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/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file datalinkloss.cpp
* Helper class for Data Link Loss Mode according to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include "navigator.h"
#include "datalinkloss.h"
#define DELAY_SIGMA 0.01f
DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_commsholdwaittime(this, "CH_T"),
_param_commsholdlat(this, "CH_LAT"),
_param_commsholdlon(this, "CH_LON"),
_param_commsholdalt(this, "CH_ALT"),
_param_airfieldhomelat(this, "NAV_AH_LAT", false),
_param_airfieldhomelon(this, "NAV_AH_LON", false),
_param_airfieldhomealt(this, "NAV_AH_ALT", false),
_param_airfieldhomewaittime(this, "AH_T"),
_param_numberdatalinklosses(this, "N"),
_param_skipcommshold(this, "CHSK"),
_dll_state(DLL_STATE_NONE)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
DataLinkLoss::~DataLinkLoss()
{
}
void
DataLinkLoss::on_inactive()
{
/* reset DLL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_dll_state = DLL_STATE_NONE;
}
}
void
DataLinkLoss::on_activation()
{
_dll_state = DLL_STATE_NONE;
updateParams();
advance_dll();
set_dll_item();
}
void
DataLinkLoss::on_active()
{
if (is_mission_item_reached()) {
updateParams();
advance_dll();
set_dll_item();
}
}
void
DataLinkLoss::set_dll_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_dll_state) {
case DLL_STATE_FLYTOCOMMSHOLDWP: {
_mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _param_commsholdalt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
case DLL_STATE_FLYTOAIRFIELDHOMEWP: {
_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _param_airfieldhomealt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.time_inside = _param_airfieldhomewaittime.get() < 0.0f ? 0.0f : _param_airfieldhomewaittime.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
case DLL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
warnx("not switched to manual: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
break;
}
default:
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
DataLinkLoss::advance_dll()
{
switch (_dll_state) {
case DLL_STATE_NONE:
/* Check the number of data link losses. If above home fly home directly */
/* if number of data link losses limit is not reached fly to comms hold wp */
if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
warnx("%d data link losses, limit is %d, fly to airfield home",
_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
if (!_param_skipcommshold.get()) {
warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
} else {
/* comms hold wp not active, fly to airfield home directly */
warnx("Skipping comms hold wp. Flying directly to airfield home");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home, comms hold skipped");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
}
}
break;
case DLL_STATE_FLYTOCOMMSHOLDWP:
warnx("fly to airfield home");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
break;
case DLL_STATE_FLYTOAIRFIELDHOMEWP:
_dll_state = DLL_STATE_TERMINATE;
warnx("time is up, state should have been changed manually by now");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
break;
case DLL_STATE_TERMINATE:
warnx("dll end");
_dll_state = DLL_STATE_END;
break;
default:
break;
}
}
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