from the current one */ + if (new_arming_state == status->arming_state) { + ret = TRANSITION_NOT_CHANGED; + + } else { + + switch (new_arming_state) { + case ARMING_STATE_INIT: + + /* allow going back from INIT for calibration */ + if (status->arming_state == ARMING_STATE_STANDBY) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_STANDBY: + + /* allow coming from INIT and disarming from ARMED */ + if (status->arming_state == ARMING_STATE_INIT + || status->arming_state == ARMING_STATE_ARMED) { + + /* sensors need to be initialized for STANDBY state */ + if (status->condition_system_sensors_initialized) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = true; + } + } + + break; + + case ARMING_STATE_ARMED: + + /* allow arming from STANDBY and IN-AIR-RESTORE */ + if ((status->arming_state == ARMING_STATE_STANDBY + || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) + && (!safety->safety_switch_available || safety->safety_off)) /* only allow arming if safety is off */ + { + ret = TRANSITION_CHANGED; + armed->armed = true; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_ARMED_ERROR: + + /* an armed error happens when ARMED obviously */ + if (status->arming_state == ARMING_STATE_ARMED) { + ret = TRANSITION_CHANGED; + armed->armed = true; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_STANDBY_ERROR: + + /* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */ + if (status->arming_state == ARMING_STATE_STANDBY + || status->arming_state == ARMING_STATE_INIT + || status->arming_state == ARMING_STATE_ARMED_ERROR) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_REBOOT: + + /* an armed error happens when ARMED obviously */ + if (status->arming_state == ARMING_STATE_INIT + || status->arming_state == ARMING_STATE_STANDBY + || status->arming_state == ARMING_STATE_STANDBY_ERROR) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_IN_AIR_RESTORE: + + /* XXX implement */ + break; + + default: + break; + } + + if (ret == TRANSITION_CHANGED) { + status->arming_state = new_arming_state; + arming_state_changed = true; + } + } + + return ret; +} + +bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed) +{ + // System is safe if: + // 1) Not armed + // 2) Armed, but in software lockdown (HIL) + // 3) Safety switch is present AND engaged -> actuators locked + if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) { + return true; + } else { + return false; + } +} + +bool +check_arming_state_changed() +{ + if (arming_state_changed) { + arming_state_changed = false; + return true; + + } else { + return false; + } +} + +transition_result_t +main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state) +{ + transition_result_t ret = TRANSITION_DENIED; + + /* only check transition if the new state is actually different from the current one */ + if (new_main_state == current_state->main_state) { + ret = TRANSITION_NOT_CHANGED; + + } else { + + switch (new_main_state) { + case MAIN_STATE_MANUAL: + ret = TRANSITION_CHANGED; + break; + + case MAIN_STATE_SEATBELT: + + /* need position estimate */ + // TODO only need altitude estimate really + if (current_state->condition_local_position_valid) { + ret = TRANSITION_CHANGED; + } + + break; + + case MAIN_STATE_EASY: + + /* need position estimate */ + if (current_state->condition_local_position_valid) { + ret = TRANSITION_CHANGED; + } + + break; + + case MAIN_STATE_AUTO: + + /* need position estimate */ + if (current_state->condition_local_position_valid) { + ret = TRANSITION_CHANGED; + } + + break; + } + + if (ret == TRANSITION_CHANGED) { + current_state->main_state = new_main_state; + main_state_changed = true; + } + } + + return ret; +} + +bool +check_main_state_changed() +{ + if (main_state_changed) { + main_state_changed = false; + return true; + + } else { + return false; + } +} + +transition_result_t +navigation_state_transition(struct vehicle_status_s *current_status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode) +{ + transition_result_t ret = TRANSITION_DENIED; + + /* only check transition if the new state is actually different from the current one */ + if (new_navigation_state == current_status->navigation_state) { + ret = TRANSITION_NOT_CHANGED; + + } else { + + switch (new_navigation_state) { + case NAVIGATION_STATE_STANDBY: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = false; + control_mode->flag_control_attitude_enabled = false; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = false; + control_mode->flag_control_manual_enabled = false; + break; + + case NAVIGATION_STATE_DIRECT: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = false; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = false; + control_mode->flag_control_manual_enabled = true; + break; + + case NAVIGATION_STATE_STABILIZE: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = false; + control_mode->flag_control_manual_enabled = true; + break; + + case NAVIGATION_STATE_ALTHOLD: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = true; + break; + + case NAVIGATION_STATE_VECTOR: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = true; + break; + + case NAVIGATION_STATE_AUTO_READY: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = false; + break; + + case NAVIGATION_STATE_AUTO_TAKEOFF: + + /* only transitions from AUTO_READY */ + if (current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) { + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = false; + } + + break; + + case NAVIGATION_STATE_AUTO_LOITER: + + /* deny transitions from landed states */ + if (current_status->navigation_state != NAVIGATION_STATE_STANDBY && + current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) { + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = false; + } + + break; + + case NAVIGATION_STATE_AUTO_MISSION: + + /* deny transitions from landed states */ + if (current_status->navigation_state != NAVIGATION_STATE_STANDBY && + current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) { + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = false; + } + + break; + + case NAVIGATION_STATE_AUTO_RTL: + + /* deny transitions from landed states */ + if (current_status->navigation_state != NAVIGATION_STATE_STANDBY && + current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) { + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = false; + } + + break; + + case NAVIGATION_STATE_AUTO_LAND: + + /* deny transitions from landed states */ + if (current_status->navigation_state != NAVIGATION_STATE_STANDBY && + current_status->navigation_state != NAVIGATION_STATE_AUTO_READY) { + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_manual_enabled = false; + } + + break; + + default: + break; + } + + if (ret == TRANSITION_CHANGED) { + current_status->navigation_state = new_navigation_state; + navigation_state_changed = true; + } + } + + return ret; +} + +bool +check_navigation_state_changed() +{ + if (navigation_state_changed) { + navigation_state_changed = false; + return true; + + } else { + return false; + } +} + +/** +* Transition from one hil state to another +*/ +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd) +{ + bool valid_transition = false; + int ret = ERROR; + + warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state); + + if (current_status->hil_state == new_state) { + warnx("Hil state not changed"); + valid_transition = true; + + } else { + + switch (new_state) { + + case HIL_STATE_OFF: + + if (current_status->arming_state == ARMING_STATE_INIT + || current_status->arming_state == ARMING_STATE_STANDBY) { + + current_control_mode->flag_system_hil_enabled = false; + mavlink_log_critical(mavlink_fd, "Switched to OFF hil state"); + valid_transition = true; + } + + break; + + case HIL_STATE_ON: + + if (current_status->arming_state == ARMING_STATE_INIT + || current_status->arming_state == ARMING_STATE_STANDBY) { + + current_control_mode->flag_system_hil_enabled = true; + mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); + valid_transition = true; + } + + break; + + default: + warnx("Unknown hil state"); + break; + } + } + + if (valid_transition) { + current_status->hil_state = new_state; + + current_status->counter++; + current_status->timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + + current_control_mode->timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode); + + ret = OK; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition"); + } + + return ret; +} + + + +// /* +// * 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; +// } + +// } + + +///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ +// +//int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) +//{ +// int 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_fmu_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_fmu_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_fmu_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; +//} + diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 2f2ccc729..a38c2497e 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> * @@ -46,164 +46,32 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/safety.h> +#include <uORB/topics/vehicle_control_mode.h> -/** - * Switch to new state with no checking. - * - * do_state_update: this is the functions that all other functions have to call in order to update the state. - * the function does not question the state change, this must be done before - * The function performs actions that are connected with the new state (buzzer, reboot, ...) - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - * - * @return 0 (macro OK) or 1 on error (macro ERROR) - */ -int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state); - -/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */ -// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); - -// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); - -// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); - - -/** - * Handle state machine if got position fix - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if position fix lost - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if user wants to arm - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if user wants to disarm - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is manual - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is stabilized - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); +typedef enum { + TRANSITION_DENIED = -1, + TRANSITION_NOT_CHANGED = 0, + TRANSITION_CHANGED -/** - * Handle state machine if mode switch is guided - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); +} transition_result_t; -/** - * Handle state machine if mode switch is auto - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); +transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, + arming_state_t new_arming_state, struct actuator_armed_s *armed); -/** - * Publish current state information - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); +bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); +bool check_arming_state_changed(); -/* - * Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app). - * If the request is obeyed the functions return 0 - * - */ +transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state); -/** - * Handles *incoming request* to switch to a specific state, if state change is successful returns 0 - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode); +bool check_main_state_changed(); -/** - * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -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); - -/** - * Always switches to critical mode under any circumstances. - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Switches to emergency if required. - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Publish the armed state depending on the current system state - * - * @param current_status the current system status - */ -void publish_armed_status(const struct vehicle_status_s *current_status); +transition_result_t navigation_state_transition(struct vehicle_status_s *current_status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode); +bool check_navigation_state_changed(); +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd); #endif /* STATE_MACHINE_HELPER_H_ */ |