diff options
Diffstat (limited to 'src/modules/navigator/datalinkloss.cpp')
-rw-r--r-- | src/modules/navigator/datalinkloss.cpp | 227 |
1 files changed, 227 insertions, 0 deletions
diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp new file mode 100644 index 000000000..66f1c8c73 --- /dev/null +++ b/src/modules/navigator/datalinkloss.cpp @@ -0,0 +1,227 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2014 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 datalinkloss.cpp + * Helper class for Data Link Loss Mode according to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <string.h> +#include <stdlib.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> +#include <geo/geo.h> + +#include <uORB/uORB.h> +#include <uORB/topics/mission.h> +#include <uORB/topics/home_position.h> + +#include "navigator.h" +#include "datalinkloss.h" + +#define DELAY_SIGMA 0.01f + +DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) : + MissionBlock(navigator, name), + _param_commsholdwaittime(this, "CH_T"), + _param_commsholdlat(this, "CH_LAT"), + _param_commsholdlon(this, "CH_LON"), + _param_commsholdalt(this, "CH_ALT"), + _param_airfieldhomelat(this, "NAV_AH_LAT", false), + _param_airfieldhomelon(this, "NAV_AH_LON", false), + _param_airfieldhomealt(this, "NAV_AH_ALT", false), + _param_airfieldhomewaittime(this, "AH_T"), + _param_numberdatalinklosses(this, "N"), + _param_skipcommshold(this, "CHSK"), + _dll_state(DLL_STATE_NONE) +{ + /* load initial params */ + updateParams(); + /* initial reset */ + on_inactive(); +} + +DataLinkLoss::~DataLinkLoss() +{ +} + +void +DataLinkLoss::on_inactive() +{ + /* reset DLL state only if setpoint moved */ + if (!_navigator->get_can_loiter_at_sp()) { + _dll_state = DLL_STATE_NONE; + } +} + +void +DataLinkLoss::on_activation() +{ + _dll_state = DLL_STATE_NONE; + updateParams(); + advance_dll(); + set_dll_item(); +} + +void +DataLinkLoss::on_active() +{ + if (is_mission_item_reached()) { + updateParams(); + advance_dll(); + set_dll_item(); + } +} + +void +DataLinkLoss::set_dll_item() +{ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + set_previous_pos_setpoint(); + _navigator->set_can_loiter_at_sp(false); + + switch (_dll_state) { + case DLL_STATE_FLYTOCOMMSHOLDWP: { + _mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7; + _mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _param_commsholdalt.get(); + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get(); + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + _navigator->set_can_loiter_at_sp(true); + break; + } + case DLL_STATE_FLYTOAIRFIELDHOMEWP: { + _mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7; + _mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _param_airfieldhomealt.get(); + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _navigator->get_loiter_radius(); + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; + _mission_item.time_inside = _param_airfieldhomewaittime.get() < 0.0f ? 0.0f : _param_airfieldhomewaittime.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + _navigator->set_can_loiter_at_sp(true); + break; + } + case DLL_STATE_TERMINATE: { + /* Request flight termination from the commander */ + _navigator->get_mission_result()->flight_termination = true; + _navigator->publish_mission_result(); + warnx("not switched to manual: request flight termination"); + pos_sp_triplet->previous.valid = false; + pos_sp_triplet->current.valid = false; + pos_sp_triplet->next.valid = false; + break; + } + default: + break; + } + + reset_mission_item_reached(); + + /* convert mission item to current position setpoint and make it valid */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + _navigator->set_position_setpoint_triplet_updated(); +} + +void +DataLinkLoss::advance_dll() +{ + switch (_dll_state) { + case DLL_STATE_NONE: + /* Check the number of data link losses. If above home fly home directly */ + /* if number of data link losses limit is not reached fly to comms hold wp */ + if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) { + warnx("%d data link losses, limit is %d, fly to airfield home", + _navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get()); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home"); + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; + } else { + if (!_param_skipcommshold.get()) { + warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold"); + _dll_state = DLL_STATE_FLYTOCOMMSHOLDWP; + } else { + /* comms hold wp not active, fly to airfield home directly */ + warnx("Skipping comms hold wp. Flying directly to airfield home"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped"); + _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; + } + } + break; + case DLL_STATE_FLYTOCOMMSHOLDWP: + warnx("fly to airfield home"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home"); + _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + break; + case DLL_STATE_FLYTOAIRFIELDHOMEWP: + _dll_state = DLL_STATE_TERMINATE; + warnx("time is up, state should have been changed manually by now"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating"); + _navigator->get_mission_result()->stay_in_failsafe = true; + _navigator->publish_mission_result(); + break; + case DLL_STATE_TERMINATE: + warnx("dll end"); + _dll_state = DLL_STATE_END; + break; + + default: + break; + } +} |