1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
|
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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 <stdio.h>
#include <unistd.h>
#include <stdbool.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
#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;
}
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*/
#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_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
{
uint8_t 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;
}
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
|