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Checkpoint: implement new state machine, compiling, WIP

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This commit is contained in:
Julian Oes
2013-02-16 13:40:09 -08:00
parent 2d1009a897
commit 0e2db0beb9
14 changed files with 920 additions and 936 deletions
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apps/commander/commander.c
+214 -182
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@@ -124,19 +124,25 @@ extern struct system_load_s system_load;
static int leds;
static int buzzer;
static int mavlink_fd;
/* flags */
static bool commander_initialized = false;
static struct vehicle_status_s current_status; /**< Main state machine */
static orb_advert_t stat_pub;
// static uint16_t nofix_counter = 0;
// static uint16_t gotfix_counter = 0;
static unsigned int failsafe_lowlevel_timeout_ms;
static bool thread_should_exit = false; /**< daemon exit flag */
static bool thread_running = false; /**< daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
/* Main state machine */
static struct vehicle_status_s current_status;
static orb_advert_t stat_pub;
/* XXX ? */
// static uint16_t nofix_counter = 0;
// static uint16_t gotfix_counter = 0;
/* XXX ? */
static unsigned int failsafe_lowlevel_timeout_ms;
/* pthread loops */
static void *orb_receive_loop(void *arg);
@@ -252,18 +258,19 @@ enum AUDIO_PATTERN {
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state)
{
#warning add alarms for state transitions
/* Trigger alarm if going into any error state */
if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
}
// if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
// ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
// ioctl(buzzer, TONE_SET_ALARM, 0);
// ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
// }
/* Trigger neutral on arming / disarming */
if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) {
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL);
}
// if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) {
// ioctl(buzzer, TONE_SET_ALARM, 0);
// ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL);
// }
/* Trigger Tetris on being bored */
@@ -277,6 +284,7 @@ void tune_confirm(void)
void tune_error(void)
{
/* XXX change alarm to 2 tones*/
ioctl(buzzer, TONE_SET_ALARM, 4);
}
@@ -795,19 +803,21 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* request to set different system mode */
switch (cmd->command) {
case VEHICLE_CMD_DO_SET_MODE: {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
// XXX implement this
} else {
// if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
// result = VEHICLE_CMD_RESULT_ACCEPTED;
//
// } else {
result = VEHICLE_CMD_RESULT_DENIED;
}
// }
}
break;
case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
/* request to arm */
if ((int)cmd->param1 == 1) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
if (OK == do_arming_state_update(status_pub, current_vehicle_status, mavlink_fd, ARMING_STATE_ARMED)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -815,9 +825,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
/* request to disarm */
// XXX this arms it instad of disarming
} else if ((int)cmd->param1 == 0) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
if (OK == do_arming_state_update(status_pub, current_vehicle_status, mavlink_fd, ARMING_STATE_STANDBY)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -830,7 +840,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* request for an autopilot reboot */
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
if ((int)cmd->param1 == 1) {
if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
if (OK == do_navigation_state_update(status_pub, current_vehicle_status, mavlink_fd, NAVIGATION_STATE_REBOOT)) {
/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
result = VEHICLE_CMD_RESULT_ACCEPTED;
@@ -871,16 +881,21 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* gyro calibration */
if ((int)(cmd->param1) == 1) {
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
/* transition to init state */
if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
&& OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
mavlink_log_info(mavlink_fd, "starting gyro cal");
tune_confirm();
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "finished gyro cal");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
/* back to standby state */
do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -893,16 +908,20 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* magnetometer calibration */
if ((int)(cmd->param2) == 1) {
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
/* transition to init state */
if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
&& OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
mavlink_log_info(mavlink_fd, "starting mag cal");
tune_confirm();
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "finished mag cal");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
/* back to standby state */
do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -916,12 +935,17 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* zero-altitude pressure calibration */
if ((int)(cmd->param3) == 1) {
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
&& OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
// XXX implement this
mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented");
tune_confirm();
/* back to standby state */
do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
} else {
mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration");
result = VEHICLE_CMD_RESULT_DENIED;
@@ -933,15 +957,18 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* trim calibration */
if ((int)(cmd->param4) == 1) {
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
&& OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
mavlink_log_info(mavlink_fd, "starting trim cal");
tune_confirm();
do_rc_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "finished trim cal");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
/* back to standby state */
do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -954,16 +981,19 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* accel calibration */
if ((int)(cmd->param5) == 1) {
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (OK == do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_INIT)
&& OK == do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_INIT)) {
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "CMD starting accel cal");
tune_confirm();
do_accel_calibration(status_pub, &current_status);
tune_confirm();
mavlink_log_info(mavlink_fd, "CMD finished accel cal");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
/* back to standby state */
do_arming_state_update(status_pub, &current_status, mavlink_fd, ARMING_STATE_STANDBY);
do_navigation_state_update(status_pub, &current_status, mavlink_fd, NAVIGATION_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -1262,7 +1292,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_sys_type = param_find("MAV_TYPE");
/* welcome user */
warnx("I am in command now!\n");
warnx("[commander] starting");
/* pthreads for command and subsystem info handling */
// pthread_t command_handling_thread;
@@ -1270,33 +1300,39 @@ int commander_thread_main(int argc, char *argv[])
/* initialize */
if (led_init() != 0) {
warnx("ERROR: Failed to initialize leds\n");
warnx("ERROR: Failed to initialize leds");
}
if (buzzer_init() != 0) {
warnx("ERROR: Failed to initialize buzzer\n");
warnx("ERROR: Failed to initialize buzzer");
}
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.");
}
/* make sure we are in preflight state */
memset(&current_status, 0, sizeof(current_status));
current_status.state_machine = SYSTEM_STATE_PREFLIGHT;
current_status.navigation_state = NAVIGATION_STATE_INIT;
current_status.arming_state = ARMING_STATE_INIT;
current_status.flag_system_armed = false;
/* neither manual nor offboard control commands have been received */
current_status.offboard_control_signal_found_once = false;
current_status.rc_signal_found_once = false;
/* mark all signals lost as long as they haven't been found */
current_status.rc_signal_lost = true;
current_status.offboard_control_signal_lost = true;
/* allow manual override initially */
current_status.flag_external_manual_override_ok = true;
/* flag position info as bad, do not allow auto mode */
current_status.flag_vector_flight_mode_ok = false;
/* set battery warning flag */
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
@@ -1315,6 +1351,7 @@ int commander_thread_main(int argc, char *argv[])
exit(ERROR);
}
// XXX needed?
mavlink_log_info(mavlink_fd, "system is running");
/* create pthreads */
@@ -1325,7 +1362,6 @@ int commander_thread_main(int argc, char *argv[])
/* Start monitoring loop */
uint16_t counter = 0;
uint8_t flight_env;
/* Initialize to 0.0V */
float battery_voltage = 0.0f;
@@ -1350,11 +1386,13 @@ int commander_thread_main(int argc, char *argv[])
struct offboard_control_setpoint_s sp_offboard;
memset(&sp_offboard, 0, sizeof(sp_offboard));
/* Subscribe to global position */
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
struct vehicle_global_position_s global_position;
memset(&global_position, 0, sizeof(global_position));
uint64_t last_global_position_time = 0;
/* Subscribe to local position data */
int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
struct vehicle_local_position_s local_position;
memset(&local_position, 0, sizeof(local_position));
@@ -1365,10 +1403,13 @@ int commander_thread_main(int argc, char *argv[])
* position estimator and commander. RAW GPS is more than good enough for a
* non-flying vehicle.
*/
/* Subscribe to GPS topic */
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
struct vehicle_gps_position_s gps_position;
memset(&gps_position, 0, sizeof(gps_position));
/* Subscribe to sensor topic */
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
@@ -1502,45 +1543,36 @@ int commander_thread_main(int argc, char *argv[])
/* Slow but important 8 Hz checks */
if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
current_status.state_machine == SYSTEM_STATE_AUTO ||
current_status.state_machine == SYSTEM_STATE_MANUAL)) {
/* armed */
led_toggle(LED_BLUE);
// if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
// current_status.state_machine == SYSTEM_STATE_AUTO ||
// current_status.state_machine == SYSTEM_STATE_MANUAL)) {
// /* armed */
// led_toggle(LED_BLUE);
} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* not armed */
led_toggle(LED_BLUE);
}
} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* not armed */
led_toggle(LED_BLUE);
}
/* toggle error led at 5 Hz in HIL mode */
if (current_status.flag_hil_enabled) {
/* hil enabled */
led_toggle(LED_AMBER);
/* toggle error led at 5 Hz in HIL mode */
if (current_status.flag_hil_enabled) {
/* hil enabled */
led_toggle(LED_AMBER);
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
/* toggle error (red) at 5 Hz on low battery or error */
led_toggle(LED_AMBER);
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
/* toggle error (red) at 5 Hz on low battery or error */
led_toggle(LED_AMBER);
} else {
// /* Constant error indication in standby mode without GPS */
// if (!current_status.gps_valid) {
// led_on(LED_AMBER);
}
// } else {
// led_off(LED_AMBER);
// }
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* compute system load */
uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* compute system load */
uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
if (last_idle_time > 0)
current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle
if (last_idle_time > 0)
current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle
last_idle_time = system_load.tasks[0].total_runtime;
}
last_idle_time = system_load.tasks[0].total_runtime;
}
// // XXX Export patterns and threshold to parameters
@@ -1583,13 +1615,14 @@ int commander_thread_main(int argc, char *argv[])
low_voltage_counter++;
}
/* Critical, this is rather an emergency, kill signal to sdlog and change state machine */
/* Critical, this is rather an emergency, change state machine */
else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!");
current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
state_machine_emergency(stat_pub, &current_status, mavlink_fd);
// XXX implement this
// state_machine_emergency(stat_pub, &current_status, mavlink_fd);
}
critical_voltage_counter++;
@@ -1698,7 +1731,7 @@ int commander_thread_main(int argc, char *argv[])
if (gps_position.fix_type == GPS_FIX_TYPE_3D
&& (hdop_m < hdop_threshold_m)
&& (vdop_m < vdop_threshold_m)
&& (vdop_m < vdop_threshold_m) // XXX note that vdop is 0 for mtk
&& !home_position_set
&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
&& !current_status.flag_system_armed) {
@@ -1734,85 +1767,112 @@ int commander_thread_main(int argc, char *argv[])
if ((hrt_absolute_time() - sp_man.timestamp) < 100000) {
// /*
// * Check if manual control modes have to be switched
// */
// if (!isfinite(sp_man.manual_mode_switch)) {
// warnx("man mode sw not finite\n");
/*
* Check if manual control modes have to be switched
*/
if (!isfinite(sp_man.mode_switch)) {
warnx("mode sw not finite");
// /* this switch is not properly mapped, set default */
// if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
/* this switch is not properly mapped, set attitude stabilized */
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, fall back 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 {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
// /* assuming a fixed wing, fall back 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;
// }
/* assuming a fixed wing, fall back to direct pass-through */
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
}
// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
} else if (sp_man.mode_switch < -STICK_ON_OFF_LIMIT) {
// /* bottom stick position, set direct mode for vehicles supporting it */
// if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
/* this switch is not properly mapped, set attitude stabilized */
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, fall back 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 rotary wing, fall back to m */
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
// /* assuming a fixed wing, set to direct pass-through as requested */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = false;
// }
/* assuming a fixed wing, set to direct pass-through as requested */
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
}
// } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
} else if (sp_man.mode_switch > STICK_ON_OFF_LIMIT) {
// /* top stick position, set SAS for all vehicle types */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
// current_status.flag_control_attitude_enabled = true;
// current_status.flag_control_rates_enabled = true;
/* top stick position, set auto/mission for all vehicle types */
current_status.flag_control_position_enabled = true;
current_status.flag_control_velocity_enabled = true;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
// } else {
// /* center stick position, set rate control */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = true;
// }
} else {
/* center stick position, set seatbelt/simple control */
current_status.flag_control_velocity_enabled = true;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
}
// warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
/*
* Check if manual stability control modes have to be switched
* Check if land/RTL is requested
*/
if (!isfinite(sp_man.manual_sas_switch)) {
if (!isfinite(sp_man.return_switch)) {
/* this switch is not properly mapped, set default */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
current_status.flag_land_requested = false; // XXX default?
} else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) {
} else if (sp_man.return_switch < -STICK_ON_OFF_LIMIT) {
/* bottom stick position, set altitude hold */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE;
current_status.flag_land_requested = false;
} else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) {
} else if (sp_man.return_switch > STICK_ON_OFF_LIMIT) {
/* top stick position */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE;
current_status.flag_land_requested = true;
} else {
/* center stick position, set default */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
current_status.flag_land_requested = false; // XXX default?
}
/* check mission switch */
if (!isfinite(sp_man.mission_switch)) {
/* this switch is not properly mapped, set default */
current_status.flag_mission_activated = false;
} else if (sp_man.mission_switch > STICK_ON_OFF_LIMIT) {
/* top switch position */
current_status.flag_mission_activated = true;
} else if (sp_man.mission_switch < -STICK_ON_OFF_LIMIT) {
/* bottom switch position */
current_status.flag_mission_activated = false;
} else {
/* center switch position, set default */
current_status.flag_mission_activated = false; // XXX default?
}
/* handle the case where RC signal was regained */
if (!current_status.rc_signal_found_once) {
current_status.rc_signal_found_once = true;
mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME.");
} else {
if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
}
/*
@@ -1826,7 +1886,7 @@ int commander_thread_main(int argc, char *argv[])
((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
current_status.flag_system_armed = false;
stick_on_counter = 0;
} else {
@@ -1838,7 +1898,7 @@ int commander_thread_main(int argc, char *argv[])
/* check if left stick is in lower right position --> arm */
if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
current_status.flag_system_armed = true;
stick_on_counter = 0;
} else {
@@ -1847,37 +1907,6 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* check manual override switch - switch to manual or auto mode */
if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
/* enable manual override */
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
// /* check auto mode switch for correct mode */
// if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
// /* enable guided mode */
// update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
// } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
// XXX hardcode to auto for now
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
// }
} else {
/* center stick position, set SAS for all vehicle types */
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}
/* handle the case where RC signal was regained */
if (!current_status.rc_signal_found_once) {
current_status.rc_signal_found_once = true;
mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME.");
} else {
if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
}
current_status.rc_signal_cutting_off = false;
current_status.rc_signal_lost = false;
current_status.rc_signal_lost_interval = 0;
@@ -1965,12 +1994,13 @@ int commander_thread_main(int argc, char *argv[])
/* arm / disarm on request */
if (sp_offboard.armed && !current_status.flag_system_armed) {
update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
#warning fix this
// update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
/* switch to stabilized mode = takeoff */
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
// update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
} else if (!sp_offboard.armed && current_status.flag_system_armed) {
update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
// update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
}
} else {
@@ -2006,18 +2036,20 @@ int commander_thread_main(int argc, char *argv[])
current_status.timestamp = hrt_absolute_time();
// XXX what is this?
/* If full run came back clean, transition to standby */
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
current_status.flag_preflight_gyro_calibration == false &&
current_status.flag_preflight_mag_calibration == false &&
current_status.flag_preflight_accel_calibration == false) {
/* All ok, no calibration going on, go to standby */
do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
}
// if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
// current_status.flag_preflight_gyro_calibration == false &&
// current_status.flag_preflight_mag_calibration == false &&
// current_status.flag_preflight_accel_calibration == false) {
// /* All ok, no calibration going on, go to standby */
// do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
// }
/* publish at least with 1 Hz */
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) {
publish_armed_status(&current_status);
#warning fix this
// publish_armed_status(&current_status);
orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
state_changed = false;
}
@@ -2043,7 +2075,7 @@ int commander_thread_main(int argc, char *argv[])
close(sensor_sub);
close(cmd_sub);
warnx("exiting..\n");
warnx("exiting");
fflush(stdout);
thread_running = false;
apps/commander/state_machine_helper.c
+317 -201
View File
@@ -40,182 +40,297 @@
#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"
static const char *system_state_txt[] = {
"SYSTEM_STATE_PREFLIGHT",
"SYSTEM_STATE_STANDBY",
"SYSTEM_STATE_GROUND_READY",
"SYSTEM_STATE_MANUAL",
"SYSTEM_STATE_STABILIZED",
"SYSTEM_STATE_AUTO",
"SYSTEM_STATE_MISSION_ABORT",
"SYSTEM_STATE_EMCY_LANDING",
"SYSTEM_STATE_EMCY_CUTOFF",
"SYSTEM_STATE_GROUND_ERROR",
"SYSTEM_STATE_REBOOT",
};
/**
* Transition from one state to another
* Transition from one navigation state to another
*/
int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state)
int do_navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, navigation_state_t new_state)
{
int invalid_state = false;
bool valid_transition = false;
int ret = ERROR;
commander_state_machine_t old_state = current_status->state_machine;
if (current_status->navigation_state == new_state) {
warnx("Navigation state not changed");
switch (new_state) {
case SYSTEM_STATE_MISSION_ABORT: {
/* Indoor or outdoor */
// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
} else {
// } else {
// ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
// }
switch (new_state) {
case NAVIGATION_STATE_INIT:
if (current_status->navigation_state == NAVIGATION_STATE_STANDBY) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO INIT STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_STANDBY:
if (current_status->navigation_state == NAVIGATION_STATE_INIT
|| current_status->navigation_state == NAVIGATION_STATE_MANUAL
|| current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO STANDBY STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_MANUAL:
if (
( current_status->navigation_state == NAVIGATION_STATE_STANDBY
|| 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)
&& current_status->arming_state == ARMING_STATE_ARMED) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO MANUAL STATE");
valid_transition = 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;
}
break;
case NAVIGATION_STATE_LOITER:
if ( ((current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_SEATBELT)
&& current_status->flag_global_position_valid)
|| current_status->navigation_state == NAVIGATION_STATE_MISSION) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO LOITER STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_AUTO_READY:
if (
(current_status->navigation_state == NAVIGATION_STATE_STANDBY
&& current_status->flag_global_position_valid
&& current_status->flag_valid_launch_position)
|| current_status->navigation_state == NAVIGATION_STATE_LAND) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO AUTO READY STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_MISSION:
if (
current_status->navigation_state == NAVIGATION_STATE_TAKEOFF
|| current_status->navigation_state == NAVIGATION_STATE_RTL
|| (
(current_status->navigation_state == NAVIGATION_STATE_MANUAL
|| current_status->navigation_state == NAVIGATION_STATE_SEATBELT
|| current_status->navigation_state == NAVIGATION_STATE_LOITER)
&& current_status->flag_global_position_valid
&& current_status->flag_valid_launch_position)
) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO MISSION STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_RTL:
if (
current_status->navigation_state == NAVIGATION_STATE_MISSION
|| (
(current_status->navigation_state == NAVIGATION_STATE_MANUAL
|| current_status->navigation_state == NAVIGATION_STATE_SEATBELT
|| current_status->navigation_state == NAVIGATION_STATE_LOITER)
&& current_status->flag_global_position_valid
&& current_status->flag_valid_launch_position)
) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO RTL STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_TAKEOFF:
if (current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO TAKEOFF STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_LAND:
if (current_status->navigation_state == NAVIGATION_STATE_RTL
|| current_status->navigation_state == NAVIGATION_STATE_LOITER) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO LAND STATE");
valid_transition = true;
}
break;
case NAVIGATION_STATE_REBOOT:
if (current_status->navigation_state == NAVIGATION_STATE_STANDBY
|| current_status->navigation_state == NAVIGATION_STATE_INIT
|| current_status->flag_hil_enabled) {
valid_transition = true;
/* set system flags according to state */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
usleep(500000);
up_systemreset();
/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
} else {
mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
}
break;
default:
warnx("Unknown navigation state");
break;
}
break;
case SYSTEM_STATE_EMCY_LANDING:
/* Tell the controller to land */
/* set system flags according to state */
current_status->flag_system_armed = true;
warnx("EMERGENCY LANDING!\n");
mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!");
break;
case SYSTEM_STATE_EMCY_CUTOFF:
/* Tell the controller to cutoff the motors (thrust = 0) */
/* set system flags according to state */
current_status->flag_system_armed = false;
warnx("EMERGENCY MOTOR CUTOFF!\n");
mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!");
break;
case SYSTEM_STATE_GROUND_ERROR:
/* set system flags according to state */
/* prevent actuators from arming */
current_status->flag_system_armed = false;
warnx("GROUND ERROR, locking down propulsion system\n");
mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system");
break;
case SYSTEM_STATE_PREFLIGHT:
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
/* set system flags according to state */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state");
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state");
}
break;
case SYSTEM_STATE_REBOOT:
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT
|| current_status->flag_hil_enabled) {
invalid_state = false;
/* set system flags according to state */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
usleep(500000);
up_systemreset();
/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
}
break;
case SYSTEM_STATE_STANDBY:
/* set system flags according to state */
/* standby enforces disarmed */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "Switched to STANDBY state");
break;
case SYSTEM_STATE_GROUND_READY:
/* set system flags according to state */
/* ground ready has motors / actuators armed */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state");
break;
case SYSTEM_STATE_AUTO:
/* set system flags according to state */
/* auto is airborne and in auto mode, motors armed */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode");
break;
case SYSTEM_STATE_STABILIZED:
/* set system flags according to state */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode");
break;
case SYSTEM_STATE_MANUAL:
/* set system flags according to state */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode");
break;
default:
invalid_state = true;
break;
}
if (invalid_state == false || old_state != new_state) {
current_status->state_machine = new_state;
if (valid_transition) {
current_status->navigation_state = new_state;
state_machine_publish(status_pub, current_status, mavlink_fd);
publish_armed_status(current_status);
// publish_armed_status(current_status);
ret = OK;
}
if (invalid_state) {
mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition");
ret = ERROR;
} else {
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;
if (current_status->arming_state == new_state) {
warnx("Arming state not changed");
} 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) {
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) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO ARMED ARMING STATE");
valid_transition = true;
}
break;
case ARMING_STATE_MISSION_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_MISSION_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) {
mavlink_log_critical(mavlink_fd, "SWITCHED TO REBOOT ARMING STATE");
valid_transition = true;
// XXX reboot here?
}
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 */
@@ -223,70 +338,69 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
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;
// if (current_status->flag_control_rates_enabled) {
// current_status->onboard_control_sensors_present |= 0x400;
//
// } else {
// 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;
// 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);
printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]);
}
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);
}
//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 */
//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);
// }
//}
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);
}
}
//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);
// }
//
//}
@@ -488,6 +602,7 @@ void state_machine_emergency(int status_pub, struct vehicle_status_s *current_st
/* 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)
{
@@ -750,3 +865,4 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
return ret;
}
#endif
apps/commander/state_machine_helper.h
+2 -155
View File
@@ -47,163 +47,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
/**
* Switch to new state with no checking.
*
* do_state_update: this is the functions that all other functions have to call in order to update the state.
* the function does not question the state change, this must be done before
* The function performs actions that are connected with the new state (buzzer, reboot, ...)
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*
* @return 0 (macro OK) or 1 on error (macro ERROR)
*/
int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state);
int do_navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, navigation_state_t new_state);
/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state);
// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
/**
* Handle state machine if got position fix
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if position fix lost
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if user wants to arm
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if user wants to disarm
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is manual
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is stabilized
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is guided
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is auto
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Publish current state information
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/*
* Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app).
* If the request is obeyed the functions return 0
*
*/
/**
* Handles *incoming request* to switch to a specific state, if state change is successful returns 0
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode);
/**
* Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Always switches to critical mode under any circumstances.
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Switches to emergency if required.
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Publish the armed state depending on the current system state
*
* @param current_status the current system status
*/
void publish_armed_status(const struct vehicle_status_s *current_status);
#endif /* STATE_MACHINE_HELPER_H_ */