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

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent a04230faa1
commit 455b885f86
44 changed files with 1927 additions and 2280 deletions
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src/modules/commander/failsafe/failsafe.h
+37 -3
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@@ -51,28 +51,62 @@ protected:
uint8_t user_intended_mode) const override;
private:
void updateArmingState(const hrt_abstime &time_us, bool armed, const vehicle_status_flags_s &status_flags);
enum class RCLossExceptionBits : int32_t {
Mission = (1 << 0),
Hold = (1 << 1),
Offboard = (1 << 2)
};
ActionOptions fromNavDllOrRclActParam(int param_value) const;
// COM_LOW_BAT_ACT parameter values
enum class LowBatteryAction : int32_t {
Warning = 0, // Warning
Return = 1, // Return mode (deprecated)
Land = 2, // Land mode
ReturnOrLand = 3 // Return mode at critically low level, Land mode at current position if reaching dangerously low levels
};
ActionOptions fromGfActParam(int param_value) const;
static ActionOptions fromNavDllOrRclActParam(int param_value);
static ActionOptions fromGfActParam(int param_value);
static ActionOptions fromImbalancedPropActParam(int param_value);
static ActionOptions fromActuatorFailureActParam(int param_value);
static ActionOptions fromBatteryWarningActParam(int param_value, uint8_t battery_warning);
static ActionOptions fromQuadchuteActParam(int param_value);
static Action fromOffboardLossActParam(int param_value, uint8_t &user_intended_mode);
const int _caller_id_mode_fallback{genCallerId()};
bool _last_state_mode_fallback{false};
const int _caller_id_mission_control_lost{genCallerId()};
bool _last_state_mission_control_lost{false};
const int _caller_id_battery_warning_low{genCallerId()}; ///< battery warning caller ID's: use different ID's as they have different actions
bool _last_state_battery_warning_low{false};
const int _caller_id_battery_warning_critical{genCallerId()};
bool _last_state_battery_warning_critical{false};
const int _caller_id_battery_warning_emergency{genCallerId()};
bool _last_state_battery_warning_emergency{false};
hrt_abstime _armed_time{0};
bool _was_armed{false};
bool _rc_lost_at_arming{false}; ///< true if RC was lost at arming time
DEFINE_PARAMETERS_CUSTOM_PARENT(FailsafeBase,
(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
(ParamInt<px4::params::COM_RCL_EXCEPT>) _param_com_rcl_except,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl,
(ParamInt<px4::params::GF_ACTION>) _param_gf_action
(ParamInt<px4::params::GF_ACTION>) _param_gf_action,
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
(ParamFloat<px4::params::COM_LKDOWN_TKO>) _param_com_lkdown_tko,
(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
(ParamInt<px4::params::COM_ACT_FAIL_ACT>) _param_com_actuator_failure_act,
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
(ParamInt<px4::params::COM_QC_ACT>) _param_com_qc_act
);
};