/**************************************************************************** * * 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 #include #include #include "state_machine_helper.h" #include "commander.h" 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); } int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) { int ret = ERROR; /* only check transition if the new state is actually different from the current one */ if (new_arming_state == current_state->arming_state) { ret = OK; } else { switch (new_arming_state) { case ARMING_STATE_INIT: /* allow going back from INIT for calibration */ if (current_state->arming_state == ARMING_STATE_STANDBY) { ret = OK; safety->armed = false; safety->ready_to_arm = false; } break; case ARMING_STATE_STANDBY: /* allow coming from INIT and disarming from ARMED */ if (current_state->arming_state == ARMING_STATE_INIT || current_state->arming_state == ARMING_STATE_ARMED) { /* sensors need to be initialized for STANDBY state */ if (current_state->condition_system_sensors_initialized) { ret = OK; safety->armed = false; safety->ready_to_arm = true; } else { mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized"); } } break; case ARMING_STATE_ARMED: /* allow arming from STANDBY and IN-AIR-RESTORE */ if (current_state->arming_state == ARMING_STATE_STANDBY || current_state->arming_state == ARMING_STATE_IN_AIR_RESTORE) { /* XXX conditions for arming? */ ret = OK; safety->armed = true; } break; case ARMING_STATE_ARMED_ERROR: /* an armed error happens when ARMED obviously */ if (current_state->arming_state == ARMING_STATE_ARMED) { /* XXX conditions for an error state? */ ret = OK; safety->armed = true; } break; case ARMING_STATE_STANDBY_ERROR: /* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */ if (current_state->arming_state == ARMING_STATE_STANDBY || current_state->arming_state == ARMING_STATE_INIT || current_state->arming_state == ARMING_STATE_ARMED_ERROR) { ret = OK; safety->armed = false; safety->ready_to_arm = false; } break; case ARMING_STATE_REBOOT: /* an armed error happens when ARMED obviously */ if (current_state->arming_state == ARMING_STATE_INIT || current_state->arming_state == ARMING_STATE_STANDBY || current_state->arming_state == ARMING_STATE_STANDBY_ERROR) { ret = OK; safety->armed = false; safety->ready_to_arm = false; } break; case ARMING_STATE_IN_AIR_RESTORE: /* XXX implement */ break; default: break; } if (ret == OK) { current_state->arming_state = new_arming_state; current_state->counter++; current_state->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_status), status_pub, current_state); safety->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(actuator_safety), safety_pub, safety); } } return ret; } /* * This functions does not evaluate any input flags but only checks if the transitions * are valid. */ 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 ret = ERROR; /* only check transition if the new state is actually different from the current one */ if (new_navigation_state == current_state->navigation_state) { ret = OK; } else { switch (new_navigation_state) { case NAVIGATION_STATE_INIT: /* transitions back to INIT are possible for calibration */ if (current_state->navigation_state == NAVIGATION_STATE_MANUAL_STANDBY || current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY || current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY) { ret = OK; 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_manual_enabled = false; } break; case NAVIGATION_STATE_MANUAL_STANDBY: /* transitions from INIT and other STANDBY states as well as MANUAL are possible */ if (current_state->navigation_state == NAVIGATION_STATE_INIT || current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY || current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY || current_state->navigation_state == NAVIGATION_STATE_MANUAL) { /* need to be disarmed first */ if (current_state->arming_state != ARMING_STATE_STANDBY) { mavlink_log_critical(mavlink_fd, "Rej. MANUAL_STANDBY: not disarmed"); tune_negative(); } else { ret = OK; 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_manual_enabled = true; } } break; case NAVIGATION_STATE_MANUAL: /* need to be armed first */ if (current_state->arming_state != ARMING_STATE_ARMED) { mavlink_log_critical(mavlink_fd, "Rej. MANUAL: not armed"); tune_negative(); } else { ret = OK; 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_manual_enabled = true; } break; case NAVIGATION_STATE_SEATBELT_STANDBY: /* transitions from INIT and other STANDBY states as well as SEATBELT and SEATBELT_DESCENT are possible */ if (current_state->navigation_state == NAVIGATION_STATE_INIT || current_state->navigation_state == NAVIGATION_STATE_MANUAL_STANDBY || current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY || current_state->navigation_state == NAVIGATION_STATE_SEATBELT || current_state->navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT) { /* need to be disarmed and have a position estimate */ if (current_state->arming_state != ARMING_STATE_STANDBY) { mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_STANDBY: not disarmed"); tune_negative(); } else if (!current_state->condition_local_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_STANDBY: no position estimate"); tune_negative(); } else { ret = OK; 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 = false; control_mode->flag_control_manual_enabled = false; } } break; case NAVIGATION_STATE_SEATBELT: /* transitions from all AUTO modes except AUTO_STANDBY and except MANUAL_STANDBY and INIT*/ if (current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY || current_state->navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT || current_state->navigation_state == NAVIGATION_STATE_MANUAL || current_state->navigation_state == NAVIGATION_STATE_AUTO_LAND || current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER || current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION || current_state->navigation_state == NAVIGATION_STATE_AUTO_READY || current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL || current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { /* need to be armed and have a position estimate */ if (current_state->arming_state != ARMING_STATE_ARMED) { mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: not armed"); tune_negative(); } else if (!current_state->condition_local_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no pos estimate"); tune_negative(); } else { ret = OK; 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 = false; control_mode->flag_control_manual_enabled = false; } } break; case NAVIGATION_STATE_SEATBELT_DESCENT: /* transitions from all AUTO modes except AUTO_STANDBY and except MANUAL_STANDBY and INIT and SEATBELT_STANDBY */ if (current_state->navigation_state == NAVIGATION_STATE_SEATBELT || current_state->navigation_state == NAVIGATION_STATE_MANUAL || current_state->navigation_state == NAVIGATION_STATE_AUTO_LAND || current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER || current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION || current_state->navigation_state == NAVIGATION_STATE_AUTO_READY || current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL || current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { /* need to be armed and have a position estimate */ if (current_state->arming_state != ARMING_STATE_ARMED) { mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: not armed"); tune_negative(); } else if (!current_state->condition_local_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: no pos estimate"); tune_negative(); } else { ret = OK; 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 = false; control_mode->flag_control_manual_enabled = false; } } break; case NAVIGATION_STATE_AUTO_STANDBY: /* transitions from INIT or from other STANDBY modes or from AUTO READY */ if (current_state->navigation_state == NAVIGATION_STATE_INIT || current_state->navigation_state == NAVIGATION_STATE_MANUAL_STANDBY || current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY || current_state->navigation_state == NAVIGATION_STATE_AUTO_READY) { /* need to be disarmed and have a position and home lock */ if (current_state->arming_state != ARMING_STATE_STANDBY) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: not disarmed"); tune_negative(); } else if (!current_state->condition_global_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: no pos lock"); tune_negative(); } else if (!current_state->condition_home_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: no home pos"); tune_negative(); } else { ret = OK; 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_manual_enabled = false; } } break; case NAVIGATION_STATE_AUTO_READY: /* transitions from AUTO_STANDBY or AUTO_LAND */ if (current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY || current_state->navigation_state == NAVIGATION_STATE_AUTO_LAND) { // XXX flag test needed? /* need to be armed and have a position and home lock */ if (current_state->arming_state != ARMING_STATE_ARMED) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_READY: not armed"); tune_negative(); } else { ret = OK; 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_manual_enabled = false; } } break; case NAVIGATION_STATE_AUTO_TAKEOFF: /* only transitions from AUTO_READY */ if (current_state->navigation_state == NAVIGATION_STATE_AUTO_READY) { ret = OK; 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_manual_enabled = false; } break; case NAVIGATION_STATE_AUTO_LOITER: /* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */ if (current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF || current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION || current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL || current_state->navigation_state == NAVIGATION_STATE_SEATBELT || current_state->navigation_state == NAVIGATION_STATE_MANUAL) { /* need to have a position and home lock */ if (!current_state->condition_global_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_LOITER: no pos lock"); tune_negative(); } else if (!current_state->condition_home_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_LOITER: no home pos"); tune_negative(); } else { ret = OK; 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_manual_enabled = false; } } break; case NAVIGATION_STATE_AUTO_MISSION: /* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */ if (current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF || current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER || current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL || current_state->navigation_state == NAVIGATION_STATE_SEATBELT || current_state->navigation_state == NAVIGATION_STATE_MANUAL) { /* need to have a mission ready */ if (!current_state-> condition_auto_mission_available) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_MISSION: no mission available"); tune_negative(); } else { ret = OK; 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_manual_enabled = false; } } break; case NAVIGATION_STATE_AUTO_RTL: /* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */ if (current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF || current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION || current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER || current_state->navigation_state == NAVIGATION_STATE_SEATBELT || current_state->navigation_state == NAVIGATION_STATE_MANUAL) { /* need to have a position and home lock */ if (!current_state->condition_global_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_RTL: no pos lock"); tune_negative(); } else if (!current_state->condition_home_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_RTL: no home pos"); tune_negative(); } else { ret = OK; 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_manual_enabled = false; } } break; case NAVIGATION_STATE_AUTO_LAND: /* after AUTO_RTL or when in AUTO_LOITER or AUTO_MISSION */ if (current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL || current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION || current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER) { /* need to have a position and home lock */ if (!current_state->condition_global_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_LAND: no pos lock"); tune_negative(); } else if (!current_state->condition_home_position_valid) { mavlink_log_critical(mavlink_fd, "Rej. AUTO_LAND: no home pos"); tune_negative(); } else { ret = OK; 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_manual_enabled = false; } } break; default: break; } if (ret == OK) { current_state->navigation_state = new_navigation_state; current_state->counter++; current_state->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_status), status_pub, current_state); control_mode->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, control_mode); } } return ret; } /** * 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) { 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; // // /* 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); // } // /* // * 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; //}