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Checkpoint: Added control flags

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This commit is contained in:
Julian Oes
2013-02-25 09:24:30 -08:00
parent 0eca49a4f6
commit 34c84752d1
1 changed files with 59 additions and 517 deletions
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apps/commander/state_machine_helper.c
+59 -517
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@@ -53,207 +53,6 @@
#include "state_machine_helper.h"
/**
* Transition from one sytem state to another
*/
//void navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
//{
// int ret = ERROR;
// navigation_state_t new_navigation_state;
//
// /* do the navigation state update depending on the arming state */
// switch (current_status->arming_state) {
//
// /* evaluate the navigation state when disarmed */
// case ARMING_STATE_STANDBY:
//
// /* Always accept manual mode */
// if (current_status->mode_switch == MODE_SWITCH_MANUAL) {
// new_navigation_state = NAVIGATION_STATE_MANUAL_STANDBY;
//
// /* Accept SEATBELT if there is a local position estimate */
// } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT) {
//
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT_STANDBY;
// } else {
// /* or just fall back to manual */
// mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position");
// new_navigation_state = NAVIGATION_STATE_MANUAL_STANDBY;
// }
//
// /* Accept AUTO if there is a global position estimate */
// } else if (current_status->mode_switch == MODE_SWITCH_AUTO) {
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT_STANDBY;
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. AUTO: no global position");
//
// /* otherwise fallback to seatbelt or even manual */
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT_STANDBY;
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position");
// new_navigation_state = NAVIGATION_STATE_MANUAL_STANDBY;
// }
// }
// }
//
// break;
//
// /* evaluate the navigation state when armed */
// case ARMING_STATE_ARMED:
//
// /* Always accept manual mode */
// if (current_status->mode_switch == MODE_SWITCH_MANUAL) {
// new_navigation_state = NAVIGATION_STATE_MANUAL;
//
// /* Accept SEATBELT if there is a local position estimate */
// } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT
// && current_status->return_switch == RETURN_SWITCH_NONE) {
//
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT;
// } else {
// /* or just fall back to manual */
// mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position");
// new_navigation_state = NAVIGATION_STATE_MANUAL;
// }
//
// /* Accept SEATBELT_DESCENT if there is a local position estimate and the return switch is on */
// } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT
// && current_status->return_switch == RETURN_SWITCH_RETURN) {
//
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT_DESCENT;
// } else {
// /* descent not possible without baro information, fall back to manual */
// mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: no local position");
// new_navigation_state = NAVIGATION_STATE_MANUAL;
// }
//
// /* Accept LOITER if there is a global position estimate */
// } else if (current_status->mode_switch == MODE_SWITCH_AUTO
// && current_status->return_switch == RETURN_SWITCH_NONE
// && current_status->mission_switch == MISSION_SWITCH_NONE) {
//
// if (current_status->flag_global_position_valid) {
// new_navigation_state = NAVIGATION_STATE_AUTO_LOITER;
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. LOITER: no global position");
//
// /* otherwise fallback to SEATBELT or even manual */
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT;
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position");
// new_navigation_state = NAVIGATION_STATE_MANUAL;
// }
// }
//
// /* Accept MISSION if there is a global position estimate and home position */
// } else if (current_status->mode_switch == MODE_SWITCH_AUTO
// && current_status->return_switch == RETURN_SWITCH_NONE
// && current_status->mission_switch == MISSION_SWITCH_MISSION) {
//
// if (current_status->flag_global_position_valid && current_status->flag_valid_home_position) {
// new_navigation_state = NAVIGATION_STATE_AUTO_MISSION;
// } else {
//
// /* spit out what exactly is unavailable */
// if (current_status->flag_global_position_valid) {
// mavlink_log_critical(mavlink_fd, "Rej. MISSION: no home position");
// } else if (current_status->flag_valid_home_position) {
// mavlink_log_critical(mavlink_fd, "Rej. MISSION: no global position");
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. MISSION: no global position and no home position");
// }
//
// /* otherwise fallback to SEATBELT or even manual */
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT;
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position");
// new_navigation_state = NAVIGATION_STATE_MANUAL;
// }
// }
//
// /* Go to RTL or land if global position estimate and home position is available */
// } else if (current_status->mode_switch == MODE_SWITCH_AUTO
// && current_status->return_switch == RETURN_SWITCH_RETURN
// && (current_status->mission_switch == MISSION_SWITCH_NONE || current_status->mission_switch == MISSION_SWITCH_MISSION)) {
//
// if (current_status->flag_global_position_valid && current_status->flag_valid_home_position) {
//
// /* after RTL go to LAND */
// if (current_status->flag_system_returned_to_home) {
// new_navigation_state = NAVIGATION_STATE_AUTO_LAND;
// } else {
// new_navigation_state = NAVIGATION_STATE_AUTO_RTL;
// }
//
// } else {
//
// /* spit out what exactly is unavailable */
// if (current_status->flag_global_position_valid) {
// mavlink_log_critical(mavlink_fd, "Rej. RTL/LAND: no home position");
// } else if (current_status->flag_valid_home_position) {
// mavlink_log_critical(mavlink_fd, "Rej. RTL/LAND: no global position");
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. RTL/LAND: no global position and no home position");
// }
//
// /* otherwise fallback to SEATBELT_DESCENT or even MANUAL */
// if (current_status->flag_local_position_valid) {
// new_navigation_state = NAVIGATION_STATE_SEATBELT_DESCENT;
// } else {
// mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no local position");
// new_navigation_state = NAVIGATION_STATE_MANUAL;
// }
// }
// }
// break;
//
// case ARMING_STATE_ARMED_ERROR:
//
// // TODO work out fail-safe scenarios
// break;
//
// case ARMING_STATE_STANDBY_ERROR:
//
// // TODO work out fail-safe scenarios
// break;
//
// case ARMING_STATE_REBOOT:
//
// // XXX I don't think we should end up here
// break;
//
// case ARMING_STATE_IN_AIR_RESTORE:
//
// // XXX not sure what to do here
// break;
// default:
// break;
// }
//
//
//
// /* Update the system state in case it has changed */
// if (current_status->navigation_state != new_navigation_state) {
//
// /* Check if the transition is valid */
// if (check_navigation_state_transition(current_status->navigation_state, new_navigation_state) == OK) {
// current_status->navigation_state = new_navigation_state;
// state_machine_publish(status_pub, current_status, mavlink_fd);
// } else {
// mavlink_log_critical(mavlink_fd, "System state transition not valid");
// }
// }
//
// return;
//}
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, const int mavlink_fd) {
int ret = ERROR;
@@ -269,6 +68,7 @@ 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;
current_state->flag_system_armed = false;
}
break;
case ARMING_STATE_STANDBY:
@@ -280,10 +80,10 @@ 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;
current_state->flag_system_armed = false;
} else {
mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized");
}
}
break;
case ARMING_STATE_ARMED:
@@ -294,15 +94,17 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
/* XXX conditions for arming? */
ret = OK;
current_state->flag_system_armed = true;
}
break;
case ARMING_STATE_ARMED_ERROR:
/* an armed error happens when ARMED obviously */
if (current_state->arming_state == ARMING_STATE_ARMED) {
ret = OK;
/* XXX conditions for an error state? */
ret = OK;
current_state->flag_system_armed = true;
}
break;
case ARMING_STATE_STANDBY_ERROR:
@@ -311,6 +113,7 @@ 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;
current_state->flag_system_armed = false;
}
break;
default:
@@ -350,6 +153,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY) {
ret = OK;
current_state->flag_control_rates_enabled = false;
current_state->flag_control_attitude_enabled = false;
current_state->flag_control_velocity_enabled = false;
current_state->flag_control_position_enabled = false;
}
break;
@@ -366,6 +173,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. MANUAL_STANDBY: not disarmed");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = false;
current_state->flag_control_position_enabled = false;
}
}
break;
@@ -377,6 +188,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. MANUAL: not armed");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = false;
current_state->flag_control_position_enabled = false;
}
break;
@@ -396,6 +211,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_STANDBY: no position estimate");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = false;
}
}
break;
@@ -420,6 +239,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no pos estimate");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = false;
}
}
break;
@@ -443,6 +266,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: no pos estimate");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = false;
}
}
break;
@@ -464,6 +291,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: no home pos");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
}
}
break;
@@ -481,6 +312,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. AUTO_READY: not armed");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
}
}
break;
@@ -491,6 +326,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_READY) {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
}
break;
@@ -510,6 +349,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LOITER: no home pos");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
}
}
break;
@@ -528,6 +371,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. AUTO_MISSION: no mission available");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
}
}
break;
@@ -548,6 +395,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. AUTO_RTL: no home pos");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
}
}
break;
@@ -565,6 +416,10 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LAND: no home pos");
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
}
}
break;
@@ -683,38 +538,6 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
//}
/*
* 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 */
//
// 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);
// }
//
//}
// /*
@@ -827,91 +650,6 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
// }
// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_health |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //TODO state machine change (recovering)
// break;
// case SUBSYSTEM_TYPE_ACC:
// //TODO state machine change
// break;
// case SUBSYSTEM_TYPE_MAG:
// //TODO state machine change
// break;
// case SUBSYSTEM_TYPE_GPS:
// //TODO state machine change
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type);
// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// // //TODO: remove this block
// // break;
// // ///////////////////
// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL);
// // printf("previosly_healthy = %u\n", previosly_healthy);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency(status_pub, current_status);
// break;
// default:
// break;
// }
// }
///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
//
@@ -985,199 +723,3 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
//
// return ret;
//}
#if 0
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) {
state_machine_emergency(status_pub, current_status, mavlink_fd);
}
}
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) {
printf("[cmd] arming\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
}
}
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
printf("[cmd] going standby\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
} else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[cmd] MISSION ABORT!\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
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)) {
/* assuming a rotary wing, set 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 fixed wing, set 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;
}
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[cmd] manual mode\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
}
}
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
int old_mode = current_status->flight_mode;
int old_manual_control_mode = current_status->manual_control_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_manual_enabled = true;
if (old_mode != current_status->flight_mode ||
old_manual_control_mode != current_status->manual_control_mode) {
printf("[cmd] att stabilized mode\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
state_machine_publish(status_pub, current_status, mavlink_fd);
}
}
}
void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (!current_status->flag_vector_flight_mode_ok) {
mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE");
tune_error();
return;
}
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[cmd] position guided mode\n");
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB;
current_status->flag_control_manual_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
}
}
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (!current_status->flag_vector_flight_mode_ok) {
mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE");
return;
}
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
printf("[cmd] auto mode\n");
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
}
}
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) //TODO: add more checks to avoid state switching in critical situations
{
commander_state_machine_t current_system_state = current_status->state_machine;
uint8_t ret = 1;
switch (custom_mode) {
case SYSTEM_STATE_GROUND_READY:
break;
case SYSTEM_STATE_STANDBY:
break;
case SYSTEM_STATE_REBOOT:
printf("try to reboot\n");
if (current_system_state == SYSTEM_STATE_STANDBY
|| current_system_state == SYSTEM_STATE_PREFLIGHT
|| current_status->flag_hil_enabled) {
printf("system will reboot\n");
mavlink_log_critical(mavlink_fd, "Rebooting..");
usleep(200000);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
ret = 0;
}
break;
case SYSTEM_STATE_AUTO:
printf("try to switch to auto/takeoff\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
printf("state: auto\n");
ret = 0;
}
break;
case SYSTEM_STATE_MANUAL:
printf("try to switch to manual\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
printf("state: manual\n");
ret = 0;
}
break;
default:
break;
}
return ret;
}
#endif