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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/navigator/navigator.h
-2
View File
@@ -297,8 +297,6 @@ private:
control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */
control::BlockParamFloat _param_fw_alt_acceptance_radius; /**< acceptance radius for fixedwing altitude */
control::BlockParamFloat _param_mc_alt_acceptance_radius; /**< acceptance radius for multicopter altitude */
control::BlockParamInt _param_datalinkloss_act; /**< select data link loss action */
control::BlockParamInt _param_rcloss_act; /**< select data link loss action */
control::BlockParamFloat _param_cruising_speed_hover;
control::BlockParamFloat _param_cruising_speed_plane;
src/modules/navigator/navigator_main.cpp
+2 -22
View File
@@ -158,8 +158,6 @@ Navigator::Navigator() :
_param_acceptance_radius(this, "ACC_RAD"),
_param_fw_alt_acceptance_radius(this, "FW_ALT_RAD"),
_param_mc_alt_acceptance_radius(this, "MC_ALT_RAD"),
_param_datalinkloss_act(this, "DLL_ACT"),
_param_rcloss_act(this, "RCL_ACT"),
_param_cruising_speed_hover(this, "MPC_XY_CRUISE", false),
_param_cruising_speed_plane(this, "FW_AIRSPD_TRIM", false),
_param_cruising_throttle_plane(this, "FW_THR_CRUISE", false),
@@ -565,15 +563,7 @@ Navigator::task_main()
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_act.get() == 1) {
_navigation_mode = &_loiter;
} else if (_param_rcloss_act.get() == 3) {
_navigation_mode = &_land;
} else if (_param_rcloss_act.get() == 4) {
_navigation_mode = &_rcLoss;
} else { /* if == 2 or unknown, RTL */
_navigation_mode = &_rtl;
}
_navigation_mode = &_rcLoss;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
_pos_sp_triplet_published_invalid_once = false;
@@ -592,18 +582,8 @@ Navigator::task_main()
_navigation_mode = &_land;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
if (_param_datalinkloss_act.get() == 1) {
_navigation_mode = &_loiter;
} else if (_param_datalinkloss_act.get() == 3) {
_navigation_mode = &_land;
} else if (_param_datalinkloss_act.get() == 4) {
_navigation_mode = &_dataLinkLoss;
} else { /* if == 2 or unknown, RTL */
_navigation_mode = &_rtl;
}
_navigation_mode = &_dataLinkLoss;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
src/modules/navigator/navigator_params.c
+6
View File
@@ -110,6 +110,9 @@ PARAM_DEFINE_FLOAT(NAV_MC_ALT_RAD, 3.0f);
* @value 1 Loiter
* @value 2 Return to Land
* @value 3 Land at current position
* @value 4 Data Link Auto Recovery (CASA Outback Challenge rules)
* @value 5 Terminate
* @value 6 Lockdown
*
* @group Mission
*/
@@ -128,6 +131,9 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
* @value 1 Loiter
* @value 2 Return to Land
* @value 3 Land at current position
* @value 4 RC Auto Recovery (CASA Outback Challenge rules)
* @value 5 Terminate
* @value 6 Lockdown
*
* @group Mission
*/