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Renamed actuator_safety back to actuator_armed, compiling but untested

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This commit is contained in:
Julian Oes
2013-07-15 22:15:15 +02:00
parent bf2ff98856
commit 1b38cf715d
25 changed files with 316 additions and 243 deletions
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src/modules/commander/commander.c
+44 -43
View File
@@ -76,9 +76,10 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
#include <mavlink/mavlink_log.h>
#include <drivers/drv_led.h>
@@ -177,7 +178,7 @@ int led_off(int led);
void do_reboot(void);
void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety);
void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed);
// int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
@@ -253,7 +254,7 @@ void do_reboot()
void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety)
void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed)
{
/* result of the command */
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
@@ -273,13 +274,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
if ((int)cmd->param1 & VEHICLE_MODE_FLAG_SAFETY_ARMED) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
}
} else {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
@@ -292,14 +293,14 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* request to arm */
if ((int)cmd->param1 == 1) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
}
/* request to disarm */
} else if ((int)cmd->param1 == 0) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
@@ -312,7 +313,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* request for an autopilot reboot */
if ((int)cmd->param1 == 1) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, armed_pub, armed, mavlink_fd)) {
/* reboot is executed later, after positive tune is sent */
result = VEHICLE_CMD_RESULT_ACCEPTED;
tune_positive();
@@ -361,7 +362,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if(low_prio_task == LOW_PRIO_TASK_NONE) {
/* try to go to INIT/PREFLIGHT arming state */
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
/* now set the task for the low prio thread */
low_prio_task = LOW_PRIO_TASK_GYRO_CALIBRATION;
@@ -380,7 +381,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if(low_prio_task == LOW_PRIO_TASK_NONE) {
/* try to go to INIT/PREFLIGHT arming state */
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
/* now set the task for the low prio thread */
low_prio_task = LOW_PRIO_TASK_MAG_CALIBRATION;
@@ -400,7 +401,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
// if(low_prio_task == LOW_PRIO_TASK_NONE) {
// /* try to go to INIT/PREFLIGHT arming state */
// if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
// if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
// result = VEHICLE_CMD_RESULT_ACCEPTED;
// /* now set the task for the low prio thread */
// low_prio_task = LOW_PRIO_TASK_ALTITUDE_CALIBRATION;
@@ -421,7 +422,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
// if(low_prio_task == LOW_PRIO_TASK_NONE) {
// /* try to go to INIT/PREFLIGHT arming state */
// if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
// if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
// result = VEHICLE_CMD_RESULT_ACCEPTED;
// /* now set the task for the low prio thread */
// low_prio_task = LOW_PRIO_TASK_RC_CALIBRATION;
@@ -441,7 +442,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if(low_prio_task == LOW_PRIO_TASK_NONE) {
/* try to go to INIT/PREFLIGHT arming state */
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
/* now set the task for the low prio thread */
low_prio_task = LOW_PRIO_TASK_ACCEL_CALIBRATION;
@@ -460,7 +461,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if(low_prio_task == LOW_PRIO_TASK_NONE) {
/* try to go to INIT/PREFLIGHT arming state */
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
/* now set the task for the low prio thread */
low_prio_task = LOW_PRIO_TASK_AIRSPEED_CALIBRATION;
@@ -734,12 +735,11 @@ int commander_thread_main(int argc, char *argv[])
/* make sure we are in preflight state */
memset(&current_status, 0, sizeof(current_status));
/* safety topic */
struct actuator_safety_s safety;
orb_advert_t safety_pub;
/* Initialize safety with all false */
memset(&safety, 0, sizeof(safety));
/* armed topic */
struct actuator_armed_s armed;
orb_advert_t armed_pub;
/* Initialize armed with all false */
memset(&armed, 0, sizeof(armed));
/* flags for control apps */
struct vehicle_control_mode_s control_mode;
@@ -768,8 +768,8 @@ int commander_thread_main(int argc, char *argv[])
/* set battery warning flag */
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
/* set safety device detection flag */
/* set safety device detection flag */
/* XXX do we need this? */
//current_status.flag_safety_present = false;
@@ -789,10 +789,7 @@ int commander_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_status), status_pub, &current_status);
safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety);
/* but also subscribe to it */
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);
@@ -844,6 +841,11 @@ int commander_thread_main(int argc, char *argv[])
/* XXX what exactly is this for? */
uint64_t last_print_time = 0;
/* Subscribe to safety topic */
int safety_sub = orb_subscribe(ORB_ID(safety));
struct safety_s safety;
memset(&safety, 0, sizeof(safety));
/* Subscribe to manual control data */
int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp_man;
@@ -917,7 +919,6 @@ int commander_thread_main(int argc, char *argv[])
/* XXX use this! */
//uint64_t failsave_ll_start_time = 0;
enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode;
bool state_changed = true;
bool param_init_forced = true;
@@ -936,7 +937,7 @@ int commander_thread_main(int argc, char *argv[])
/* update parameters */
if (!safety.armed) {
if (!armed.armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
@@ -990,7 +991,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
handle_command(status_pub, &current_status, &cmd, safety_pub, &safety);
handle_command(status_pub, &current_status, &cmd, armed_pub, &armed);
}
@@ -1003,7 +1004,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
/* update parameters */
if (!safety.armed) {
if (!armed.armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
@@ -1028,7 +1029,7 @@ int commander_thread_main(int argc, char *argv[])
orb_check(safety_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
orb_copy(ORB_ID(safety), safety_sub, &safety);
}
/* update global position estimate */
@@ -1170,7 +1171,7 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */
if (current_status.arming_state == ARMING_STATE_INIT) {
// XXX check for sensors
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd);
} else {
// XXX: Add emergency stuff if sensors are lost
}
@@ -1287,7 +1288,7 @@ int commander_thread_main(int argc, char *argv[])
&& (vdop_m < vdop_threshold_m) // XXX note that vdop is 0 for mtk
&& !home_position_set
&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
&& !safety.armed) {
&& !armed.armed) {
warnx("setting home position");
/* copy position data to uORB home message, store it locally as well */
@@ -1579,7 +1580,7 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "DISARM DENY, go manual mode first");
tune_negative();
} else {
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd);
tune_positive();
}
@@ -1595,13 +1596,12 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* check if left stick is in lower right position --> arm */
if (current_status.flag_control_manual_enabled &&
current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS &&
/* check if left stick is in lower right position and we're in manual --> arm */
if (!control_mode.flag_control_position_enabled && !control_mode.flag_control_velocity_enabled &&
sp_man.yaw > STICK_ON_OFF_LIMIT &&
sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd);
arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd);
stick_on_counter = 0;
tune_positive();
@@ -1704,13 +1704,13 @@ int commander_thread_main(int argc, char *argv[])
// XXX check if this is correct
/* arm / disarm on request */
if (sp_offboard.armed && !safety.armed) {
if (sp_offboard.armed && !armed.armed) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd);
arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd);
} else if (!sp_offboard.armed && safety.armed) {
} else if (!sp_offboard.armed && armed.armed) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd);
}
} else {
@@ -1772,7 +1772,7 @@ int commander_thread_main(int argc, char *argv[])
/* play tone according to evaluation result */
/* check if we recently armed */
if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
if (!arm_tune_played && armed.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
if (tune_arm() == OK)
arm_tune_played = true;
@@ -1789,7 +1789,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* reset arm_tune_played when disarmed */
if (!(safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
if (!(armed.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
arm_tune_played = false;
}
@@ -1812,6 +1812,7 @@ int commander_thread_main(int argc, char *argv[])
close(sp_offboard_sub);
close(global_position_sub);
close(sensor_sub);
close(safety_sub);
close(cmd_sub);
warnx("exiting");
src/modules/commander/commander_helper.h
+1 -1
View File
@@ -43,7 +43,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
src/modules/commander/state_machine_helper.c
+13 -13
View File
@@ -57,7 +57,7 @@
#include "commander_helper.h"
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) {
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd) {
int ret = ERROR;
@@ -73,8 +73,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
/* allow going back from INIT for calibration */
if (current_state->arming_state == ARMING_STATE_STANDBY) {
ret = OK;
safety->armed = false;
safety->ready_to_arm = false;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_STANDBY:
@@ -86,8 +86,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
/* sensors need to be initialized for STANDBY state */
if (current_state->condition_system_sensors_initialized) {
ret = OK;
safety->armed = false;
safety->ready_to_arm = true;
armed->armed = false;
armed->ready_to_arm = true;
} else {
mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized");
}
@@ -101,7 +101,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
/* XXX conditions for arming? */
ret = OK;
safety->armed = true;
armed->armed = true;
}
break;
case ARMING_STATE_ARMED_ERROR:
@@ -111,7 +111,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
/* XXX conditions for an error state? */
ret = OK;
safety->armed = true;
armed->armed = true;
}
break;
case ARMING_STATE_STANDBY_ERROR:
@@ -120,8 +120,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
|| current_state->arming_state == ARMING_STATE_INIT
|| current_state->arming_state == ARMING_STATE_ARMED_ERROR) {
ret = OK;
safety->armed = false;
safety->ready_to_arm = false;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_REBOOT:
@@ -132,8 +132,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
|| current_state->arming_state == ARMING_STATE_STANDBY_ERROR) {
ret = OK;
safety->armed = false;
safety->ready_to_arm = false;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
@@ -151,8 +151,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
current_state->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_state);
safety->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_safety), safety_pub, safety);
armed->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_armed), armed_pub, armed);
}
}
src/modules/commander/state_machine_helper.h
+2 -2
View File
@@ -46,11 +46,11 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd);
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd);
int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd);