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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/uORB/topics/manual_control_setpoint.h
+6 -6
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@@ -56,17 +56,17 @@ struct manual_control_setpoint_s {
float yaw; /**< rudder / yaw rate / yaw */
float throttle; /**< throttle / collective thrust / altitude */
float manual_override_switch; /**< manual override mode (mandatory) */
float auto_mode_switch; /**< auto mode switch (mandatory) */
float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
float return_switch; /**< land 2 position switch (mandatory): land, no effect */
float mission_switch; /**< mission 2 position switch (optional): mission, loiter */
/**
* Any of the channels below may not be available and be set to NaN
* to indicate that it does not contain valid data.
*/
float manual_mode_switch; /**< manual mode (man, sas, alt) switch (optional) */
float manual_sas_switch; /**< sas mode (rates / attitude) switch (optional) */
float return_to_launch_switch; /**< return to launch switch (0 = disabled, 1 = enabled) */
float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */
// XXX needed or parameter?
//float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */
float flaps; /**< flap position */
apps/uORB/topics/rc_channels.h
+10 -12
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@@ -68,18 +68,16 @@ enum RC_CHANNELS_FUNCTION
ROLL = 1,
PITCH = 2,
YAW = 3,
OVERRIDE = 4,
AUTO_MODE = 5,
MANUAL_MODE = 6,
SAS_MODE = 7,
RTL = 8,
OFFBOARD_MODE = 9,
FLAPS = 10,
AUX_1 = 11,
AUX_2 = 12,
AUX_3 = 13,
AUX_4 = 14,
AUX_5 = 15,
MODE = 4,
RETURN = 5,
MISSION = 6,
OFFBOARD_MODE = 7,
FLAPS = 8,
AUX_1 = 9,
AUX_2 = 10,
AUX_3 = 11,
AUX_4 = 12,
AUX_5 = 13,
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};
apps/uORB/topics/vehicle_status.h
+52 -40
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@@ -59,21 +59,30 @@
*/
/* State Machine */
typedef enum
{
SYSTEM_STATE_PREFLIGHT = 0,
SYSTEM_STATE_STANDBY = 1,
SYSTEM_STATE_GROUND_READY = 2,
SYSTEM_STATE_MANUAL = 3,
SYSTEM_STATE_STABILIZED = 4,
SYSTEM_STATE_AUTO = 5,
SYSTEM_STATE_MISSION_ABORT = 6,
SYSTEM_STATE_EMCY_LANDING = 7,
SYSTEM_STATE_EMCY_CUTOFF = 8,
SYSTEM_STATE_GROUND_ERROR = 9,
SYSTEM_STATE_REBOOT= 10,
typedef enum {
NAVIGATION_STATE_INIT = 0,
NAVIGATION_STATE_STANDBY,
NAVIGATION_STATE_MANUAL,
NAVIGATION_STATE_SEATBELT,
NAVIGATION_STATE_LOITER,
NAVIGATION_STATE_AUTO_READY,
NAVIGATION_STATE_MISSION,
NAVIGATION_STATE_RTL,
NAVIGATION_STATE_TAKEOFF,
NAVIGATION_STATE_LAND,
NAVIGATION_STATE_GROUND_ERROR,
NAVIGATION_STATE_REBOOT
} navigation_state_t;
} commander_state_machine_t;
typedef enum {
ARMING_STATE_INIT = 0,
ARMING_STATE_STANDBY,
ARMING_STATE_ARMED,
ARMING_STATE_MISSION_ABORT,
ARMING_STATE_ERROR,
ARMING_STATE_REBOOT,
ARMING_STATE_IN_AIR_RESTORE
} arming_state_t;
enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
@@ -86,25 +95,25 @@ enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
enum VEHICLE_FLIGHT_MODE {
VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */
VEHICLE_FLIGHT_MODE_HOLD, /**< hold current position (hover or loiter around position when switched) */
VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */
};
enum VEHICLE_MANUAL_CONTROL_MODE {
VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0, /**< no attitude control, direct stick input mixing (only fixed wing) */
VEHICLE_MANUAL_CONTROL_MODE_RATES, /**< body rates control mode */
VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */
};
enum VEHICLE_MANUAL_SAS_MODE {
VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0, /**< roll, pitch and yaw absolute */
VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE, /**< roll and pitch absolute, yaw rate */
VEHICLE_MANUAL_SAS_MODE_SIMPLE, /**< simple mode (includes altitude hold) */
VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */
};
//enum VEHICLE_FLIGHT_MODE {
// VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
// VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */
// VEHICLE_FLIGHT_MODE_HOLD, /**< hold current position (hover or loiter around position when switched) */
// VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */
//};
//
//enum VEHICLE_MANUAL_CONTROL_MODE {
// VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0, /**< no attitude control, direct stick input mixing (only fixed wing) */
// VEHICLE_MANUAL_CONTROL_MODE_RATES, /**< body rates control mode */
// VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */
//};
//
//enum VEHICLE_MANUAL_SAS_MODE {
// VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0, /**< roll, pitch and yaw absolute */
// VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE, /**< roll and pitch absolute, yaw rate */
// VEHICLE_MANUAL_SAS_MODE_SIMPLE, /**< simple mode (includes altitude hold) */
// VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */
//};
/**
* Should match 1:1 MAVLink's MAV_TYPE ENUM
@@ -134,7 +143,7 @@ enum VEHICLE_TYPE {
enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */
VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */
VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */
VEHICLE_BATTERY_WARNING_ALERT /**< alerting of low voltage 2. stage */
};
@@ -150,17 +159,17 @@ struct vehicle_status_s
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */
//uint64_t failsave_highlevel_begin; TO BE COMPLETED
// uint64_t failsave_highlevel_begin; TO BE COMPLETED
navigation_state_t navigation_state; /**< current navigation state */
arming_state_t arming_state; /**< current arming state */
commander_state_machine_t state_machine; /**< current flight state, main state machine */
enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */
enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */
int32_t system_type; /**< system type, inspired by MAVLinks VEHICLE_TYPE enum */
/* system flags - these represent the state predicates */
bool flag_system_armed; /**< true is motors / actuators are armed */
bool flag_system_emergency;
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled; /**< true if offboard control input is on */
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
@@ -170,6 +179,9 @@ struct vehicle_status_s
bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */
bool flag_control_position_enabled; /**< true if position is controlled */
bool flag_land_requested; /**< true if land requested */
bool flag_mission_activated; /**< true if in mission mode */
bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */
bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */
bool flag_preflight_accel_calibration;
@@ -185,7 +197,7 @@ struct vehicle_status_s
uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
//bool failsave_highlevel;
bool failsave_highlevel;
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present;