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Implement RC and DL failsafe action handling for multirotors

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Move RC and DL failsafe actions handling from navigator to commander (credits to @AndreasAntener)
Separate manual kill switch handling via manual_lockdown to prevent override and release of software lockdown by RC switch

Other changes:
Add failsafe tune
Fix LED blinking for Pixracer
Return back support for rc inputs in simulator but now it is configurable via cmake
This commit is contained in:
Anton Matosov
2016-12-27 00:38:13 +01:00
committed by Lorenz Meier
parent 964dabe179
commit 3a17c07b1e
21 changed files with 579 additions and 211 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+39 -24
View File
@@ -1670,8 +1670,8 @@ int commander_thread_main(int argc, char *argv[])
transition_result_t arming_ret;
int32_t datalink_loss_enabled = 0;
int32_t rc_loss_enabled = 0;
int32_t datalink_loss_act = 0;
int32_t rc_loss_act = 0;
int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5;
int32_t datalink_regain_timeout = 0;
@@ -1758,8 +1758,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* Safety parameters */
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_enable_rc_loss, &rc_loss_enabled);
param_get(_param_enable_datalink_loss, &datalink_loss_act);
param_get(_param_enable_rc_loss, &rc_loss_act);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_rc_in_off, &rc_in_off);
@@ -2708,15 +2708,15 @@ int commander_thread_main(int argc, char *argv[])
/* check throttle kill switch */
if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* set lockdown flag */
if (!armed.lockdown) {
if (!armed.manual_lockdown) {
mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH ENGAGED");
}
armed.lockdown = true;
armed.manual_lockdown = true;
} else if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
if (armed.lockdown) {
if (armed.manual_lockdown) {
mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH OFF");
}
armed.lockdown = false;
armed.manual_lockdown = false;
}
/* no else case: do not change lockdown flag in unconfigured case */
} else {
@@ -2931,18 +2931,20 @@ int commander_thread_main(int argc, char *argv[])
/* now set navigation state according to failsafe and main state */
bool nav_state_changed = set_nav_state(&status,
&internal_state,
&mavlink_log_pub,
(datalink_loss_enabled > 0),
_mission_result.finished,
_mission_result.stay_in_failsafe,
&status_flags,
land_detector.landed,
(rc_loss_enabled > 0),
offboard_loss_act,
offboard_loss_rc_act);
&armed,
&internal_state,
&mavlink_log_pub,
(link_loss_actions_t)datalink_loss_act,
_mission_result.finished,
_mission_result.stay_in_failsafe,
&status_flags,
land_detector.landed,
(link_loss_actions_t)rc_loss_act,
offboard_loss_act,
offboard_loss_rc_act);
if (status.failsafe != failsafe_old) {
if (status.failsafe != failsafe_old)
{
status_changed = true;
if (status.failsafe) {
@@ -3002,9 +3004,11 @@ int commander_thread_main(int argc, char *argv[])
} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(battery.warning == battery_status_s::BATTERY_WARNING_LOW)) {
/* play tune on battery warning or failsafe */
/* play tune on battery warning */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
} else if (status.failsafe) {
tune_failsafe(true);
} else {
set_tune(TONE_STOP_TUNE);
}
@@ -3197,19 +3201,30 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
if (actuator_armed->armed) {
/* armed, solid */
led_on(LED_BLUE);
if (status.failsafe) {
led_off(LED_BLUE);
if (leds_counter % 5 == 0) {
led_toggle(LED_GREEN);
}
} else {
led_off(LED_GREEN);
/* armed, solid */
led_on(LED_BLUE);
}
} else if (actuator_armed->ready_to_arm) {
led_off(LED_BLUE);
/* ready to arm, blink at 1Hz */
if (leds_counter % 20 == 0) {
led_toggle(LED_BLUE);
led_toggle(LED_GREEN);
}
} else {
led_off(LED_BLUE);
/* not ready to arm, blink at 10Hz */
if (leds_counter % 2 == 0) {
led_toggle(LED_BLUE);
led_toggle(LED_GREEN);
}
}
src/modules/commander/commander_helper.cpp
+11
View File
@@ -243,6 +243,17 @@ void tune_negative(bool use_buzzer)
}
}
void tune_failsafe(bool use_buzzer)
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_PURPLE);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
if (use_buzzer) {
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
}
}
int blink_msg_state()
{
if (blink_msg_end == 0) {
src/modules/commander/commander_helper.h
+1
View File
@@ -64,6 +64,7 @@ void tune_mission_fail(bool use_buzzer);
void tune_positive(bool use_buzzer);
void tune_neutral(bool use_buzzer);
void tune_negative(bool use_buzzer);
void tune_failsafe(bool use_buzzer);
int blink_msg_state();
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+3 -3
View File
@@ -477,9 +477,9 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
bool StateMachineHelperTest::isSafeTest(void)
{
struct vehicle_status_s current_state;
struct safety_s safety;
struct actuator_armed_s armed;
struct vehicle_status_s current_state = {};
struct safety_s safety = {};
struct actuator_armed_s armed = {};
armed.armed = false;
armed.lockdown = false;
src/modules/commander/state_machine_helper.cpp
+143 -99
View File
@@ -118,15 +118,25 @@ static const char *const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately
static int last_prearm_ret = 1; ///< initialize to fail
void set_link_loss_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state);
void reset_link_loss_globals(struct actuator_armed_s *armed,
const bool old_failsafe,
const link_loss_actions_t link_loss_act);
transition_result_t arming_state_transition(struct vehicle_status_s *status,
struct battery_status_s *battery,
const struct safety_s *safety,
arming_state_t new_arming_state,
struct actuator_armed_s *armed,
bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
struct battery_status_s *battery,
const struct safety_s *safety,
arming_state_t new_arming_state,
struct actuator_armed_s *armed,
bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags,
float avionics_power_rail_voltage,
float avionics_power_rail_voltage,
bool can_arm_without_gps,
hrt_abstime time_since_boot)
{
@@ -356,7 +366,8 @@ bool is_safe(const struct vehicle_status_s *status, const struct safety_s *safet
// 1) Not armed
// 2) Armed, but in software lockdown (HIL)
// 3) Safety switch is present AND engaged -> actuators locked
if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) {
const bool lockdown = (armed->lockdown || armed->manual_lockdown);
if (!armed->armed || (armed->armed && lockdown) || (safety->safety_switch_available && !safety->safety_off)) {
return true;
} else {
@@ -640,7 +651,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
*/
void enable_failsafe(struct vehicle_status_s *status,
bool old_failsafe,
orb_advert_t *mavlink_log_pub, const char * reason) {
orb_advert_t *mavlink_log_pub, const char *reason) {
if (old_failsafe == false) {
mavlink_and_console_log_info(mavlink_log_pub, reason);
}
@@ -650,19 +661,34 @@ void enable_failsafe(struct vehicle_status_s *status,
/**
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
bool set_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
struct commander_state_s *internal_state,
orb_advert_t *mavlink_log_pub,
const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act)
const link_loss_actions_t data_link_loss_act,
const bool mission_finished,
const bool stay_in_failsafe,
status_flags_s *status_flags,
bool landed,
const link_loss_actions_t rc_loss_act,
const int offb_loss_act,
const int offb_loss_rc_act)
{
navigation_state_t nav_state_old = status->nav_state;
bool armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
const bool data_link_loss_act_configured = data_link_loss_act > link_loss_actions_t::DISABLED;
const bool rc_loss_act_configured = rc_loss_act > link_loss_actions_t::DISABLED;
const bool rc_lost = rc_loss_act_configured && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd);
bool is_armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
bool old_failsafe = status->failsafe;
status->failsafe = false;
// Safe to do reset flags here, as if loss state persists flags will be restored in the code below
reset_link_loss_globals(armed, old_failsafe, rc_loss_act);
reset_link_loss_globals(armed, old_failsafe, data_link_loss_act);
/* evaluate main state to decide in normal (non-failsafe) mode */
switch (internal_state->main_state) {
case commander_state_s::MAIN_STATE_ACRO:
@@ -672,21 +698,10 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
case commander_state_s::MAIN_STATE_ALTCTL:
/* require RC for all manual modes */
if (rc_loss_enabled && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed) {
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status_flags->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act);
} else {
switch (internal_state->main_state) {
@@ -719,26 +734,11 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
break;
case commander_state_s::MAIN_STATE_POSCTL: {
const bool rc_lost = rc_loss_enabled && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd);
if (rc_lost && armed) {
if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
if (status_flags->condition_global_position_valid &&
status_flags->condition_home_position_valid &&
!status_flags->gps_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status_flags->condition_local_position_valid &&
!status_flags->gps_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act);
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
/* A local position estimate is enough for POSCTL for multirotors,
@@ -747,7 +747,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
} else if (((status->is_rotary_wing && !status_flags->condition_local_position_valid) ||
(!status->is_rotary_wing && !status_flags->condition_global_position_valid))
&& armed) {
&& is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
if (status_flags->condition_local_altitude_valid) {
@@ -806,41 +806,19 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
/* datalink loss enabled:
* check for datalink lost: this should always trigger RTGS */
} else if (data_link_loss_enabled && status->data_link_lost) {
} else if (data_link_loss_act_configured && status->data_link_lost) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
set_data_link_loss_nav_state(status, armed, status_flags, data_link_loss_act);
} else if (status_flags->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
/* datalink loss disabled:
/* datalink loss DISABLED:
* check if both, RC and datalink are lost during the mission
* or all links are lost after the mission finishes in air: this should always trigger RCRECOVER */
} else if (!data_link_loss_enabled && status->rc_signal_lost && status->data_link_lost && !landed && mission_finished) {
} else if (!data_link_loss_act_configured && status->rc_signal_lost && status->data_link_lost && !landed && mission_finished) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status_flags->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act);
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */
@@ -862,44 +840,23 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
} else if (status->data_link_lost && data_link_loss_act_configured) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
set_data_link_loss_nav_state(status, armed, status_flags, data_link_loss_act);
} else if (status_flags->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
/* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not DISABLED */
} else if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
/* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not disabled */
} else if (status->rc_signal_lost && rc_loss_enabled && !data_link_loss_enabled) {
} else if (rc_lost && !data_link_loss_act_configured) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
} else if (status_flags->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act);
/* don't bother if RC is lost if datalink is connected */
} else if (status->rc_signal_lost) {
/* this mode is ok, we don't need RC for loitering */
/* this mode is ok, we don't need RC for LOITERing */
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
} else {
@@ -1103,6 +1060,93 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
return status->nav_state != nav_state_old;
}
void set_rc_loss_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act)
{
set_link_loss_nav_state(status, armed, status_flags, link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
}
void set_data_link_loss_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act)
{
set_link_loss_nav_state(status, armed, status_flags, link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
}
void set_link_loss_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state)
{
// do the best you can according to the action set
if (link_loss_act == link_loss_actions_t::AUTO_RECOVER
&& status_flags->condition_global_position_valid && status_flags->condition_home_position_valid)
{
status->nav_state = auto_recovery_nav_state;
}
else if (link_loss_act == link_loss_actions_t::AUTO_LOITER && status_flags->condition_global_position_valid)
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
}
else if (link_loss_act == link_loss_actions_t::AUTO_RTL
&& status_flags->condition_global_position_valid && status_flags->condition_home_position_valid)
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
}
else if (link_loss_act == link_loss_actions_t::AUTO_LAND && status_flags->condition_local_position_valid)
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
}
else if (link_loss_act == link_loss_actions_t::TERMINATE)
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
armed->force_failsafe = true;
}
else if (link_loss_act == link_loss_actions_t::LOCKDOWN)
{
armed->lockdown = true;
// do the best you can according to the current state
}
else if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid)
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
}
else if (status_flags->condition_local_position_valid)
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
}
else if (status_flags->condition_local_altitude_valid)
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
}
else
{
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
}
void reset_link_loss_globals(struct actuator_armed_s *armed,
const bool old_failsafe,
const link_loss_actions_t link_loss_act)
{
if (old_failsafe)
{
if (link_loss_act == link_loss_actions_t::TERMINATE)
{
armed->force_failsafe = false;
}
else if (link_loss_act == link_loss_actions_t::LOCKDOWN)
{
armed->lockdown = false;
}
}
}
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report,
status_flags_s *status_flags, battery_status_s *battery, bool can_arm_without_gps, hrt_abstime time_since_boot)
{
src/modules/commander/state_machine_helper.h
+71 -47
View File
@@ -52,49 +52,57 @@
#include <uORB/topics/commander_state.h>
typedef enum {
TRANSITION_DENIED = -1,
TRANSITION_NOT_CHANGED = 0,
TRANSITION_CHANGED
TRANSITION_DENIED = -1,
TRANSITION_NOT_CHANGED = 0,
TRANSITION_CHANGED
} transition_result_t;
enum class link_loss_actions_t {
DISABLED = 0,
AUTO_LOITER = 1,
AUTO_RTL = 2,
AUTO_LAND = 3,
AUTO_RECOVER = 4,
TERMINATE = 5,
LOCKDOWN = 6,
};
// This is a struct used by the commander internally.
struct status_flags_s {
bool condition_calibration_enabled;
bool condition_system_sensors_initialized;
bool condition_system_prearm_error_reported; // true if errors have already been reported
bool condition_system_hotplug_timeout; // true if the hotplug sensor search is over
bool condition_system_returned_to_home;
bool condition_auto_mission_available;
bool condition_global_position_valid; // set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
bool condition_home_position_valid; // indicates a valid home position (a valid home position is not always a valid launch)
bool condition_local_position_valid;
bool condition_local_altitude_valid;
bool condition_airspeed_valid; // set to true by the commander app if there is a valid airspeed measurement available
bool condition_power_input_valid; // set if input power is valid
bool usb_connected; // status of the USB power supply
bool circuit_breaker_engaged_power_check;
bool circuit_breaker_engaged_airspd_check;
bool circuit_breaker_engaged_enginefailure_check;
bool circuit_breaker_engaged_gpsfailure_check;
bool circuit_breaker_flight_termination_disabled;
bool circuit_breaker_engaged_usb_check;
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;
bool offboard_control_signal_weak;
bool offboard_control_set_by_command; // true if the offboard mode was set by a mavlink command and should not be overridden by RC
bool offboard_control_loss_timeout; // true if offboard is lost for a certain amount of time
bool rc_signal_found_once;
bool rc_signal_lost_cmd; // true if RC lost mode is commanded
bool rc_input_blocked; // set if RC input should be ignored temporarily
bool data_link_lost_cmd; // datalink to GCS lost mode commanded
bool vtol_transition_failure; // Set to true if vtol transition failed
bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded
bool gps_failure; // Set to true if a gps failure is detected
bool gps_failure_cmd; // Set to true if a gps failure mode is commanded
bool barometer_failure; // Set to true if a barometer failure is detected
bool ever_had_barometer_data; // Set to true if ever had valid barometer data before
bool condition_calibration_enabled;
bool condition_system_sensors_initialized;
bool condition_system_prearm_error_reported; // true if errors have already been reported
bool condition_system_hotplug_timeout; // true if the hotplug sensor search is over
bool condition_system_returned_to_home;
bool condition_auto_mission_available;
bool condition_global_position_valid; // set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
bool condition_home_position_valid; // indicates a valid home position (a valid home position is not always a valid launch)
bool condition_local_position_valid;
bool condition_local_altitude_valid;
bool condition_airspeed_valid; // set to true by the commander app if there is a valid airspeed measurement available
bool condition_power_input_valid; // set if input power is valid
bool usb_connected; // status of the USB power supply
bool circuit_breaker_engaged_power_check;
bool circuit_breaker_engaged_airspd_check;
bool circuit_breaker_engaged_enginefailure_check;
bool circuit_breaker_engaged_gpsfailure_check;
bool circuit_breaker_flight_termination_disabled;
bool circuit_breaker_engaged_usb_check;
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;
bool offboard_control_signal_weak;
bool offboard_control_set_by_command; // true if the offboard mode was set by a mavlink command and should not be overridden by RC
bool offboard_control_loss_timeout; // true if offboard is lost for a certain amount of time
bool rc_signal_found_once;
bool rc_signal_lost_cmd; // true if RC lost mode is commanded
bool rc_input_blocked; // set if RC input should be ignored temporarily
bool data_link_lost_cmd; // datalink to GCS lost mode commanded
bool vtol_transition_failure; // Set to true if vtol transition failed
bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded
bool gps_failure; // Set to true if a gps failure is detected
bool gps_failure_cmd; // Set to true if a gps failure mode is commanded
bool barometer_failure; // Set to true if a barometer failure is detected
bool ever_had_barometer_data; // Set to true if ever had valid barometer data before
};
bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
@@ -105,7 +113,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
arming_state_t new_arming_state,
struct actuator_armed_s *armed,
bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags,
float avionics_power_rail_voltage,
bool can_arm_without_gps,
@@ -117,18 +125,34 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_state, orb_advert_t *mavlink_log_pub);
void enable_failsafe(struct vehicle_status_s *status, bool old_failsafe,
orb_advert_t *mavlink_log_pub, const char * reason);
orb_advert_t *mavlink_log_pub, const char *reason);
bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
bool set_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
struct commander_state_s *internal_state,
orb_advert_t *mavlink_log_pub,
const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act);
const link_loss_actions_t data_link_loss_act,
const bool mission_finished,
const bool stay_in_failsafe,
status_flags_s *status_flags,
bool landed,
const link_loss_actions_t rc_loss_act,
const int offb_loss_act,
const int offb_loss_rc_act);
void set_rc_loss_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act);
void set_data_link_loss_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act);
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
bool force_report, status_flags_s *status_flags, battery_status_s *battery,
bool can_arm_without_gps, hrt_abstime time_since_boot);
bool force_report, status_flags_s *status_flags, battery_status_s *battery,
bool can_arm_without_gps, hrt_abstime time_since_boot);
#endif /* STATE_MACHINE_HELPER_H_ */