diff options
Diffstat (limited to 'src/modules/navigator/gpsfailure.cpp')
-rw-r--r-- | src/modules/navigator/gpsfailure.cpp | 95 |
1 files changed, 51 insertions, 44 deletions
diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp index 4c526b76e..02e766ffb 100644 --- a/src/modules/navigator/gpsfailure.cpp +++ b/src/modules/navigator/gpsfailure.cpp @@ -57,7 +57,12 @@ GpsFailure::GpsFailure(Navigator *navigator, const char *name) : MissionBlock(navigator, name), - _gpsf_state(GPSF_STATE_NONE) + _param_loitertime(this, "LT"), + _param_openlooploiter_roll(this, "R"), + _param_openlooploiter_pitch(this, "P"), + _param_openlooploiter_thrust(this, "TR"), + _gpsf_state(GPSF_STATE_NONE), + _timestamp_activation(0) { /* load initial params */ updateParams(); @@ -82,6 +87,7 @@ void GpsFailure::on_activation() { _gpsf_state = GPSF_STATE_NONE; + _timestamp_activation = hrt_absolute_time(); updateParams(); advance_gpsf(); set_gpsf_item(); @@ -90,10 +96,34 @@ GpsFailure::on_activation() void GpsFailure::on_active() { - if (is_mission_item_reached()) { - updateParams(); - advance_gpsf(); + + switch (_gpsf_state) { + case GPSF_STATE_LOITER: { + /* Position controller does not run in this mode: + * navigator has to publish an attitude setpoint */ + _navigator->get_att_sp()->roll_body = M_DEG_TO_RAD_F * _param_openlooploiter_roll.get(); + _navigator->get_att_sp()->pitch_body = M_DEG_TO_RAD_F * _param_openlooploiter_pitch.get(); + _navigator->get_att_sp()->thrust = _param_openlooploiter_thrust.get(); + _navigator->publish_att_sp(); + + /* Measure time */ + hrt_abstime elapsed = hrt_elapsed_time(&_timestamp_activation); + + //warnx("open loop loiter, posctl enabled %u, elapsed %.1fs, thrust %.2f", + //_navigator->get_control_mode()->flag_control_position_enabled, elapsed * 1e-6, (double)_param_openlooploiter_thrust.get()); + if (elapsed > _param_loitertime.get() * 1e6f) { + /* no recovery, adavance the state machine */ + warnx("gps not recovered, switch to next state"); + advance_gpsf(); + } + break; + } + case GPSF_STATE_TERMINATE: set_gpsf_item(); + advance_gpsf(); + break; + default: + break; } } @@ -102,68 +132,45 @@ GpsFailure::set_gpsf_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); + /* Set pos sp triplet to invalid to stop pos controller */ + pos_sp_triplet->previous.valid = false; + pos_sp_triplet->current.valid = false; + pos_sp_triplet->next.valid = false; switch (_gpsf_state) { - case GPSF_STATE_LOITER: { - //_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 GPSF_STATE_TERMINATE: { - //_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_UNLIMITED; - //_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; + /* Request flight termination from the commander */ + pos_sp_triplet->flight_termination = true; + warnx("request flight termination"); } 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 GpsFailure::advance_gpsf() { + updateParams(); + switch (_gpsf_state) { case GPSF_STATE_NONE: _gpsf_state = GPSF_STATE_LOITER; + warnx("gpsf loiter"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: open loop loiter"); break; case GPSF_STATE_LOITER: _gpsf_state = GPSF_STATE_TERMINATE; + warnx("gpsf terminate"); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no gps recovery, termination"); + warnx("mavlink sent"); break; + case GPSF_STATE_TERMINATE: + warnx("gpsf end"); + _gpsf_state = GPSF_STATE_END; default: break; } |