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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
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src/modules/navigator/navigator_main.cpp
+2 -22
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@@ -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;