commander: use new failsafe state machine and add user intention class

2026-10-22 05:53:34 +08:00 · 2022-10-11 22:31:20 -04:00
parent a04230faa1
commit 455b885f86
44 changed files with 1927 additions and 2280 deletions
@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/events.h>
+#include <uORB/topics/vehicle_status.h>
+
+#include <stdint.h>
+
+using navigation_mode_t = events::px4::enums::navigation_mode_t;
+
+namespace mode_util
+{
+
+static inline navigation_mode_t navigation_mode(uint8_t nav_state)
+{
+	switch (nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL: return navigation_mode_t::manual;
+
+	case vehicle_status_s::NAVIGATION_STATE_ALTCTL: return navigation_mode_t::altctl;
+
+	case vehicle_status_s::NAVIGATION_STATE_POSCTL: return navigation_mode_t::posctl;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: return navigation_mode_t::auto_mission;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: return navigation_mode_t::auto_loiter;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return navigation_mode_t::auto_rtl;
+
+	case vehicle_status_s::NAVIGATION_STATE_ACRO: return navigation_mode_t::acro;
+
+	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: return navigation_mode_t::offboard;
+
+	case vehicle_status_s::NAVIGATION_STATE_STAB: return navigation_mode_t::stab;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: return navigation_mode_t::auto_takeoff;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: return navigation_mode_t::auto_land;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: return navigation_mode_t::auto_follow_target;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: return navigation_mode_t::auto_precland;
+
+	case vehicle_status_s::NAVIGATION_STATE_ORBIT: return navigation_mode_t::orbit;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF: return navigation_mode_t::auto_vtol_takeoff;
+	}
+
+	static_assert(vehicle_status_s::NAVIGATION_STATE_MAX  == 23, "code requires update");
+
+	return navigation_mode_t::unknown;
+}
+
+const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
+	"MANUAL",
+	"ALTCTL",
+	"POSCTL",
+	"AUTO_MISSION",
+	"AUTO_LOITER",
+	"AUTO_RTL",
+	"6: unallocated",
+	"7: unallocated",
+	"AUTO_LANDENGFAIL",
+	"9: unallocated",
+	"ACRO",
+	"11: UNUSED",
+	"DESCEND",
+	"TERMINATION",
+	"OFFBOARD",
+	"STAB",
+	"16: UNUSED2",
+	"AUTO_TAKEOFF",
+	"AUTO_LAND",
+	"AUTO_FOLLOW_TARGET",
+	"AUTO_PRECLAND",
+	"ORBIT"
+};
+
+} // namespace mode_util