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Added safety status feedback, disallow arming of a rotary wing with engaged safety

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Lorenz Meier
2013-06-09 14:09:09 +02:00
parent b12678014f
commit 1deced7629
8 changed files with 189 additions and 38 deletions
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src/modules/commander/commander.c
+53 -29
View File
@@ -81,6 +81,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
@@ -1281,6 +1282,8 @@ int commander_thread_main(int argc, char *argv[])
current_status.flag_vector_flight_mode_ok = false;
/* set battery warning flag */
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
/* set safety device detection flag */
current_status.flag_safety_present = false;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@@ -1377,6 +1380,12 @@ int commander_thread_main(int argc, char *argv[])
memset(&battery, 0, sizeof(battery));
battery.voltage_v = 0.0f;
/* subscribe to safety topic */
int safety_sub = orb_subscribe(ORB_ID(safety));
struct safety_s safety;
memset(&safety, 0, sizeof(safety));
safety.status = SAFETY_STATUS_NOT_PRESENT;
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@@ -1396,6 +1405,39 @@ int commander_thread_main(int argc, char *argv[])
/* Get current values */
bool new_data;
/* update parameters */
orb_check(param_changed_sub, &new_data);
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
/* update parameters */
if (!current_status.flag_system_armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
}
/* check and update system / component ID */
param_get(_param_system_id, &(current_status.system_id));
param_get(_param_component_id, &(current_status.component_id));
}
}
orb_check(sp_man_sub, &new_data);
if (new_data) {
@@ -1431,36 +1473,17 @@ int commander_thread_main(int argc, char *argv[])
handle_command(stat_pub, &current_status, &cmd);
}
/* update parameters */
orb_check(param_changed_sub, &new_data);
orb_check(safety_sub, &new_data);
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
if (new_data) {
/* got safety change */
orb_copy(ORB_ID(safety), safety_sub, &safety);
/* update parameters */
if (!current_status.flag_system_armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
}
/* check and update system / component ID */
param_get(_param_system_id, &(current_status.system_id));
param_get(_param_component_id, &(current_status.component_id));
}
/* handle it */
current_status.flag_safety_present = (safety.status != SAFETY_STATUS_NOT_PRESENT);
if (current_status.flag_safety_present)
current_status.flag_safety_safe = (safety.status == SAFETY_STATUS_SAFE);
}
/* update global position estimate */
@@ -1699,7 +1722,8 @@ int commander_thread_main(int argc, char *argv[])
state_changed = true;
}
if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
orb_check(ORB_ID(vehicle_gps_position), &new_data);
if (new_data) {
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
src/modules/commander/state_machine_helper.c
+32 -3
View File
@@ -65,6 +65,18 @@ static const char *system_state_txt[] = {
};
bool is_multirotor(const struct vehicle_status_s *current_status)
{
return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
{
return is_multirotor(current_status);
}
/**
* Transition from one state to another
*/
@@ -513,6 +525,25 @@ void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
/* reject arming if safety status is wrong */
if (current_status->flag_safety_present) {
/*
* The operator should not touch the vehicle if
* its armed, so we don't allow arming in the
* first place
*/
if (is_rotary_wing(current_status)) {
/* safety is in safe position, disallow arming */
if (current_status->flag_safety_safe) {
mavlink_log_critical(mavlink_fd, "DISENGAGE SAFETY BEFORE ARMING!");
}
}
}
printf("[cmd] arming\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
}
@@ -538,9 +569,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flag_control_manual_enabled = true;
/* set behaviour based on airframe */
if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
if (is_rotary_wing(current_status)) {
/* assuming a rotary wing, set to SAS */
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
src/modules/commander/state_machine_helper.h
+4
View File
@@ -47,6 +47,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
bool is_multirotor(const struct vehicle_status_s *current_status);
bool is_rotary_wing(const struct vehicle_status_s *current_status);
/**
* Switch to new state with no checking.
*