/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Thomas Gubler * Julian Oes * * 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 #include #include #include #include #include #include #include #include #include #include "state_machine_helper.h" /** * Transition from one navigation state to another */ int do_navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, navigation_state_t new_state) { bool valid_path = false; bool valid_transition = false; int ret = ERROR; if (current_status->navigation_state == new_state) { warnx("Navigation state not changed"); } else { switch (new_state) { case NAVIGATION_STATE_STANDBY: if (current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) { if (!current_status->flag_system_armed) { mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); valid_transition = true; } else { mavlink_log_critical(mavlink_fd, "Rejected STANDBY state: armed"); } valid_path = true; } break; case NAVIGATION_STATE_MANUAL: if (current_status->navigation_state == NAVIGATION_STATE_STANDBY) { /* only check for armed flag when coming from STANDBY XXX does that make sense? */ if (current_status->flag_system_armed) { mavlink_log_critical(mavlink_fd, "Switched to MANUAL state"); valid_transition = true; } else { mavlink_log_critical(mavlink_fd, "Rejected MANUAL state: disarmed"); } valid_path = true; } else if (current_status->navigation_state == NAVIGATION_STATE_SEATBELT || current_status->navigation_state == NAVIGATION_STATE_LOITER || current_status->navigation_state == NAVIGATION_STATE_MISSION || current_status->navigation_state == NAVIGATION_STATE_RTL || current_status->navigation_state == NAVIGATION_STATE_LAND || current_status->navigation_state == NAVIGATION_STATE_TAKEOFF || current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) { mavlink_log_critical(mavlink_fd, "Switched to MANUAL state"); valid_transition = true; valid_path = true; } break; case NAVIGATION_STATE_SEATBELT: if (current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_LOITER || current_status->navigation_state == NAVIGATION_STATE_MISSION) { mavlink_log_critical(mavlink_fd, "Switched to SEATBELT state"); valid_transition = true; valid_path = true; } break; case NAVIGATION_STATE_DESCENT: if (current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { mavlink_log_critical(mavlink_fd, "Switched to DESCENT state"); valid_transition = true; valid_path = true; } break; case NAVIGATION_STATE_LOITER: /* Check for position lock when coming from MANUAL or SEATBELT */ if (current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { mavlink_log_critical(mavlink_fd, "Switched to LOITER state"); valid_transition = true; if (current_status->flag_global_position_valid) { mavlink_log_critical(mavlink_fd, "Switched to LOITER state"); valid_transition = true; } else { mavlink_log_critical(mavlink_fd, "Rejected LOITER state: no pos lock"); } valid_path = true; } else if (current_status->navigation_state == NAVIGATION_STATE_MISSION) { mavlink_log_critical(mavlink_fd, "Switched to LOITER state"); valid_transition = true; valid_path = true; } break; case NAVIGATION_STATE_AUTO_READY: /* coming from STANDBY pos and home lock are needed */ if (current_status->navigation_state == NAVIGATION_STATE_STANDBY) { if (!current_status->flag_system_armed) { mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: disarmed"); } else if (!current_status->flag_global_position_valid) { mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: no pos lock"); } else if (!current_status->flag_valid_launch_position) { mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: no home lock"); } else { mavlink_log_critical(mavlink_fd, "Switched to AUTO READY state"); valid_transition = true; } valid_path = true; /* coming from LAND home lock is needed */ } else if (current_status->navigation_state == NAVIGATION_STATE_LAND) { if (!current_status->flag_valid_launch_position) { mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: no home lock"); } else { mavlink_log_critical(mavlink_fd, "Switched to AUTO READY state"); valid_transition = true; } valid_path = true; } break; case NAVIGATION_STATE_MISSION: /* coming from TAKEOFF or RTL is always possible */ if (current_status->navigation_state == NAVIGATION_STATE_TAKEOFF || current_status->navigation_state == NAVIGATION_STATE_RTL) { mavlink_log_critical(mavlink_fd, "Switched to MISSION state"); valid_transition = true; valid_path = true; /* coming from MANUAL or SEATBELT requires home and pos lock */ } else if (current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { if (!current_status->flag_global_position_valid) { mavlink_log_critical(mavlink_fd, "Rejected MISSION state: no pos lock"); } else if (!current_status->flag_valid_launch_position) { mavlink_log_critical(mavlink_fd, "Rejected MISSION state: no home lock"); mavlink_log_critical(mavlink_fd, "Switched to MISSION state"); valid_transition = true; } else { } valid_path = true; /* coming from loiter a home lock is needed */ } else if (current_status->navigation_state == NAVIGATION_STATE_LOITER) { if (current_status->flag_valid_launch_position) { mavlink_log_critical(mavlink_fd, "Switched to MISSION state"); valid_transition = true; } else { mavlink_log_critical(mavlink_fd, "Rejected MISSION state: no home lock"); } valid_path = true; } break; case NAVIGATION_STATE_RTL: /* coming from MISSION is always possible */ if (current_status->navigation_state == NAVIGATION_STATE_MISSION) { mavlink_log_critical(mavlink_fd, "Switched to RTL state"); valid_transition = true; valid_path = true; /* coming from MANUAL or SEATBELT requires home and pos lock */ } else if (current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { if (!current_status->flag_global_position_valid) { mavlink_log_critical(mavlink_fd, "Rejected RTL state: no pos lock"); } else if (!current_status->flag_valid_launch_position) { mavlink_log_critical(mavlink_fd, "Rejected RTL state: no home lock"); } else { mavlink_log_critical(mavlink_fd, "Switched to RTL state"); valid_transition = true; } valid_path = true; /* coming from loiter a home lock is needed */ } else if (current_status->navigation_state == NAVIGATION_STATE_LOITER) { if (current_status->flag_valid_launch_position) { mavlink_log_critical(mavlink_fd, "Switched to RTL state"); valid_transition = true; } else { mavlink_log_critical(mavlink_fd, "Rejected RTL state: no home lock"); } valid_path = true; } break; case NAVIGATION_STATE_TAKEOFF: if (current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) { /* TAKEOFF is straight forward from AUTO READY */ mavlink_log_critical(mavlink_fd, "Switched to TAKEOFF state"); valid_transition = true; valid_path = true; } break; case NAVIGATION_STATE_LAND: if (current_status->navigation_state == NAVIGATION_STATE_RTL || current_status->navigation_state == NAVIGATION_STATE_LOITER || current_status->navigation_state == NAVIGATION_STATE_MISSION) { mavlink_log_critical(mavlink_fd, "Switched to LAND state"); valid_transition = true; valid_path = true; } break; default: warnx("Unknown navigation state"); break; } } if (valid_transition) { current_status->navigation_state = new_state; state_machine_publish(status_pub, current_status, mavlink_fd); // publish_armed_status(current_status); ret = OK; } if (!valid_path){ mavlink_log_critical(mavlink_fd, "REJECTING invalid navigation state transition"); } return ret; } /** * Transition from one arming state to another */ int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state) { bool valid_transition = false; int ret = ERROR; warnx("Current state: %d, requested state: %d", current_status->arming_state, new_state); if (current_status->arming_state == new_state) { warnx("Arming state not changed"); valid_transition = true; } else { switch (new_state) { case ARMING_STATE_INIT: if (current_status->arming_state == ARMING_STATE_STANDBY) { mavlink_log_critical(mavlink_fd, "Switched to INIT ARMING STATE"); valid_transition = true; } break; case ARMING_STATE_STANDBY: // TODO check for sensors // XXX check if coming from reboot? if (current_status->arming_state == ARMING_STATE_INIT) { if (current_status->flag_system_sensors_initialized) { current_status->flag_system_armed = false; mavlink_log_critical(mavlink_fd, "Switched to STANDBY arming state"); valid_transition = true; } else { mavlink_log_critical(mavlink_fd, "REJ. STANDBY arming state, sensors not init."); } } else if (current_status->arming_state == ARMING_STATE_ARMED) { current_status->flag_system_armed = false; mavlink_log_critical(mavlink_fd, "Switched to STANDBY arming state"); valid_transition = true; } break; case ARMING_STATE_ARMED: if (current_status->arming_state == ARMING_STATE_STANDBY || current_status->arming_state == ARMING_STATE_IN_AIR_RESTORE) { current_status->flag_system_armed = true; mavlink_log_critical(mavlink_fd, "Switched to ARMED arming state"); valid_transition = true; } break; case ARMING_STATE_ABORT: if (current_status->arming_state == ARMING_STATE_ARMED) { mavlink_log_critical(mavlink_fd, "Switched to MISSION ABORT arming state"); valid_transition = true; } break; case ARMING_STATE_ERROR: if (current_status->arming_state == ARMING_STATE_ARMED || current_status->arming_state == ARMING_STATE_ABORT || current_status->arming_state == ARMING_STATE_INIT) { mavlink_log_critical(mavlink_fd, "Switched to ERROR arming state"); valid_transition = true; } break; case ARMING_STATE_REBOOT: if (current_status->arming_state == ARMING_STATE_STANDBY || current_status->arming_state == ARMING_STATE_ERROR) { valid_transition = true; mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); usleep(500000); up_systemreset(); /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ } break; case ARMING_STATE_IN_AIR_RESTORE: if (current_status->arming_state == ARMING_STATE_INIT) { mavlink_log_critical(mavlink_fd, "Switched to IN-AIR-RESTORE arming state"); valid_transition = true; } break; default: warnx("Unknown arming state"); break; } } if (valid_transition) { current_status->arming_state = new_state; state_machine_publish(status_pub, current_status, mavlink_fd); // publish_armed_status(current_status); ret = OK; } else { mavlink_log_critical(mavlink_fd, "REJECTING invalid arming state transition"); } return ret; } /** * Transition from one hil state to another */ int do_hil_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state) { 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_status->flag_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_status->flag_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; state_machine_publish(status_pub, current_status, mavlink_fd); ret = OK; } else { mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition"); } 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); } //void publish_armed_status(const struct vehicle_status_s *current_status) //{ // struct actuator_armed_s armed; // armed.armed = current_status->flag_system_armed; // /* lock down actuators if required, only in HIL */ // armed.lockdown = (current_status->flag_hil_enabled) ? true : false; // orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); // orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); //} /* * Private functions, update the state machine */ //void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //{ // warnx("EMERGENCY HANDLER\n"); // /* Depending on the current state go to one of the error states */ // // if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { // do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR); // // } else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) { // // // DO NOT abort mission // //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); // // } else { // warnx("Unknown system state: #%d\n", current_status->state_machine); // } //} //void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors //{ // if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself // state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd); // // } else { // //global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL); // } // //} // /* // * Wrapper functions (to be used in the commander), all functions assume lock on current_status // */ // /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR // * // * START SUBSYSTEM/EMERGENCY FUNCTIONS // * */ // void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) // { // current_status->onboard_control_sensors_present |= 1 << *subsystem_type; // current_status->counter++; // current_status->timestamp = hrt_absolute_time(); // orb_publish(ORB_ID(vehicle_status), status_pub, current_status); // } // void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) // { // current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); // current_status->counter++; // current_status->timestamp = hrt_absolute_time(); // orb_publish(ORB_ID(vehicle_status), status_pub, current_status); // /* if a subsystem was removed something went completely wrong */ // switch (*subsystem_type) { // case SUBSYSTEM_TYPE_GYRO: // //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_ACC: // //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_MAG: // //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_GPS: // { // uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; // if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { // //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); // state_machine_emergency(status_pub, current_status); // } // } // break; // default: // break; // } // } // void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) // { // current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; // current_status->counter++; // current_status->timestamp = hrt_absolute_time(); // orb_publish(ORB_ID(vehicle_status), status_pub, current_status); // } // void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) // { // current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); // current_status->counter++; // current_status->timestamp = hrt_absolute_time(); // orb_publish(ORB_ID(vehicle_status), status_pub, current_status); // /* if a subsystem was disabled something went completely wrong */ // switch (*subsystem_type) { // case SUBSYSTEM_TYPE_GYRO: // //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_ACC: // //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_MAG: // //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_GPS: // { // uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); // if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { // //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); // state_machine_emergency(status_pub, current_status); // } // } // break; // default: // break; // } // } // void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) // { // current_status->onboard_control_sensors_health |= 1 << *subsystem_type; // current_status->counter++; // current_status->timestamp = hrt_absolute_time(); // orb_publish(ORB_ID(vehicle_status), status_pub, current_status); // switch (*subsystem_type) { // case SUBSYSTEM_TYPE_GYRO: // //TODO state machine change (recovering) // break; // case SUBSYSTEM_TYPE_ACC: // //TODO state machine change // break; // case SUBSYSTEM_TYPE_MAG: // //TODO state machine change // break; // case SUBSYSTEM_TYPE_GPS: // //TODO state machine change // break; // default: // break; // } // } // void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) // { // bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type); // current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type); // current_status->counter++; // current_status->timestamp = hrt_absolute_time(); // orb_publish(ORB_ID(vehicle_status), status_pub, current_status); // /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */ // switch (*subsystem_type) { // case SUBSYSTEM_TYPE_GYRO: // //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL); // if (previosly_healthy) //only throw emergency if previously healthy // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_ACC: // //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL); // if (previosly_healthy) //only throw emergency if previously healthy // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_MAG: // //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL); // if (previosly_healthy) //only throw emergency if previously healthy // state_machine_emergency_always_critical(status_pub, current_status); // break; // case SUBSYSTEM_TYPE_GPS: // // //TODO: remove this block // // break; // // /////////////////// // //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL); // // printf("previosly_healthy = %u\n", previosly_healthy); // if (previosly_healthy) //only throw emergency if previously healthy // state_machine_emergency(status_pub, current_status); // break; // default: // break; // } // } ///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ // //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_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; //} #if 0 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_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; } #endif