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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 enginefailure.cpp
* Helper class for a fixedwing engine failure mode
*
* @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 "navigator.h"
#include "enginefailure.h"
#define DELAY_SIGMA 0.01f
EngineFailure::EngineFailure(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_ef_state(EF_STATE_NONE)
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
EngineFailure::~EngineFailure()
{
}
void
EngineFailure::on_inactive()
{
_ef_state = EF_STATE_NONE;
}
void
EngineFailure::on_activation()
{
_ef_state = EF_STATE_LOITERDOWN;
set_ef_item();
}
void
EngineFailure::on_active()
{
if (is_mission_item_reached()) {
advance_ef();
set_ef_item();
}
}
void
EngineFailure::set_ef_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* make sure we have the latest params */
updateParams();
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_ef_state) {
case EF_STATE_LOITERDOWN: {
//XXX create mission item at ground (below?) here
//_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
//_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
//_mission_item.altitude_is_relative = false;
//_mission_item.altitude = _param_airfieldhomealt.get();
//_mission_item.yaw = NAN;
//_mission_item.loiter_radius = _navigator->get_loiter_radius();
//_mission_item.loiter_direction = 1;
//_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
//_mission_item.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;
}
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
EngineFailure::advance_ef()
{
switch (_ef_state) {
case EF_STATE_NONE:
_ef_state = EF_STATE_LOITERDOWN;
break;
default:
break;
}
}
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