mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 21:11:36 +08:00
commander: move most static variables and parameters to class
This commit is contained in:
Daniel Agar
@@ -34,42 +34,55 @@
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#ifndef COMMANDER_HPP_
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#define COMMANDER_HPP_
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#include "state_machine_helper.h"
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#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
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#include "failure_detector/FailureDetector.hpp"
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#include "state_machine_helper.h"
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#include <lib/controllib/blocks.hpp>
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#include <lib/hysteresis/hysteresis.h>
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#include <lib/mathlib/mathlib.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <lib/hysteresis/hysteresis.h>
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// publications
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationQueued.hpp>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/test_motor.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_status_flags.h>
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#include <uORB/topics/test_motor.h>
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// subscriptions
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/cpuload.h>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/geofence_result.h>
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#include <uORB/topics/iridiumsbd_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/mission_result.h>
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#include <uORB/topics/offboard_control_mode.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/power_button_state.h>
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#include <uORB/topics/safety.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/system_power.h>
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#include <uORB/topics/telemetry_status.h>
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#include <uORB/topics/vehicle_acceleration.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/vtol_vehicle_status.h>
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using math::constrain;
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using systemlib::Hysteresis;
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using namespace time_literals;
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@@ -95,13 +108,65 @@ public:
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void enable_hil();
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// TODO: only temporarily static until low priority thread is removed
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static bool preflight_check(bool report);
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void get_circuit_breaker_params();
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private:
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transition_result_t arm_disarm(bool arm, bool run_preflight_checks, orb_advert_t *mavlink_log_pub, const char *armedBy);
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void battery_status_check();
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void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
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bool *changed);
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bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
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const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
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bool *validity_changed);
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void control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed,
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const uint8_t battery_warning);
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/**
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* Checks the status of all available data links and handles switching between different system telemetry states.
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*/
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void data_link_check();
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void esc_status_check(const esc_status_s &esc_status);
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void estimator_check();
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bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
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uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub);
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unsigned handle_command_motor_test(const vehicle_command_s &cmd);
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void mission_init();
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void offboard_control_update();
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void print_reject_arm(const char *msg);
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void print_reject_mode(const char *msg);
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void reset_posvel_validity(bool *changed);
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bool set_home_position();
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bool set_home_position_alt_only();
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void update_control_mode();
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// Set the main system state based on RC and override device inputs
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transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
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// Enable override (manual reversion mode) on the system
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transition_result_t set_main_state_override_on(const vehicle_status_s &status, bool *changed);
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// Set the system main state based on the current RC inputs
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transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
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bool shutdown_if_allowed();
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bool stabilization_required();
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
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@@ -129,28 +194,63 @@ private:
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(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
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(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
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(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
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(ParamBool<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
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(ParamInt<px4::params::COM_OA_BOOT_T>) _param_com_oa_boot_t,
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(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile,
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// Offboard
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(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
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(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
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(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
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(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
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(ParamInt<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
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(ParamBool<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
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(ParamFloat<px4::params::COM_KILL_DISARM>) _param_com_kill_disarm,
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// Engine failure
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(ParamFloat<px4::params::COM_EF_THROT>) _param_ef_throttle_thres,
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(ParamFloat<px4::params::COM_EF_C2T>) _param_ef_current2throttle_thres,
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(ParamFloat<px4::params::COM_EF_TIME>) _param_ef_time_thres,
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(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_arm_without_gps,
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(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_arm_switch_is_button,
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(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_arm_mission_required,
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(ParamBool<px4::params::COM_ARM_AUTH_REQ>) _param_arm_auth_required,
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(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_escs_checks_required,
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(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
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(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
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(ParamBool<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
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(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
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(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
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(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_min_stick_change,
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(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
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(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
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(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
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(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
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(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
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(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
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// Circuit breakers
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(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
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(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
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(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
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(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
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(ParamInt<px4::params::CBRK_GPSFAIL>) _param_cbrk_gpsfail,
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(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
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(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr
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(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
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// Geofrence
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(ParamInt<px4::params::GF_ACTION>) _param_geofence_action,
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// Mavlink
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(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
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(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
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(ParamInt<px4::params::MAV_TYPE>) _param_mav_type
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)
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enum class PrearmedMode {
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@@ -159,9 +259,22 @@ private:
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ALWAYS = 2
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};
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/* Decouple update interval and hysteresis counters, all depends on intervals */
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static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
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static constexpr float COMMANDER_MONITORING_LOOPSPERMSEC{1 / (COMMANDER_MONITORING_INTERVAL / 1000.0f)};
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static constexpr float STICK_ON_OFF_LIMIT{0.9f};
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static constexpr uint64_t OFFBOARD_TIMEOUT{500_ms};
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static constexpr uint64_t HOTPLUG_SENS_TIMEOUT{8_s}; /**< wait for hotplug sensors to come online for upto 8 seconds */
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static constexpr uint64_t PRINT_MODE_REJECT_INTERVAL{500_ms};
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static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL{500_ms};
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const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
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const int64_t POSVEL_PROBATION_MAX = 100_s; /**< maximum probation duration (usec) */
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PreFlightCheck::arm_requirements_t _arm_requirements{};
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hrt_abstime _last_gpos_fail_time_us{0}; /**< Last time that the global position validity recovery check failed (usec) */
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hrt_abstime _last_lpos_fail_time_us{0}; /**< Last time that the local position validity recovery check failed (usec) */
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hrt_abstime _last_lvel_fail_time_us{0}; /**< Last time that the local velocity validity recovery check failed (usec) */
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@@ -177,89 +290,99 @@ private:
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bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
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bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
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bool _geofence_loiter_on{false};
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bool _geofence_rtl_on{false};
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bool _geofence_warning_action_on{false};
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bool _geofence_violated_prev{false};
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bool _geofence_loiter_on{false};
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bool _geofence_rtl_on{false};
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bool _geofence_warning_action_on{false};
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bool _geofence_violated_prev{false};
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FailureDetector _failure_detector;
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bool _flight_termination_triggered{false};
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FailureDetector _failure_detector;
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bool _flight_termination_triggered{false};
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bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
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uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub, bool *changed);
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unsigned handle_command_motor_test(const vehicle_command_s &cmd);
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bool set_home_position();
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bool set_home_position_alt_only();
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// Set the main system state based on RC and override device inputs
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transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
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// Enable override (manual reversion mode) on the system
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transition_result_t set_main_state_override_on(const vehicle_status_s &status, bool *changed);
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// Set the system main state based on the current RC inputs
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transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
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void update_control_mode();
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void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
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bool *changed);
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bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
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const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
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bool *validity_changed);
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void reset_posvel_validity(bool *changed);
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void mission_init();
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void estimator_check(bool *status_changed);
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void offboard_control_update(bool &status_changed);
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void battery_status_check();
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void esc_status_check(const esc_status_s &esc_status);
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/**
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* Checks the status of all available data links and handles switching between different system telemetry states.
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*/
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void data_link_check(bool &status_changed);
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uORB::Subscription _telemetry_status_sub{ORB_ID(telemetry_status)};
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hrt_abstime _datalink_last_heartbeat_gcs{0};
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hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
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bool _onboard_controller_lost{false};
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hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
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bool _avoidance_system_lost{false};
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hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
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bool _onboard_controller_lost{false};
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bool _avoidance_system_lost{false};
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bool _avoidance_system_status_change{false};
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uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT};
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uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
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uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT};
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hrt_abstime _high_latency_datalink_heartbeat{0};
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hrt_abstime _high_latency_datalink_lost{0};
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int _last_esc_online_flags{-1};
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int _last_esc_online_flags{-1};
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uORB::Subscription _battery_sub{ORB_ID(battery_status)};
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uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
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float _battery_current{0.0f};
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uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
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float _battery_current{0.0f};
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systemlib::Hysteresis _auto_disarm_landed{false};
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systemlib::Hysteresis _auto_disarm_killed{false};
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Hysteresis _auto_disarm_landed{false};
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Hysteresis _auto_disarm_killed{false};
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bool _print_avoidance_msg_once{false};
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bool _print_avoidance_msg_once{false};
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hrt_abstime _last_print_mode_reject_time{0}; ///< To remember when last notification was sent
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float _eph_threshold_adj{INFINITY}; ///< maximum allowable horizontal position uncertainty after adjustment for flight condition
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bool _skip_pos_accuracy_check{false};
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bool _last_condition_local_altitude_valid{false};
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bool _last_condition_local_position_valid{false};
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bool _last_condition_global_position_valid{false};
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bool _last_overload{false};
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unsigned int _leds_counter{0};
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manual_control_setpoint_s _sp_man{}; ///< the current manual control setpoint
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manual_control_setpoint_s _last_sp_man{}; ///< the manual control setpoint valid at the last mode switch
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hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost
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int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_NUM] {};
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uint8_t _last_sp_man_arm_switch{0};
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float _min_stick_change{};
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uint32_t _stick_off_counter{0};
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uint32_t _stick_on_counter{0};
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hrt_abstime _boot_timestamp{0};
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hrt_abstime _last_disarmed_timestamp{0};
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hrt_abstime _timestamp_engine_healthy{0}; ///< absolute time when engine was healty
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uint32_t _counter{0};
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bool _status_changed{true};
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bool _arm_tune_played{false};
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bool _was_landed{true};
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bool _was_falling{false};
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bool _was_armed{false};
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bool _failsafe_old{false}; ///< check which state machines for changes, clear "changed" flag
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bool _have_taken_off_since_arming{false};
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bool _flight_termination_printed{false};
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main_state_t _main_state_pre_offboard{commander_state_s::MAIN_STATE_MANUAL};
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commander_state_s _internal_state{};
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cpuload_s _cpuload{};
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geofence_result_s _geofence_result{};
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vehicle_land_detected_s _land_detector{};
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safety_s _safety{};
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vtol_vehicle_status_s _vtol_status{};
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// Subscriptions
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uORB::Subscription _actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
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uORB::Subscription _battery_sub{ORB_ID(battery_status)};
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uORB::Subscription _cmd_sub{ORB_ID(vehicle_command)};
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uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
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uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
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uORB::Subscription _geofence_result_sub{ORB_ID(geofence_result)};
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uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
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uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
|
||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
|
||||
uORB::Subscription _power_button_state_sub{ORB_ID(power_button_state)};
|
||||
uORB::Subscription _safety_sub{ORB_ID(safety)};
|
||||
uORB::Subscription _sp_man_sub{ORB_ID(manual_control_setpoint)};
|
||||
uORB::Subscription _subsys_sub{ORB_ID(subsystem_info)};
|
||||
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
|
||||
uORB::Subscription _telemetry_status_sub{ORB_ID(telemetry_status)};
|
||||
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
|
||||
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
|
||||
|
||||
uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
|
||||
uORB::SubscriptionData<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
|
||||
@@ -269,15 +392,17 @@ private:
|
||||
uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
|
||||
|
||||
// Publications
|
||||
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
|
||||
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
|
||||
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
|
||||
uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
|
||||
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
|
||||
uORB::Publication<test_motor_s> _test_motor_pub{ORB_ID(test_motor)};
|
||||
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
|
||||
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
|
||||
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
|
||||
|
||||
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};
|
||||
|
||||
uORB::PublicationQueued<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
|
||||
|
||||
};
|
||||
|
||||
#endif /* COMMANDER_HPP_ */
|
||||
|
||||
Reference in New Issue
Block a user