diff options
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/commander.c | 122 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.c | 11 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.h | 2 |
3 files changed, 65 insertions, 70 deletions
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 144fda79a..c4dc495f6 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -171,7 +171,7 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed); +void handle_command(int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed); /** * Mainloop of commander. @@ -236,7 +236,7 @@ void usage(const char *reason) exit(1); } -void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed) +void handle_command(int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed) { /* result of the command */ uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; @@ -248,7 +248,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta /* request to activate HIL */ if ((int)cmd->param1 & VEHICLE_MODE_FLAG_HIL_ENABLED) { - if (OK == hil_state_transition(status_pub, current_vehicle_status, mavlink_fd, HIL_STATE_ON)) { + if (OK == hil_state_transition(HIL_STATE_ON, status_pub, current_status, control_mode_pub, current_control_mode, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; @@ -256,13 +256,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta } if ((int)cmd->param1 & VEHICLE_MODE_FLAG_SAFETY_ARMED) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; } } else { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; @@ -275,14 +275,14 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta /* request to arm */ if ((int)cmd->param1 == 1) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; } /* request to disarm */ } else if ((int)cmd->param1 == 0) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; @@ -295,7 +295,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta /* request for an autopilot reboot */ if ((int)cmd->param1 == 1) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_REBOOT, armed_pub, armed, mavlink_fd)) { /* reboot is executed later, after positive tune is sent */ result = VEHICLE_CMD_RESULT_ACCEPTED; tune_positive(); @@ -346,7 +346,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_GYRO_CALIBRATION; @@ -365,7 +365,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_MAG_CALIBRATION; @@ -426,7 +426,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_ACCEL_CALIBRATION; @@ -445,7 +445,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_AIRSPEED_CALIBRATION; @@ -580,7 +580,7 @@ int commander_thread_main(int argc, char *argv[]) current_status.offboard_control_signal_lost = true; /* allow manual override initially */ - current_status.flag_external_manual_override_ok = true; + control_mode.flag_external_manual_override_ok = true; /* flag position info as bad, do not allow auto mode */ // current_status.flag_vector_flight_mode_ok = false; @@ -637,32 +637,24 @@ int commander_thread_main(int argc, char *argv[]) pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL); /* Start monitoring loop */ - uint16_t counter = 0; - - /* 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; - float bat_remain = 1.0f; - - uint16_t stick_off_counter = 0; - uint16_t stick_on_counter = 0; + 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_time = 0; float voltage_previous = 0.0f; + bool low_battery_voltage_actions_done; + bool critical_battery_voltage_actions_done; + uint64_t last_idle_time = 0; uint64_t start_time = 0; - /* XXX use this! */ - //uint64_t failsave_ll_start_time = 0; - bool state_changed = true; bool param_init_forced = true; @@ -764,10 +756,10 @@ int commander_thread_main(int argc, char *argv[]) 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; + control_mode.flag_external_manual_override_ok = false; } else { - current_status.flag_external_manual_override_ok = true; + control_mode.flag_external_manual_override_ok = true; } /* check and update system / component ID */ @@ -809,7 +801,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - handle_command(status_pub, ¤t_status, &cmd, armed_pub, &armed); + handle_command(status_pub, ¤t_status, control_mode_pub, &control_mode, &cmd, armed_pub, &armed); } /* update safety topic */ @@ -848,16 +840,20 @@ int commander_thread_main(int argc, char *argv[]) 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; + current_status.battery_voltage = battery.voltage_v; + current_status.condition_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); - } + + } + + if (hrt_absolute_time() - start_time > 2500000 && current_status.condition_battery_voltage_valid) { + current_status.battery_remaining = battery_remaining_estimate_voltage(current_status.battery_voltage); + } else { + current_status.battery_voltage = 0.0f; } /* update subsystem */ @@ -897,14 +893,15 @@ int commander_thread_main(int argc, char *argv[]) if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) { /* XXX if armed */ - if ((false /*current_status.state_machine == SYSTEM_STATE_GROUND_READY || - current_status.state_machine == SYSTEM_STATE_AUTO || - current_status.state_machine == SYSTEM_STATE_MANUAL*/)) { + if (armed.armed) { /* armed, solid */ led_on(LED_AMBER); - } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* not armed */ + } else if (armed.ready_to_arm && (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0)) { + /* ready to arm */ + led_toggle(LED_AMBER); + } else if (counter % (100000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* not ready to arm, something is wrong */ led_toggle(LED_AMBER); } @@ -926,15 +923,16 @@ int commander_thread_main(int argc, char *argv[]) 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); - } + // /* 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); + // } } @@ -948,35 +946,29 @@ int commander_thread_main(int argc, char *argv[]) last_idle_time = system_load.tasks[0].total_runtime; } - /* 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 (current_status.condition_battery_voltage_valid && (current_status.battery_remaining < 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; + tune_low_bat(); } low_voltage_counter++; } /* Critical, this is rather an emergency, 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)) { + else if (current_status.condition_battery_voltage_valid && (current_status.battery_remaining < 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; - // XXX implement this - // state_machine_emergency(status_pub, ¤t_status, mavlink_fd); + tune_critical_bat(); + // XXX implement state change here } critical_voltage_counter++; @@ -1585,7 +1577,7 @@ int commander_thread_main(int argc, char *argv[]) /* Store old modes to detect and act on state transitions */ - voltage_previous = current_status.voltage_battery; + voltage_previous = current_status.battery_voltage; /* play tone according to evaluation result */ @@ -1595,10 +1587,10 @@ int commander_thread_main(int argc, char *argv[]) arm_tune_played = true; /* Trigger audio event for low battery */ - } else if (bat_remain < 0.1f && battery_voltage_valid) { + } else if (current_status.battery_remaining < 0.1f && current_status.condition_battery_voltage_valid) { if (tune_critical_bat() == OK) battery_tune_played = true; - } else if (bat_remain < 0.2f && battery_voltage_valid) { + } else if (current_status.battery_remaining < 0.2f && current_status.condition_battery_voltage_valid) { if (tune_low_bat() == OK) battery_tune_played = true; } else if(battery_tune_played) { diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index 0b241d108..792ead8f3 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -510,7 +510,7 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current /** * Transition from one hil state to another */ -int hil_state_transition(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state) +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; @@ -530,7 +530,7 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status if (current_status->arming_state == ARMING_STATE_INIT || current_status->arming_state == ARMING_STATE_STANDBY) { - current_status->flag_hil_enabled = false; + current_control_mode->flag_system_hil_enabled = false; mavlink_log_critical(mavlink_fd, "Switched to OFF hil state"); valid_transition = true; } @@ -541,7 +541,7 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status if (current_status->arming_state == ARMING_STATE_INIT || current_status->arming_state == ARMING_STATE_STANDBY) { - current_status->flag_hil_enabled = true; + current_control_mode->flag_system_hil_enabled = true; mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); valid_transition = true; } @@ -558,8 +558,11 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status 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"); diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index e591d2fef..75fdd224c 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -54,6 +54,6 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd); -int hil_state_transition(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state); +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_ */ |