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Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

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This commit is contained in:
Thomas Gubler
2014-07-14 09:56:14 +02:00
parent cf4a11c7e7 ddc8f1fa5f
commit 574b7fc854
107 changed files with 4090 additions and 1662 deletions
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src/modules/commander/accelerometer_calibration.cpp
+1 -2
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2013 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
src/modules/commander/accelerometer_calibration.h
+1 -2
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2013 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
src/modules/commander/airspeed_calibration.cpp
+118 -14
View File
@@ -51,6 +51,7 @@
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/airspeed.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@@ -64,19 +65,17 @@ int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind");
const int calibration_count = 2000;
const unsigned calibration_count = 2000;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
int calibration_counter = 0;
float diff_pres_offset = 0.0f;
/* Reset sensor parameters */
struct airspeed_scale airscale = {
0.0f,
diff_pres_offset,
1.0f,
};
@@ -95,12 +94,29 @@ int do_airspeed_calibration(int mavlink_fd)
}
if (!paramreset_successful) {
warn("FAILED to set scale / offsets for airspeed");
mavlink_log_critical(mavlink_fd, "dpress reset failed");
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
return ERROR;
/* only warn if analog scaling is zero */
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]");
close(diff_pres_sub);
return ERROR;
}
/* set scaling offset parameter */
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
}
unsigned calibration_counter = 0;
mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
usleep(500 * 1000);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
@@ -112,11 +128,12 @@ int do_airspeed_calibration(int mavlink_fd)
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 80) / calibration_count);
}
} else if (poll_ret == 0) {
@@ -131,6 +148,16 @@ int do_airspeed_calibration(int mavlink_fd)
if (isfinite(diff_pres_offset)) {
int fd_scale = open(AIRSPEED_DEVICE_PATH, 0);
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (OK != ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
mavlink_log_critical(mavlink_fd, "airspeed offset update failed");
}
close(fd_scale);
}
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
@@ -147,14 +174,91 @@ int do_airspeed_calibration(int mavlink_fd)
return ERROR;
}
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
tune_neutral(true);
close(diff_pres_sub);
return OK;
} else {
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
close(diff_pres_sub);
return ERROR;
}
mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);
calibration_counter = 0;
const int maxcount = 3000;
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) {
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
calibration_counter++;
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 100 == 0) {
mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
}
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
diff_pres_offset = 0.0f;
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
/* save */
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 0);
(void)param_save_default();
close(diff_pres_sub);
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
return ERROR;
} else {
mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
break;
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
close(diff_pres_sub);
return ERROR;
}
}
if (calibration_counter == maxcount) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
close(diff_pres_sub);
return ERROR;
}
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
tune_neutral(true);
close(diff_pres_sub);
return OK;
}
src/modules/commander/airspeed_calibration.h
+1 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 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
src/modules/commander/baro_calibration.cpp
+1 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013 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
src/modules/commander/baro_calibration.h
+1 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013 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
src/modules/commander/calibration_messages.h
+1 -2
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2013 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
src/modules/commander/calibration_routines.cpp
+1 -2
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012 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
src/modules/commander/calibration_routines.h
+1 -2
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012 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
src/modules/commander/commander.cpp
+137 -100
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@@ -78,6 +78,7 @@
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/telemetry_status.h>
@@ -92,6 +93,7 @@
#include <systemlib/cpuload.h>
#include <systemlib/rc_check.h>
#include <systemlib/state_table.h>
#include <dataman/dataman.h>
#include "px4_custom_mode.h"
#include "commander_helper.h"
@@ -286,15 +288,22 @@ int commander_main(int argc, char *argv[])
exit(0);
}
/* commands needing the app to run below */
if (!thread_running) {
warnx("\tcommander not started");
exit(1);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("\tcommander is running");
print_status();
} else {
warnx("\tcommander not started");
}
print_status();
exit(0);
}
if (!strcmp(argv[1], "check")) {
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
int checkres = prearm_check(&status, mavlink_fd_local);
close(mavlink_fd_local);
warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
exit(0);
}
@@ -303,7 +312,7 @@ int commander_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "2")) {
if (!strcmp(argv[1], "disarm")) {
arm_disarm(false, mavlink_fd, "command line");
exit(0);
}
@@ -324,6 +333,7 @@ void usage(const char *reason)
void print_status()
{
warnx("type: %s", (status.is_rotary_wing) ? "ROTARY" : "PLANE");
warnx("usb powered: %s", (on_usb_power) ? "yes" : "no");
/* read all relevant states */
@@ -393,10 +403,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
return arming_res;
}
bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local,
struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
{
/* only handle commands that are meant to be handled by this system and component */
if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
return false;
}
@@ -415,7 +427,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* set HIL state */
hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF;
transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd);
transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, mavlink_fd);
// Transition the arming state
arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
@@ -424,43 +436,43 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* use autopilot-specific mode */
if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
/* MANUAL */
main_ret = main_state_transition(status, MAIN_STATE_MANUAL);
main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
/* ALTCTL */
main_ret = main_state_transition(status, MAIN_STATE_ALTCTL);
main_ret = main_state_transition(status_local, MAIN_STATE_ALTCTL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
/* POSCTL */
main_ret = main_state_transition(status, MAIN_STATE_POSCTL);
main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */
main_ret = main_state_transition(status, MAIN_STATE_ACRO);
main_ret = main_state_transition(status_local, MAIN_STATE_ACRO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
/* OFFBOARD */
main_ret = main_state_transition(status, MAIN_STATE_OFFBOARD);
main_ret = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
}
} else {
/* use base mode */
if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) {
/* AUTO */
main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
/* POSCTL */
main_ret = main_state_transition(status, MAIN_STATE_POSCTL);
main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
/* MANUAL */
main_ret = main_state_transition(status, MAIN_STATE_MANUAL);
main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
}
}
}
@@ -475,22 +487,25 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
break;
case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
// We use an float epsilon delta to test float equality.
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
// for logic state parameters
if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) {
mavlink_log_critical(mavlink_fd, "Unsupported ARM_DISARM param: %.3f", (double)cmd->param1);
} else {
bool cmd_arms = (static_cast<int>(cmd->param1 + 0.5f) == 1);
// Flick to inair restore first if this comes from an onboard system
if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) {
status_local->arming_state = ARMING_STATE_IN_AIR_RESTORE;
}
transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command");
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
mavlink_log_critical(mavlink_fd, "REJECTING component arm cmd");
cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
@@ -502,20 +517,24 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
case VEHICLE_CMD_OVERRIDE_GOTO: {
// TODO listen vehicle_command topic directly from navigator (?)
unsigned int mav_goto = cmd->param1;
// Increase by 0.5f and rely on the integer cast
// implicit floor(). This is the *safest* way to
// convert from floats representing small ints to actual ints.
unsigned int mav_goto = (cmd->param1 + 0.5f);
if (mav_goto == 0) { // MAV_GOTO_DO_HOLD
status->nav_state = NAVIGATION_STATE_AUTO_LOITER;
mavlink_log_critical(mavlink_fd, "#audio: pause mission cmd");
status_local->nav_state = NAVIGATION_STATE_AUTO_LOITER;
mavlink_log_critical(mavlink_fd, "Pause mission cmd");
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
} else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
mavlink_log_critical(mavlink_fd, "#audio: continue mission cmd");
status_local->nav_state = NAVIGATION_STATE_AUTO_MISSION;
mavlink_log_critical(mavlink_fd, "Continue mission cmd");
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f",
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
@@ -533,7 +552,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
//XXX: to enable the parachute, a param needs to be set
//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
@@ -551,7 +570,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
if (use_current) {
/* use current position */
if (status->condition_global_position_valid) {
if (status_local->condition_global_position_valid) {
home->lat = global_pos->lat;
home->lon = global_pos->lon;
home->alt = global_pos->alt;
@@ -588,7 +607,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
/* mark home position as set */
status->condition_home_position_valid = true;
status_local->condition_home_position_valid = true;
}
}
break;
@@ -678,11 +697,11 @@ int commander_thread_main(int argc, char *argv[])
/* initialize */
if (led_init() != 0) {
warnx("ERROR: Failed to initialize leds");
warnx("ERROR: LED INIT FAIL");
}
if (buzzer_init() != OK) {
warnx("ERROR: Failed to initialize buzzer");
warnx("ERROR: BUZZER INIT FAIL");
}
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@@ -725,6 +744,11 @@ int commander_thread_main(int argc, char *argv[])
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
if (status_pub < 0) {
warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
warnx("exiting.");
exit(ERROR);
}
/* armed topic */
orb_advert_t armed_pub;
@@ -742,13 +766,29 @@ int commander_thread_main(int argc, char *argv[])
struct home_position_s home;
memset(&home, 0, sizeof(home));
if (status_pub < 0) {
warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
warnx("exiting.");
exit(ERROR);
}
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
orb_advert_t mission_pub = -1;
mission_s mission;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq);
mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d",
mission.dataman_id, mission.count, mission.current_seq);
} else {
const char *missionfail = "reading mission state failed";
warnx("%s", missionfail);
mavlink_log_critical(mavlink_fd, missionfail);
mavlink_log_info(mavlink_fd, "[cmd] started");
/* initialize mission state in dataman */
mission.dataman_id = 0;
mission.count = 0;
mission.current_seq = 0;
dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
}
mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
orb_publish(ORB_ID(offboard_mission), mission_pub, &mission);
}
int ret;
@@ -1042,7 +1082,7 @@ int commander_thread_main(int argc, char *argv[])
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
arming_state_changed = true;
}
}
@@ -1146,10 +1186,10 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true;
if (status.condition_landed) {
mavlink_log_critical(mavlink_fd, "#audio: LANDED");
mavlink_log_critical(mavlink_fd, "LANDED MODE");
} else {
mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
mavlink_log_critical(mavlink_fd, "IN AIR MODE");
}
}
}
@@ -1229,14 +1269,14 @@ int commander_thread_main(int argc, char *argv[])
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) {
@@ -1298,12 +1338,12 @@ int commander_thread_main(int argc, char *argv[])
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
mavlink_log_critical(mavlink_fd, "#audio: detected RC signal first time");
mavlink_log_critical(mavlink_fd, "detected RC signal first time");
status_changed = true;
} else {
if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "#audio: RC signal regained");
mavlink_log_critical(mavlink_fd, "RC signal regained");
status_changed = true;
}
}
@@ -1344,7 +1384,7 @@ int commander_thread_main(int argc, char *argv[])
* the system can be armed in auto if armed via the GCS.
*/
if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
@@ -1364,16 +1404,16 @@ int commander_thread_main(int argc, char *argv[])
if (arming_ret == TRANSITION_CHANGED) {
if (status.arming_state == ARMING_STATE_ARMED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC");
mavlink_log_info(mavlink_fd, "ARMED by RC");
} else {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC");
mavlink_log_info(mavlink_fd, "DISARMED by RC");
}
arming_state_changed = true;
} else if (arming_ret == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
mavlink_log_critical(mavlink_fd, "arming state transition denied");
tune_negative(true);
}
@@ -1387,12 +1427,12 @@ int commander_thread_main(int argc, char *argv[])
} else if (main_res == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied");
mavlink_log_critical(mavlink_fd, "main state transition denied");
}
} else {
if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
status.rc_signal_lost = true;
status_changed = true;
}
@@ -1404,14 +1444,14 @@ int commander_thread_main(int argc, char *argv[])
if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
/* handle the case where data link was regained */
if (telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i regained", i);
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
telemetry_lost[i] = false;
}
have_link = true;
} else {
if (!telemetry_lost[i]) {
mavlink_log_critical(mavlink_fd, "#audio: data link %i lost", i);
mavlink_log_critical(mavlink_fd, "data link %i lost", i);
telemetry_lost[i] = true;
}
}
@@ -1426,7 +1466,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: ALL DATA LINKS LOST");
mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
status.data_link_lost = true;
status_changed = true;
}
@@ -1486,7 +1526,7 @@ 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, (bool)datalink_loss_enabled,
mission_result.mission_finished);
mission_result.finished);
// TODO handle mode changes by commands
if (main_state_changed) {
@@ -1590,6 +1630,7 @@ int commander_thread_main(int argc, char *argv[])
close(diff_pres_sub);
close(param_changed_sub);
close(battery_sub);
close(mission_pub);
thread_running = false;
@@ -1609,22 +1650,22 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
}
void
control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed)
control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed)
{
/* driving rgbled */
if (changed) {
bool set_normal_color = false;
/* set mode */
if (status->arming_state == ARMING_STATE_ARMED) {
if (status_local->arming_state == ARMING_STATE_ARMED) {
rgbled_set_mode(RGBLED_MODE_ON);
set_normal_color = true;
} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
} else if (status_local->arming_state == ARMING_STATE_ARMED_ERROR) {
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
rgbled_set_color(RGBLED_COLOR_RED);
} else if (status->arming_state == ARMING_STATE_STANDBY) {
} else if (status_local->arming_state == ARMING_STATE_STANDBY) {
rgbled_set_mode(RGBLED_MODE_BREATHE);
set_normal_color = true;
@@ -1635,12 +1676,12 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
if (set_normal_color) {
/* set color */
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe) {
if (status_local->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status_local->failsafe) {
rgbled_set_color(RGBLED_COLOR_AMBER);
/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
} else {
if (status->condition_local_position_valid) {
if (status_local->condition_local_position_valid) {
rgbled_set_color(RGBLED_COLOR_GREEN);
} else {
@@ -1673,7 +1714,7 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
#endif
/* give system warnings on error LED, XXX maybe add memory usage warning too */
if (status->load > 0.95f) {
if (status_local->load > 0.95f) {
if (leds_counter % 2 == 0) {
led_toggle(LED_AMBER);
}
@@ -1686,16 +1727,16 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
}
transition_result_t
set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man)
set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_setpoint_s *sp_man)
{
/* set main state according to RC switches */
transition_result_t res = TRANSITION_DENIED;
/* offboard switch overrides main switch */
if (sp_man->offboard_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_OFFBOARD);
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status, "OFFBOARD");
print_reject_mode(status_local, "OFFBOARD");
} else {
return res;
@@ -1710,78 +1751,78 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
case SWITCH_POS_OFF: // MANUAL
if (sp_man->acro_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_ACRO);
res = main_state_transition(status_local, MAIN_STATE_ACRO);
} else {
res = main_state_transition(status, MAIN_STATE_MANUAL);
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
case SWITCH_POS_MIDDLE: // ASSIST
if (sp_man->posctl_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_POSCTL);
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "POSCTL");
print_reject_mode(status_local, "POSCTL");
}
// fallback to ALTCTL
res = main_state_transition(status, MAIN_STATE_ALTCTL);
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this mode
}
if (sp_man->posctl_switch != SWITCH_POS_ON) {
print_reject_mode(status, "ALTCTL");
print_reject_mode(status_local, "ALTCTL");
}
// fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;
case SWITCH_POS_ON: // AUTO
if (sp_man->return_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_AUTO_RTL);
res = main_state_transition(status_local, MAIN_STATE_AUTO_RTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_RTL");
print_reject_mode(status_local, "AUTO_RTL");
// fallback to LOITER if home position not set
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_LOITER");
print_reject_mode(status_local, "AUTO_LOITER");
} else {
res = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_MISSION");
print_reject_mode(status_local, "AUTO_MISSION");
// fallback to LOITER if home position not set
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
@@ -1789,21 +1830,21 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
}
// fallback to POSCTL
res = main_state_transition(status, MAIN_STATE_POSCTL);
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to ALTCTL
res = main_state_transition(status, MAIN_STATE_ALTCTL);
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;
@@ -1964,15 +2005,13 @@ set_control_mode()
}
void
print_reject_mode(struct vehicle_status_s *status, const char *msg)
print_reject_mode(struct vehicle_status_s *status_local, const char *msg)
{
hrt_abstime t = hrt_absolute_time();
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
last_print_mode_reject_time = t;
char s[80];
sprintf(s, "#audio: REJECT %s", msg);
mavlink_log_critical(mavlink_fd, s);
mavlink_log_critical(mavlink_fd, "REJECT %s", msg);
/* only buzz if armed, because else we're driving people nuts indoors
they really need to look at the leds as well. */
@@ -1987,9 +2026,7 @@ print_reject_arm(const char *msg)
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
last_print_mode_reject_time = t;
char s[80];
sprintf(s, "#audio: %s", msg);
mavlink_log_critical(mavlink_fd, s);
mavlink_log_critical(mavlink_fd, msg);
tune_negative(true);
}
}
@@ -2002,12 +2039,12 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
break;
case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command);
mavlink_log_critical(mavlink_fd, "command denied: %u", cmd.command);
tune_negative(true);
break;
case VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command);
mavlink_log_critical(mavlink_fd, "command failed: %u", cmd.command);
tune_negative(true);
break;
@@ -2018,7 +2055,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command);
mavlink_log_critical(mavlink_fd, "command unsupported: %u", cmd.command);
tune_negative(true);
break;
src/modules/commander/commander_helper.cpp
+6 -4
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2013, 2014 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
@@ -37,6 +34,11 @@
/**
* @file commander_helper.cpp
* Commander helper functions implementations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
*/
#include <stdio.h>
src/modules/commander/commander_helper.h
+6 -3
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2013, 2014 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
@@ -36,6 +34,9 @@
/**
* @file commander_helper.h
* Commander helper functions definitions
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/
#ifndef COMMANDER_HELPER_H_
@@ -77,6 +78,8 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern);
* Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
* else use simple estimate based on voltage.
*
* @param voltage the current battery voltage
* @param discharged the discharged capacity
* @return the estimated remaining capacity in 0..1
*/
float battery_remaining_estimate_voltage(float voltage, float discharged);
src/modules/commander/mag_calibration.h
+1 -1
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 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
src/modules/commander/state_machine_helper.cpp
+32 -43
View File
@@ -52,6 +52,7 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
@@ -70,8 +71,6 @@
#endif
static const int ERROR = -1;
static int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
@@ -89,7 +88,7 @@ static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
};
// You can index into the array with an arming_state_t in order to get it's textual representation
static const char *state_names[ARMING_STATE_MAX] = {
static const char * const state_names[ARMING_STATE_MAX] = {
"ARMING_STATE_INIT",
"ARMING_STATE_STANDBY",
"ARMING_STATE_ARMED",
@@ -162,7 +161,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Fail transition if we need safety switch press
} else if (safety->safety_switch_available && !safety->safety_off) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!");
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
valid_transition = false;
}
@@ -173,16 +172,16 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Fail transition if power is not good
if (!status->condition_power_input_valid) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
valid_transition = false;
}
// Fail transition if power levels on the avionics rail
// are measured but are insufficient
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.9f)) {
if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.9f))) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
valid_transition = false;
}
}
@@ -622,19 +621,21 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
{
int ret;
bool failed = false;
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
ret = fd;
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
failed = true;
goto system_eval;
}
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
failed = true;
goto system_eval;
}
@@ -644,55 +645,43 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
if (ret == sizeof(acc)) {
/* evaluate values */
float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accel_scale < 9.78f || accel_scale > 9.83f) {
mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended.");
}
if (accel_scale > 30.0f /* m/s^2 */) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
mavlink_log_critical(mavlink_fd, "hold still while arming");
/* this is frickin' fatal */
ret = ERROR;
failed = true;
goto system_eval;
} else {
ret = OK;
}
} else {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
/* this is frickin' fatal */
ret = ERROR;
failed = true;
goto system_eval;
}
if (!status->is_rotary_wing) {
fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
/* accel done, close it */
close(fd);
fd = orb_subscribe(ORB_ID(airspeed));
if (fd < 0) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
ret = fd;
struct airspeed_s airspeed;
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
(hrt_elapsed_time(&airspeed.timestamp) > (50 * 1000))) {
mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
failed = true;
goto system_eval;
}
struct differential_pressure_s diff_pres;
ret = read(fd, &diff_pres, sizeof(diff_pres));
if (ret == sizeof(diff_pres)) {
if (fabsf(diff_pres.differential_pressure_filtered_pa > 5.0f)) {
mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING");
// XXX do not make this fatal yet
ret = OK;
}
} else {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ");
/* this is frickin' fatal */
ret = ERROR;
goto system_eval;
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
// XXX do not make this fatal yet
}
}
system_eval:
close(fd);
return ret;
return (failed);
}
src/modules/commander/state_machine_helper.h
+6 -6
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2013, 2014 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
@@ -36,14 +34,14 @@
/**
* @file state_machine_helper.h
* State machine helper functions definitions
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/
#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_
#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
@@ -67,4 +65,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished);
int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
#endif /* STATE_MACHINE_HELPER_H_ */
src/modules/dataman/dataman.c
+48 -6
View File
@@ -62,6 +62,8 @@ __EXPORT int dataman_main(int argc, char *argv[]);
__EXPORT ssize_t dm_read(dm_item_t item, unsigned char index, void *buffer, size_t buflen);
__EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buffer, size_t buflen);
__EXPORT int dm_clear(dm_item_t item);
__EXPORT void dm_lock(dm_item_t item);
__EXPORT void dm_unlock(dm_item_t item);
__EXPORT int dm_restart(dm_reset_reason restart_type);
/** Types of function calls supported by the worker task */
@@ -114,12 +116,17 @@ static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
DM_KEY_FENCE_POINTS_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX,
DM_KEY_WAYPOINTS_ONBOARD_MAX
DM_KEY_WAYPOINTS_ONBOARD_MAX,
DM_KEY_MISSION_STATE_MAX
};
/* Table of offset for index 0 of each item type */
static unsigned int g_key_offsets[DM_KEY_NUM_KEYS];
/* Item type lock mutexes */
static sem_t *g_item_locks[DM_KEY_NUM_KEYS];
static sem_t g_sys_state_mutex;
/* The data manager store file handle and file name */
static int g_fd = -1, g_task_fd = -1;
static const char *k_data_manager_device_path = "/fs/microsd/dataman";
@@ -139,22 +146,22 @@ static work_q_t g_work_q; /* pending work items. To be consumed by worker thread
sem_t g_work_queued_sema; /* To notify worker thread a work item has been queued */
sem_t g_init_sema;
static bool g_task_should_exit; /**< if true, dataman task should exit */
static bool g_task_should_exit; /**< if true, dataman task should exit */
#define DM_SECTOR_HDR_SIZE 4 /* data manager per item header overhead */
static const unsigned k_sector_size = DM_MAX_DATA_SIZE + DM_SECTOR_HDR_SIZE; /* total item sorage space */
static void init_q(work_q_t *q)
{
sq_init(&(q->q)); /* Initialize the NuttX queue structure */
sq_init(&(q->q)); /* Initialize the NuttX queue structure */
sem_init(&(q->mutex), 1, 1); /* Queue is initially unlocked */
q->size = q->max_size = 0; /* Queue is initially empty */
q->size = q->max_size = 0; /* Queue is initially empty */
}
static inline void
destroy_q(work_q_t *q)
{
sem_destroy(&(q->mutex)); /* Destroy the queue lock */
sem_destroy(&(q->mutex)); /* Destroy the queue lock */
}
static inline void
@@ -318,7 +325,9 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v
buffer[1] = persistence;
buffer[2] = 0;
buffer[3] = 0;
memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count);
if (count > 0) {
memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count);
}
count += DM_SECTOR_HDR_SIZE;
len = -1;
@@ -568,6 +577,32 @@ dm_clear(dm_item_t item)
return enqueue_work_item_and_wait_for_result(work);
}
__EXPORT void
dm_lock(dm_item_t item)
{
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
return;
if (item >= DM_KEY_NUM_KEYS)
return;
if (g_item_locks[item]) {
sem_wait(g_item_locks[item]);
}
}
__EXPORT void
dm_unlock(dm_item_t item)
{
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
return;
if (item >= DM_KEY_NUM_KEYS)
return;
if (g_item_locks[item]) {
sem_post(g_item_locks[item]);
}
}
/* Tell the data manager about the type of the last reset */
__EXPORT int
dm_restart(dm_reset_reason reason)
@@ -608,6 +643,12 @@ task_main(int argc, char *argv[])
for (unsigned i = 0; i < dm_number_of_funcs; i++)
g_func_counts[i] = 0;
/* Initialize the item type locks, for now only DM_KEY_MISSION_STATE supports locking */
sem_init(&g_sys_state_mutex, 1, 1); /* Initially unlocked */
for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++)
g_item_locks[i] = NULL;
g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex;
g_task_should_exit = false;
init_q(&g_work_q);
@@ -743,6 +784,7 @@ task_main(int argc, char *argv[])
destroy_q(&g_work_q);
destroy_q(&g_free_q);
sem_destroy(&g_work_queued_sema);
sem_destroy(&g_sys_state_mutex);
return 0;
}
src/modules/dataman/dataman.h
+17 -1
View File
@@ -53,16 +53,20 @@ extern "C" {
DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */
DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
DM_KEY_MISSION_STATE, /* Persistent mission state */
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
#define DM_KEY_WAYPOINTS_OFFBOARD(_id) (_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1)
/** The maximum number of instances for each item type */
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_MISSION_STATE_MAX = 1
};
/** Data persistence levels */
@@ -101,6 +105,18 @@ extern "C" {
size_t buflen /* Length in bytes of data to retrieve */
);
/** Lock all items of this type */
__EXPORT void
dm_lock(
dm_item_t item /* The item type to clear */
);
/** Unlock all items of this type */
__EXPORT void
dm_unlock(
dm_item_t item /* The item type to clear */
);
/** Erase all items of this type */
__EXPORT int
dm_clear(
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+74 -80
View File
@@ -124,6 +124,13 @@ public:
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
/**
* Print the current status.
*/
@@ -151,7 +158,8 @@ public:
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _estimator_task; /**< task handle for sensor task */
bool _task_running; /**< if true, task is running in its mainloop */
int _estimator_task; /**< task handle for sensor task */
#ifndef SENSOR_COMBINED_SUB
int _gyro_sub; /**< gyro sensor subscription */
int _accel_sub; /**< accel sensor subscription */
@@ -313,12 +321,13 @@ namespace estimator
#endif
static const int ERROR = -1;
FixedwingEstimator *g_estimator;
FixedwingEstimator *g_estimator = nullptr;
}
FixedwingEstimator::FixedwingEstimator() :
_task_should_exit(false),
_task_running(false),
_estimator_task(-1),
/* subscriptions */
@@ -559,61 +568,26 @@ FixedwingEstimator::check_filter_state()
int check = _ekf->CheckAndBound(&ekf_report);
const char* ekfname = "att pos estimator: ";
const char* const feedback[] = { 0,
"NaN in states, resetting",
"stale IMU data, resetting",
"got initial position lock",
"excessive gyro offsets",
"GPS velocity divergence",
"excessive covariances",
"unknown condition"};
switch (check) {
case 0:
/* all ok */
break;
case 1:
{
const char* str = "NaN in states, resetting";
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 2:
{
const char* str = "stale IMU data, resetting";
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 3:
{
const char* str = "switching to dynamic state";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 4:
{
const char* str = "excessive gyro offsets";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 5:
{
const char* str = "GPS velocity divergence";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 6:
{
const char* str = "excessive covariances";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
// Print out error condition
if (check) {
unsigned warn_index = static_cast<unsigned>(check);
unsigned max_warn_index = (sizeof(feedback) / sizeof(feedback[0]));
if (max_warn_index < warn_index) {
warn_index = max_warn_index;
}
default:
{
const char* str = "unknown reset condition";
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
}
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
}
struct estimator_status_report rep;
@@ -645,6 +619,10 @@ FixedwingEstimator::check_filter_state()
rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1);
rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2);
rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3);
// rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4);
// rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5);
// rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6);
// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7);
rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0);
rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1);
@@ -743,8 +721,8 @@ FixedwingEstimator::task_main()
/* sets also parameters in the EKF object */
parameters_update();
Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
Vector3f lastAccel = {0.0f, 0.0f, 0.0f};
Vector3f lastAngRate;
Vector3f lastAccel;
/* wakeup source(s) */
struct pollfd fds[2];
@@ -772,6 +750,8 @@ FixedwingEstimator::task_main()
_gps.vel_e_m_s = 0.0f;
_gps.vel_d_m_s = 0.0f;
_task_running = true;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
@@ -1202,10 +1182,10 @@ FixedwingEstimator::task_main()
_baro_gps_offset = 0.0f;
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
} else if (_ekf->statesInitialised) {
// We're apparently initialized in this case now
int check = check_filter_state();
if (check) {
@@ -1213,7 +1193,6 @@ FixedwingEstimator::task_main()
continue;
}
// Run the strapdown INS equations every IMU update
_ekf->UpdateStrapdownEquationsNED();
#if 0
@@ -1281,7 +1260,11 @@ FixedwingEstimator::task_main()
// run the fusion step
_ekf->FuseVelposNED();
} else if (_ekf->statesInitialised) {
} else if (!_gps_initialized) {
// force static mode
_ekf->staticMode = true;
// Convert GPS measurements to Pos NE, hgt and Vel NED
_ekf->velNED[0] = 0.0f;
_ekf->velNED[1] = 0.0f;
@@ -1303,7 +1286,7 @@ FixedwingEstimator::task_main()
_ekf->fusePosData = false;
}
if (newHgtData && _ekf->statesInitialised) {
if (newHgtData) {
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
_ekf->fuseHgtData = true;
@@ -1317,7 +1300,7 @@ FixedwingEstimator::task_main()
}
// Fuse Magnetometer Measurements
if (newDataMag && _ekf->statesInitialised) {
if (newDataMag) {
_ekf->fuseMagData = true;
_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
@@ -1331,7 +1314,7 @@ FixedwingEstimator::task_main()
}
// Fuse Airspeed Measurements
if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
if (newAdsData && _ekf->VtasMeas > 7.0f) {
_ekf->fuseVtasData = true;
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
_ekf->FuseAirspeed();
@@ -1399,7 +1382,7 @@ FixedwingEstimator::task_main()
_velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
_velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
_airspeed_filtered = 0.95f*_airspeed_filtered + + 0.05f*_airspeed.true_airspeed_m_s;
_airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s;
/* crude land detector for fixedwing only,
@@ -1490,27 +1473,28 @@ FixedwingEstimator::task_main()
}
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15];
_wind.covariance_north = _ekf->P[14][14];
_wind.covariance_east = _ekf->P[15][15];
/* lazily publish the wind estimate only once available */
if (_wind_pub > 0) {
/* publish the wind estimate */
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
} else {
/* advertise and publish */
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
}
}
}
}
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15];
_wind.covariance_north = _ekf->P[14][14];
_wind.covariance_east = _ekf->P[15][15];
/* lazily publish the wind estimate only once available */
if (_wind_pub > 0) {
/* publish the wind estimate */
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
} else {
/* advertise and publish */
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
}
}
}
}
@@ -1518,6 +1502,8 @@ FixedwingEstimator::task_main()
perf_end(_loop_perf);
}
_task_running = false;
warnx("exiting.\n");
_estimator_task = -1;
@@ -1670,6 +1656,14 @@ int ekf_att_pos_estimator_main(int argc, char *argv[])
err(1, "start failed");
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (estimator::g_estimator == nullptr || !estimator::g_estimator->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
exit(0);
}
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+127 -46
View File
@@ -5,47 +5,120 @@
#define EKF_COVARIANCE_DIVERGED 1.0e8f
AttPosEKF::AttPosEKF()
AttPosEKF::AttPosEKF() :
covTimeStepMax(0.0f),
covDelAngMax(0.0f),
rngFinderPitch(0.0f),
a1(0.0f),
a2(0.0f),
a3(0.0f),
yawVarScale(0.0f),
windVelSigma(0.0f),
dAngBiasSigma(0.0f),
dVelBiasSigma(0.0f),
magEarthSigma(0.0f),
magBodySigma(0.0f),
gndHgtSigma(0.0f),
vneSigma(0.0f),
vdSigma(0.0f),
posNeSigma(0.0f),
posDSigma(0.0f),
magMeasurementSigma(0.0f),
airspeedMeasurementSigma(0.0f),
gyroProcessNoise(0.0f),
accelProcessNoise(0.0f),
EAS2TAS(1.0f),
magstate{},
resetMagState{},
KH{},
KHP{},
P{},
Kfusion{},
states{},
resetStates{},
storedStates{},
statetimeStamp{},
statesAtVelTime{},
statesAtPosTime{},
statesAtHgtTime{},
statesAtMagMeasTime{},
statesAtVtasMeasTime{},
statesAtRngTime{},
statesAtOptFlowTime{},
correctedDelAng(),
correctedDelVel(),
summedDelAng(),
summedDelVel(),
accNavMag(),
earthRateNED(),
angRate(),
lastGyroOffset(),
delAngTotal(),
Tbn(),
Tnb(),
accel(),
dVelIMU(),
dAngIMU(),
dtIMU(0),
fusionModeGPS(0),
innovVelPos{},
varInnovVelPos{},
velNED{},
accelGPSNED{},
posNE{},
hgtMea(0.0f),
baroHgtOffset(0.0f),
rngMea(0.0f),
innovMag{},
varInnovMag{},
magData{},
losData{},
innovVtas(0.0f),
innovRng(0.0f),
innovOptFlow{},
varInnovOptFlow{},
varInnovVtas(0.0f),
varInnovRng(0.0f),
VtasMeas(0.0f),
magDeclination(0.0f),
latRef(0.0f),
lonRef(-M_PI_F),
hgtRef(0.0f),
refSet(false),
magBias(),
covSkipCount(0),
gpsLat(0.0),
gpsLon(-M_PI),
gpsHgt(0.0f),
GPSstatus(0),
baroHgt(0.0f),
statesInitialised(false),
fuseVelData(false),
fusePosData(false),
fuseHgtData(false),
fuseMagData(false),
fuseVtasData(false),
fuseRngData(false),
fuseOptFlowData(false),
/* NOTE: DO NOT initialize class members here. Use ZeroVariables()
* instead to allow clean in-air re-initialization.
*/
inhibitWindStates(true),
inhibitMagStates(true),
inhibitGndHgtState(true),
onGround(true),
staticMode(true),
useAirspeed(true),
useCompass(true),
useRangeFinder(false),
useOpticalFlow(false),
ekfDiverged(false),
lastReset(0),
current_ekf_state{},
last_ekf_error{},
numericalProtection(true),
storeIndex(0)
{
summedDelAng.zero();
summedDelVel.zero();
fusionModeGPS = 0;
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
fuseMagData = false;
fuseVtasData = false;
onGround = true;
staticMode = true;
useAirspeed = true;
useCompass = true;
useRangeFinder = true;
useOpticalFlow = true;
numericalProtection = true;
refSet = false;
storeIndex = 0;
gpsHgt = 0.0f;
baroHgt = 0.0f;
GPSstatus = 0;
VtasMeas = 0.0f;
magDeclination = 0.0f;
dAngIMU.zero();
dVelIMU.zero();
velNED[0] = 0.0f;
velNED[1] = 0.0f;
velNED[2] = 0.0f;
accelGPSNED[0] = 0.0f;
accelGPSNED[1] = 0.0f;
accelGPSNED[2] = 0.0f;
delAngTotal.zero();
ekfDiverged = false;
lastReset = 0;
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
memset(&current_ekf_state, 0, sizeof(current_ekf_state));
ZeroVariables();
@@ -73,7 +146,7 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
float qUpdated[4];
float quatMag;
float deltaQuat[4];
const Vector3f gravityNED = {0.0,0.0,GRAVITY_MSS};
const Vector3f gravityNED(0.0f, 0.0f, GRAVITY_MSS);
// Remove sensor bias errors
correctedDelAng.x = dAngIMU.x - states[10];
@@ -2206,7 +2279,7 @@ void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, d
void AttPosEKF::OnGroundCheck()
{
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
if (staticMode) {
staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
}
@@ -2280,7 +2353,7 @@ float AttPosEKF::ConstrainFloat(float val, float min, float max)
}
if (!isfinite(val)) {
ekf_debug("constrain: non-finite!");
//ekf_debug("constrain: non-finite!");
}
return ret;
@@ -2806,12 +2879,18 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
current_ekf_state.statesNaN = false;
current_ekf_state.velHealth = true;
//current_ekf_state.posHealth = ?;
//current_ekf_state.hgtHealth = ?;
current_ekf_state.posHealth = true;
current_ekf_state.hgtHealth = true;
current_ekf_state.velTimeout = false;
//current_ekf_state.posTimeout = ?;
//current_ekf_state.hgtTimeout = ?;
current_ekf_state.posTimeout = false;
current_ekf_state.hgtTimeout = false;
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
fuseMagData = false;
fuseVtasData = false;
// Fill variables with valid data
velNED[0] = initvelNED[0];
@@ -2920,6 +2999,8 @@ void AttPosEKF::ZeroVariables()
correctedDelAng.zero();
summedDelAng.zero();
summedDelVel.zero();
dAngIMU.zero();
dVelIMU.zero();
lastGyroOffset.zero();
for (unsigned i = 0; i < data_buffer_size; i++) {
src/modules/ekf_att_pos_estimator/estimator_23states.h
-2
View File
@@ -172,8 +172,6 @@ public:
unsigned covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
// GPS input data variables
float gpsCourse;
float gpsVelD;
double gpsLat;
double gpsLon;
float gpsHgt;
src/modules/ekf_att_pos_estimator/estimator_utilities.h
+6
View File
@@ -19,6 +19,12 @@ public:
float y;
float z;
Vector3f(float a=0.0f, float b=0.0f, float c=0.0f) :
x(a),
y(b),
z(c)
{}
float length(void) const;
void zero(void);
};
src/modules/fw_att_control/fw_att_control_main.cpp
+24 -4
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier
* Copyright (c) 2013, 2014 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
@@ -99,13 +98,21 @@ public:
/**
* Start the sensors task.
*
* @return OK on success.
* @return OK on success.
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
private:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle for sensor task */
int _att_sub; /**< vehicle attitude subscription */
@@ -276,6 +283,7 @@ private:
* Main sensor collection task.
*/
void task_main();
};
namespace att_control
@@ -287,12 +295,13 @@ namespace att_control
#endif
static const int ERROR = -1;
FixedwingAttitudeControl *g_control;
FixedwingAttitudeControl *g_control = nullptr;
}
FixedwingAttitudeControl::FixedwingAttitudeControl() :
_task_should_exit(false),
_task_running(false),
_control_task(-1),
/* subscriptions */
@@ -598,6 +607,8 @@ FixedwingAttitudeControl::task_main()
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
@@ -921,6 +932,7 @@ FixedwingAttitudeControl::task_main()
warnx("exiting.\n");
_control_task = -1;
_task_running = false;
_exit(0);
}
@@ -966,6 +978,14 @@ int fw_att_control_main(int argc, char *argv[])
err(1, "start failed");
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
exit(0);
}
src/modules/fw_att_control/module.mk
+2
View File
@@ -39,3 +39,5 @@ MODULE_COMMAND = fw_att_control
SRCS = fw_att_control_main.cpp \
fw_att_control_params.c
MODULE_STACKSIZE = 1200
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+24 -4
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier
* Copyright (c) 2013, 2014 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
@@ -120,10 +119,18 @@ public:
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
private:
int _mavlink_fd;
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle for sensor task */
int _global_pos_sub;
@@ -391,13 +398,14 @@ namespace l1_control
#endif
static const int ERROR = -1;
FixedwingPositionControl *g_control;
FixedwingPositionControl *g_control = nullptr;
}
FixedwingPositionControl::FixedwingPositionControl() :
_mavlink_fd(-1),
_task_should_exit(false),
_task_running(false),
_control_task(-1),
/* subscriptions */
@@ -1290,6 +1298,8 @@ FixedwingPositionControl::task_main()
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
@@ -1390,6 +1400,8 @@ FixedwingPositionControl::task_main()
perf_end(_loop_perf);
}
_task_running = false;
warnx("exiting.\n");
_control_task = -1;
@@ -1445,7 +1457,7 @@ FixedwingPositionControl::start()
_control_task = task_spawn_cmd("fw_pos_control_l1",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
3500,
2000,
(main_t)&FixedwingPositionControl::task_main_trampoline,
nullptr);
@@ -1478,6 +1490,14 @@ int fw_pos_control_l1_main(int argc, char *argv[])
err(1, "start failed");
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (l1_control::g_control == nullptr || !l1_control::g_control->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
exit(0);
}
src/modules/fw_pos_control_l1/module.mk
+3 -1
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2013, 2014 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
@@ -43,3 +43,5 @@ SRCS = fw_pos_control_l1_main.cpp \
mtecs/mTecs.cpp \
mtecs/limitoverride.cpp \
mtecs/mTecs_params.c
MODULE_STACKSIZE = 1200
src/modules/mavlink/mavlink_main.cpp
+80 -692
View File
@@ -18,7 +18,6 @@
*
* 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,
@@ -73,8 +72,6 @@
#include <mavlink/mavlink_log.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "mavlink_bridge_header.h"
#include "mavlink_main.h"
@@ -109,6 +106,8 @@ static struct file_operations fops;
*/
extern "C" __EXPORT int mavlink_main(int argc, char *argv[]);
extern mavlink_system_t mavlink_system;
static uint64_t last_write_success_times[6] = {0};
static uint64_t last_write_try_times[6] = {0};
@@ -209,9 +208,6 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
}
}
}
static void usage(void);
@@ -230,7 +226,9 @@ Mavlink::Mavlink() :
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
_mission_manager(nullptr),
_mission_pub(-1),
_mission_result_sub(-1),
_mode(MAVLINK_MODE_NORMAL),
_total_counter(0),
_verbose(false),
@@ -253,8 +251,6 @@ Mavlink::Mavlink() :
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
{
_wpm = &_wpm_s;
mission.count = 0;
fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl;
_instance_id = Mavlink::instance_count();
@@ -439,7 +435,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
}
void
Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self)
Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
{
Mavlink *inst;
@@ -496,6 +492,7 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
// printf("logmsg: %s\n", txt);
struct mavlink_logmessage msg;
strncpy(msg.text, txt, sizeof(msg.text));
msg.severity = (unsigned char)cmd;
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
@@ -515,7 +512,6 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
void Mavlink::mavlink_update_system(void)
{
if (!_param_initialized) {
_param_system_id = param_find("MAV_SYS_ID");
_param_component_id = param_find("MAV_COMP_ID");
@@ -729,9 +725,32 @@ Mavlink::set_hil_enabled(bool hil_enabled)
return ret;
}
extern mavlink_system_t mavlink_system;
void
Mavlink::send_message(const mavlink_message_t *msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
int Mavlink::mavlink_pm_queued_send()
uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
mavlink_send_uart_bytes(_channel, buf, len);
}
void
Mavlink::handle_message(const mavlink_message_t *msg)
{
/* handle packet with mission manager */
_mission_manager->handle_message(msg);
/* handle packet with parameter component */
mavlink_pm_message_handler(_channel, msg);
if (get_forwarding_on()) {
/* forward any messages to other mavlink instances */
Mavlink::forward_message(msg, this);
}
}
int
Mavlink::mavlink_pm_queued_send()
{
if (_mavlink_param_queue_index < param_count()) {
mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index));
@@ -808,7 +827,7 @@ int Mavlink::mavlink_pm_send_param(param_t param)
mavlink_type,
param_count(),
param_get_index(param));
mavlink_missionlib_send_message(&tx_msg);
send_message(&tx_msg);
return OK;
}
@@ -822,7 +841,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
/* Start sending parameters */
mavlink_pm_start_queued_send();
mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
send_statustext_info("[pm] sending list");
}
} break;
@@ -846,7 +865,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown: %s", name);
mavlink_missionlib_send_gcs_string(buf);
send_statustext_info(buf);
} else {
/* set and send parameter */
@@ -882,653 +901,29 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
}
}
void Mavlink::publish_mission()
int
Mavlink::send_statustext_info(const char *string)
{
/* Initialize mission publication if necessary */
if (_mission_pub < 0) {
_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else {
orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission);
}
return send_statustext(MAVLINK_IOC_SEND_TEXT_INFO, string);
}
int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
{
/* only support global waypoints for now */
switch (mavlink_mission_item->frame) {
case MAV_FRAME_GLOBAL:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
default:
return MAV_MISSION_ERROR;
}
switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param1;
break;
case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1;
mission_item->do_jump_current_count = 0;
mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param1;
break;
}
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
/* reset DO_JUMP count */
mission_item->do_jump_current_count = 0;
return OK;
}
int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
{
if (mission_item->altitude_is_relative) {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
} else {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min;
break;
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;
break;
}
mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index;
return OK;
}
void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
{
state->size = 0;
state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
state->current_state = MAVLINK_WPM_STATE_IDLE;
state->current_partner_sysid = 0;
state->current_partner_compid = 0;
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timestamp_last_send_request = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->current_dataman_id = 0;
}
/*
* @brief Sends an waypoint ack message
*/
void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = sysid;
wpa.target_component = compid;
wpa.type = type;
mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); }
}
/*
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq)
{
if (seq < _wpm->size) {
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = seq;
mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
} else if (seq == 0 && _wpm->size == 0) {
/* don't broadcast if no WPs */
} else {
mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds");
}
}
void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = sysid;
wpc.target_component = compid;
wpc.count = mission.count;
mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); }
}
void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
{
struct mission_item_s mission_item;
ssize_t len = sizeof(struct mission_item_s);
dm_item_t dm_current;
if (_wpm->current_dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
if (dm_read(dm_current, seq, &mission_item, len) == len) {
/* create mission_item_s from mavlink_mission_item_t */
mavlink_mission_item_t wp;
map_mission_item_to_mavlink_mission_item(&mission_item, &wp);
mavlink_message_t msg;
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); }
} else {
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
mavlink_missionlib_send_gcs_string("#audio: Unable to read from micro SD");
if (_verbose) { warnx("ERROR: could not read WP%u", seq); }
}
}
void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < _wpm->max_size) {
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr);
mavlink_missionlib_send_message(&msg);
_wpm->timestamp_last_send_request = hrt_absolute_time();
if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); }
} else {
mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity");
}
}
/*
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); }
}
void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
{
/* check for timed-out operations */
if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
mavlink_missionlib_send_gcs_string("Operation timeout");
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
_wpm->current_partner_sysid = 0;
_wpm->current_partner_compid = 0;
} else if (now - _wpm->timestamp_last_send_request > 500000 && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
/* try to get WP again after short timeout */
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
}
}
void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
{
uint64_t now = hrt_absolute_time();
switch (msg->msgid) {
case MAVLINK_MSG_ID_MISSION_ACK: {
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (_wpm->current_wp_id == _wpm->size - 1) {
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
_wpm->current_wp_id = 0;
}
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch");
}
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.seq < _wpm->size) {
mission.current_index = wpc.seq;
publish_mission();
/* don't answer yet, wait for the navigator to respond, then publish the mission_result */
// mavlink_wpm_send_waypoint_current(wpc.seq);
} else {
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
}
} else {
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (_wpm->size > 0) {
_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST;
_wpm->current_wp_id = 0;
_wpm->current_partner_sysid = msg->sysid;
_wpm->current_partner_compid = msg->compid;
} else {
if (_verbose) { warnx("No waypoints send"); }
}
_wpm->current_count = _wpm->size;
mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count);
} else {
mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy");
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
_wpm->timestamp_lastaction = now;
if (wpr.seq >= _wpm->size) {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
break;
}
/*
* Ensure that we are in the correct state and that the first request has id 0
* and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
*/
if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpr.seq == 0) {
if (_verbose) { warnx("Got ITEM_REQUEST of waypoint %u from %u changing to STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
break;
}
} else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpr.seq == _wpm->current_wp_id) {
if (_verbose) { warnx("Got ITEM_REQUEST of waypoint %u (again) from %u staying in STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
} else if (wpr.seq == _wpm->current_wp_id + 1) {
if (_verbose) { warnx("Got ITEM_REQUEST of waypoint %u from %u staying in STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
break;
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
break;
}
_wpm->current_wp_id = wpr.seq;
_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
if (wpr.seq < _wpm->size) {
mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
} else {
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
mavlink_missionlib_send_gcs_string("ERROR: Waypoint out of bounds");
}
} else {
//we we're target but already communicating with someone else
if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, _wpm->current_partner_sysid); }
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: {
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.count > NUM_MISSIONS_SUPPORTED) {
if (_verbose) { warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_NO_SPACE);
break;
}
if (wpc.count == 0) {
mavlink_missionlib_send_gcs_string("WP COUNT 0");
break;
}
_wpm->current_state = MAVLINK_WPM_STATE_GETLIST;
_wpm->current_wp_id = 0;
_wpm->current_partner_sysid = msg->sysid;
_wpm->current_partner_compid = msg->compid;
_wpm->current_count = wpc.count;
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (_wpm->current_wp_id == 0) {
mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy with WP");
}
} else {
mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy");
}
}
}
break;
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) {
_wpm->timestamp_lastaction = now;
/*
* ensure that we are in the correct state and that the first waypoint has id 0
* and the following waypoints have the correct ids
*/
if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (wp.seq != 0) {
mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0");
break;
}
} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (wp.seq >= _wpm->current_count) {
mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds");
break;
}
if (wp.seq != _wpm->current_wp_id) {
mavlink_missionlib_send_gcs_string("IGN: waypoint ID mismatch");
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
break;
}
}
_wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
struct mission_item_s mission_item;
int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item);
if (ret != OK) {
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret);
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
ssize_t len = sizeof(struct mission_item_s);
dm_item_t dm_next;
if (_wpm->current_dataman_id == 0) {
dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1;
mission.dataman_id = 1;
} else {
dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0;
mission.dataman_id = 0;
}
if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) {
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD");
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
// if (wp.current) {
// warnx("current is: %d", wp.seq);
// mission.current_index = wp.seq;
// }
// XXX ignore current set
mission.current_index = -1;
_wpm->current_wp_id = wp.seq + 1;
if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (_verbose) { warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
mission.count = _wpm->current_count;
publish_mission();
_wpm->current_dataman_id = mission.dataman_id;
_wpm->size = _wpm->current_count;
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
} else {
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
_wpm->timestamp_lastaction = now;
_wpm->size = 0;
/* prepare mission topic */
mission.dataman_id = -1;
mission.count = 0;
mission.current_index = -1;
publish_mission();
if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) {
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
} else {
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
}
} else {
mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy");
if (_verbose) { warnx("IGN WP CLEAR CMD: Busy"); }
}
}
break;
}
default: {
/* other messages might should get caught by mavlink and others */
break;
}
}
}
void
Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
mavlink_send_uart_bytes(_channel, buf, len);
}
int
Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
Mavlink::send_statustext_critical(const char *string)
{
return send_statustext(MAVLINK_IOC_SEND_TEXT_CRITICAL, string);
}
int
Mavlink::send_statustext_emergency(const char *string)
{
return send_statustext(MAVLINK_IOC_SEND_TEXT_EMERGENCY, string);
}
int
Mavlink::send_statustext(unsigned severity, const char *string)
{
const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
mavlink_statustext_t statustext;
statustext.severity = MAV_SEVERITY_INFO;
int i = 0;
@@ -1546,11 +941,24 @@ Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
/* Enforce null termination */
statustext.text[i] = '\0';
/* Map severity */
switch (severity) {
case MAVLINK_IOC_SEND_TEXT_INFO:
statustext.severity = MAV_SEVERITY_INFO;
break;
case MAVLINK_IOC_SEND_TEXT_CRITICAL:
statustext.severity = MAV_SEVERITY_CRITICAL;
break;
case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
statustext.severity = MAV_SEVERITY_EMERGENCY;
break;
}
mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text);
return OK;
} else {
return 1;
return ERROR;
}
}
@@ -1702,7 +1110,7 @@ Mavlink::message_buffer_is_empty()
bool
Mavlink::message_buffer_write(void *ptr, int size)
Mavlink::message_buffer_write(const void *ptr, int size)
{
// bytes available to write
int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1;
@@ -1769,7 +1177,7 @@ Mavlink::message_buffer_mark_read(int n)
}
void
Mavlink::pass_message(mavlink_message_t *msg)
Mavlink::pass_message(const mavlink_message_t *msg)
{
if (_passing_on) {
/* size is 8 bytes plus variable payload */
@@ -1780,7 +1188,11 @@ Mavlink::pass_message(mavlink_message_t *msg)
}
}
float
Mavlink::get_rate_mult()
{
return _datarate / 1000.0f;
}
int
Mavlink::task_main(int argc, char *argv[])
@@ -1902,8 +1314,6 @@ Mavlink::task_main(int argc, char *argv[])
break;
}
_mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate);
/* flush stdout in case MAVLink is about to take it over */
@@ -1948,12 +1358,11 @@ Mavlink::task_main(int argc, char *argv[])
/* start the MAVLink receiver */
_receive_thread = MavlinkReceiver::receive_start(this);
/* initialize waypoint manager */
mavlink_wpm_init(_wpm);
_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
struct mission_result_s mission_result;
memset(&mission_result, 0, sizeof(mission_result));
/* create mission manager */
_mission_manager = new MavlinkMissionManager(this);
_mission_manager->set_verbose(_verbose);
_task_running = true;
@@ -1968,7 +1377,7 @@ Mavlink::task_main(int argc, char *argv[])
MavlinkCommandsStream commands_stream(this, _channel);
/* add default streams depending on mode and intervals depending on datarate */
float rate_mult = _datarate / 1000.0f;
float rate_mult = get_rate_mult();
configure_stream("HEARTBEAT", 1.0f);
@@ -2003,7 +1412,6 @@ Mavlink::task_main(int argc, char *argv[])
/* don't send parameters on startup without request */
_mavlink_param_queue_index = param_count();
MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult);
/* set main loop delay depending on data rate to minimize CPU overhead */
@@ -2057,36 +1465,16 @@ Mavlink::task_main(int argc, char *argv[])
stream->update(t);
}
bool updated;
orb_check(mission_result_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
if (_verbose) { warnx("Got mission result: new current: %d", mission_result.index_current_mission); }
if (mission_result.mission_reached) {
mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached);
}
mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission);
} else {
if (slow_rate_limiter.check(t)) {
mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission);
}
}
if (fast_rate_limiter.check(t)) {
mavlink_pm_queued_send();
mavlink_waypoint_eventloop(hrt_absolute_time());
_mission_manager->eventloop();
if (!mavlink_logbuffer_is_empty(&_logbuffer)) {
struct mavlink_logmessage msg;
int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg);
if (lb_ret == OK) {
mavlink_missionlib_send_gcs_string(msg.text);
send_statustext(msg.severity, msg.text);
}
}
}
@@ -2138,11 +1526,11 @@ Mavlink::task_main(int argc, char *argv[])
}
}
perf_end(_loop_perf);
}
delete _mission_manager;
delete _subscribe_to_stream;
_subscribe_to_stream = nullptr;
src/modules/mavlink/mavlink_main.h
+50 -81
View File
@@ -50,53 +50,13 @@
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "mavlink_bridge_header.h"
#include "mavlink_orb_subscription.h"
#include "mavlink_stream.h"
#include "mavlink_messages.h"
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
struct mavlink_wpm_storage {
uint16_t size;
uint16_t max_size;
enum MAVLINK_WPM_STATES current_state;
int16_t current_wp_id; ///< Waypoint in current transmission
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_last_send_request;
uint32_t timeout;
int current_dataman_id;
};
#include "mavlink_mission.h"
class Mavlink
@@ -139,7 +99,7 @@ public:
static bool instance_exists(const char *device_name, Mavlink *self);
static void forward_message(mavlink_message_t *msg, Mavlink *self);
static void forward_message(const mavlink_message_t *msg, Mavlink *self);
static int get_uart_fd(unsigned index);
@@ -178,11 +138,6 @@ public:
bool get_forwarding_on() { return _forwarding_on; }
/**
* Handle waypoint related messages.
*/
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
static int start_helper(int argc, char *argv[]);
/**
@@ -202,7 +157,11 @@ public:
*/
int set_hil_enabled(bool hil_enabled);
MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
void send_message(const mavlink_message_t *msg);
void handle_message(const mavlink_message_t *msg);
MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
int get_instance_id();
@@ -215,14 +174,43 @@ public:
mavlink_channel_t get_channel();
void configure_stream_threadsafe(const char *stream_name, float rate);
void configure_stream_threadsafe(const char *stream_name, float rate);
bool _task_should_exit; /**< if true, mavlink task should exit */
int get_mavlink_fd() { return _mavlink_fd; }
MavlinkStream * get_streams() const { return _streams; }
/**
* Send a status text with loglevel INFO
*
* @param string the message to send (will be capped by mavlink max string length)
*/
int send_statustext_info(const char *string);
/**
* Send a status text with loglevel CRITICAL
*
* @param string the message to send (will be capped by mavlink max string length)
*/
int send_statustext_critical(const char *string);
/**
* Send a status text with loglevel EMERGENCY
*
* @param string the message to send (will be capped by mavlink max string length)
*/
int send_statustext_emergency(const char *string);
/**
* Send a status text with loglevel
*
* @param string the message to send (will be capped by mavlink max string length)
* @param severity the log level, one of
*/
int send_statustext(unsigned severity, const char *string);
MavlinkStream * get_streams() const { return _streams; }
float get_rate_mult();
/* Functions for waiting to start transmission until message received. */
void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
@@ -231,15 +219,15 @@ public:
bool get_wait_to_transmit() { return _wait_to_transmit; }
bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
bool message_buffer_write(void *ptr, int size);
bool message_buffer_write(const void *ptr, int size);
void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
/**
* Count a transmision error
*/
void count_txerr();
void count_txerr();
protected:
Mavlink *next;
@@ -262,22 +250,19 @@ private:
MavlinkOrbSubscription *_subscriptions;
MavlinkStream *_streams;
orb_advert_t _mission_pub;
struct mission_s mission;
MAVLINK_MODE _mode;
MavlinkMissionManager *_mission_manager;
uint8_t _mavlink_wpm_comp_id;
mavlink_channel_t _channel;
orb_advert_t _mission_pub;
int _mission_result_sub;
MAVLINK_MODE _mode;
mavlink_channel_t _channel;
struct mavlink_logbuffer _logbuffer;
unsigned int _total_counter;
pthread_t _receive_thread;
/* Allocate storage space for waypoints */
mavlink_wpm_storage _wpm_s;
mavlink_wpm_storage *_wpm;
bool _verbose;
bool _forwarding_on;
bool _passing_on;
@@ -363,21 +348,6 @@ private:
void mavlink_update_system();
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_send_waypoint_reached(uint16_t seq);
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
void mavlink_wpm_send_waypoint_current(uint16_t seq);
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
void mavlink_wpm_init(mavlink_wpm_storage *state);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
void publish_mission();
void mavlink_missionlib_send_message(mavlink_message_t *msg);
int mavlink_missionlib_send_gcs_string(const char *string);
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
int configure_stream(const char *stream_name, const float rate);
@@ -394,7 +364,7 @@ private:
void message_buffer_mark_read(int n);
void pass_message(mavlink_message_t *msg);
void pass_message(const mavlink_message_t *msg);
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
@@ -402,5 +372,4 @@ private:
* Main mavlink task.
*/
int task_main(int argc, char *argv[]);
};
src/modules/mavlink/mavlink_messages.cpp
+36 -32
View File
@@ -170,6 +170,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
break;
case NAVIGATION_STATE_LAND:
/* fallthrough */
case NAVIGATION_STATE_DESCEND:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -190,6 +192,17 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
case NAVIGATION_STATE_OFFBOARD:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
break;
case NAVIGATION_STATE_MAX:
/* this is an unused case, ignore */
break;
}
*mavlink_custom_mode = custom_mode.data;
@@ -1051,10 +1064,16 @@ protected:
uint32_t mavlink_custom_mode;
get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
float out[8];
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
/* scale outputs depending on system type */
if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
mavlink_system.type == MAV_TYPE_HEXAROTOR ||
mavlink_system.type == MAV_TYPE_OCTOROTOR) {
/* set number of valid outputs depending on vehicle type */
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
switch (mavlink_system.type) {
@@ -1071,59 +1090,44 @@ protected:
break;
}
/* scale / assign outputs depending on system type */
float out[8];
for (unsigned i = 0; i < 8; i++) {
if (i < n) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
} else {
/* send 0 when disarmed */
out[i] = 0.0f;
/* scale PWM out 900..2100 us to -1..1 for other channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
}
} else {
out[i] = -1.0f;
/* send 0 when disarmed */
out[i] = 0.0f;
}
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
} else {
/* fixed wing: scale all channels except throttle -1 .. 1
* because we know that we set the mixers up this way
*/
float out[8];
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 8; i++) {
if (i != 3) {
/* scale fake PWM out 900..2100 us to -1..+1 for normal channels */
/* scale PWM out 900..2100 us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
} else {
/* scale fake PWM out 900..2100 us to 0..1 for throttle */
/* scale PWM out 900..2100 us to 0..1 for throttle */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
}
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
}
}
};
src/modules/mavlink/mavlink_mission.cpp
+828
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@@ -0,0 +1,828 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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.
*
****************************************************************************/
/**
* @file mavlink_mission.cpp
* MAVLink mission manager implementation.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "mavlink_mission.h"
#include "mavlink_main.h"
#include <math.h>
#include <lib/geo/geo.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_mavlink(mavlink),
_state(MAVLINK_WPM_STATE_IDLE),
_time_last_recv(0),
_time_last_sent(0),
_action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT),
_retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT),
_max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX),
_dataman_id(0),
_count(0),
_current_seq(0),
_transfer_dataman_id(0),
_transfer_count(0),
_transfer_seq(0),
_transfer_current_seq(0),
_transfer_partner_sysid(0),
_transfer_partner_compid(0),
_offboard_mission_sub(-1),
_mission_result_sub(-1),
_offboard_mission_pub(-1),
_slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()),
_verbose(false),
_channel(mavlink->get_channel()),
_comp_id(MAV_COMP_ID_MISSIONPLANNER)
{
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
init_offboard_mission();
}
MavlinkMissionManager::~MavlinkMissionManager()
{
close(_offboard_mission_pub);
close(_mission_result_sub);
}
void
MavlinkMissionManager::init_offboard_mission()
{
mission_s mission_state;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) == sizeof(mission_s)) {
_dataman_id = mission_state.dataman_id;
_count = mission_state.count;
_current_seq = mission_state.current_seq;
warnx("offboard mission init: dataman_id=%d, count=%u, current_seq=%d", _dataman_id, _count, _current_seq);
} else {
_dataman_id = 0;
_count = 0;
_current_seq = 0;
warnx("offboard mission init: ERROR, reading mission state failed");
}
}
/**
* Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes.
*/
int
MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int seq)
{
struct mission_s mission;
mission.dataman_id = dataman_id;
mission.count = count;
mission.current_seq = seq;
/* update mission state in dataman */
int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
if (res == sizeof(mission_s)) {
/* update active mission state */
_dataman_id = dataman_id;
_count = count;
_current_seq = seq;
/* mission state saved successfully, publish offboard_mission topic */
if (_offboard_mission_pub < 0) {
_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else {
orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission);
}
return OK;
} else {
warnx("ERROR: can't save mission state");
_mavlink->send_statustext(MAV_SEVERITY_CRITICAL, "ERROR: can't save mission state");
return ERROR;
}
}
void
MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = sysid;
wpa.target_component = compid;
wpa.type = type;
mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpa);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
}
void
MavlinkMissionManager::send_mission_current(uint16_t seq)
{
if (seq < _count) {
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = seq;
mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
_mavlink->send_message(&msg);
} else if (seq == 0 && _count == 0) {
/* don't broadcast if no WPs */
} else {
if (_verbose) { warnx("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); }
_mavlink->send_statustext_critical("ERROR: wp index out of bounds");
}
}
void
MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
_time_last_sent = hrt_absolute_time();
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = sysid;
wpc.target_component = compid;
wpc.count = _count;
mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); }
}
void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
struct mission_item_s mission_item;
if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
_time_last_sent = hrt_absolute_time();
/* create mission_item_s from mavlink_mission_item_t */
mavlink_mission_item_t wp;
format_mavlink_mission_item(&mission_item, &wp);
mavlink_message_t msg;
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
wp.current = (_current_seq == seq) ? 1 : 0;
mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); }
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("Unable to read from micro SD");
if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
}
}
void
MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < _max_count) {
_time_last_sent = hrt_absolute_time();
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpr);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
} else {
_mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity");
if (_verbose) { warnx("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); }
}
}
void
MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp_reached);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
}
void
MavlinkMissionManager::eventloop()
{
hrt_abstime now = hrt_absolute_time();
bool updated = false;
orb_check(_mission_result_sub, &updated);
if (updated) {
mission_result_s mission_result;
orb_copy(ORB_ID(mission_result), _mission_result_sub, &mission_result);
_current_seq = mission_result.seq_current;
if (_verbose) { warnx("WPM: got mission result, new current_seq: %d", _current_seq); }
if (mission_result.reached) {
send_mission_item_reached((uint16_t)mission_result.seq_reached);
}
send_mission_current(_current_seq);
} else {
if (_slow_rate_limiter.check(now)) {
send_mission_current(_current_seq);
}
}
/* check for timed-out operations */
if (_state != MAVLINK_WPM_STATE_IDLE && hrt_elapsed_time(&_time_last_recv) > _action_timeout) {
_mavlink->send_statustext_critical("Operation timeout");
if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
_state = MAVLINK_WPM_STATE_IDLE;
} else if (_state == MAVLINK_WPM_STATE_GETLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
/* try to request item again after timeout */
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
} else if (_state == MAVLINK_WPM_STATE_SENDLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
if (_transfer_seq == 0) {
/* try to send items count again after timeout */
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count);
} else {
/* try to send item again after timeout */
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
}
}
}
void
MavlinkMissionManager::handle_message(const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_MISSION_ACK:
handle_mission_ack(msg);
break;
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
handle_mission_set_current(msg);
break;
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
handle_mission_request_list(msg);
break;
case MAVLINK_MSG_ID_MISSION_REQUEST:
handle_mission_request(msg);
break;
case MAVLINK_MSG_ID_MISSION_COUNT:
handle_mission_count(msg);
break;
case MAVLINK_MSG_ID_MISSION_ITEM:
handle_mission_item(msg);
break;
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
handle_mission_clear_all(msg);
break;
default:
break;
}
}
void
MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
{
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) {
if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) {
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
if (_transfer_seq == _count) {
if (_verbose) { warnx("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
} else {
_mavlink->send_statustext_critical("WPM: ERR: not all items sent -> IDLE");
if (_verbose) { warnx("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
}
_state = MAVLINK_WPM_STATE_IDLE;
}
} else {
_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); }
}
}
}
void
MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
{
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
if (wpc.seq < _count) {
if (update_active_mission(_dataman_id, _count, wpc.seq) == OK) {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); }
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID");
}
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list");
}
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); }
_mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy");
}
}
}
void
MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
{
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
if (_count > 0) {
_state = MAVLINK_WPM_STATE_SENDLIST;
_transfer_seq = 0;
_transfer_count = _count;
_transfer_partner_sysid = msg->sysid;
_transfer_partner_compid = msg->compid;
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
} else {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); }
_mavlink->send_statustext_info("WPM: mission is empty");
}
send_mission_count(msg->sysid, msg->compid, _count);
} else {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
_mavlink->send_statustext_critical("IGN REQUEST LIST: Busy");
}
}
}
void
MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg)
{
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) {
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
/* _transfer_seq contains sequence of expected request */
if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u", wpr.seq, msg->sysid); }
_transfer_seq++;
} else if (wpr.seq == _transfer_seq - 1) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u (again)", wpr.seq, msg->sysid); }
} else {
if (_transfer_seq > 0 && _transfer_seq < _transfer_count) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
} else if (_transfer_seq <= 0) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
}
_state = MAVLINK_WPM_STATE_IDLE;
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
return;
}
/* double check bounds in case of items count changed */
if (wpr.seq < _count) {
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)_count - 1); }
_state = MAVLINK_WPM_STATE_IDLE;
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: no transfer"); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST: No active transfer");
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _state); }
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
}
} else {
_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); }
}
}
}
void
MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
{
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
if (wpc.count > _max_count) {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, _max_count); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
return;
}
if (wpc.count == 0) {
if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
/* alternate dataman ID anyway to let navigator know about changes */
update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
_mavlink->send_statustext_info("WPM: COUNT 0: CLEAR MISSION");
// TODO send ACK?
return;
}
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
_state = MAVLINK_WPM_STATE_GETLIST;
_transfer_seq = 0;
_transfer_partner_sysid = msg->sysid;
_transfer_partner_compid = msg->compid;
_transfer_count = wpc.count;
_transfer_dataman_id = _dataman_id == 0 ? 1 : 0; // use inactive storage for transmission
_transfer_current_seq = -1;
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (_transfer_seq == 0) {
/* looks like our MISSION_REQUEST was lost, try again */
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
_mavlink->send_statustext_info("WP CMD OK TRY AGAIN");
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
return;
}
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy");
return;
}
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
}
void
MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
{
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) {
if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (wp.seq != _transfer_seq) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
/* don't send request here, it will be performed in eventloop after timeout */
return;
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
return;
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
return;
}
struct mission_item_s mission_item;
int ret = parse_mavlink_mission_item(&wp, &mission_item);
if (ret != OK) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
_state = MAVLINK_WPM_STATE_IDLE;
return;
}
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("Unable to write on micro SD");
_state = MAVLINK_WPM_STATE_IDLE;
return;
}
/* waypoint marked as current */
if (wp.current) {
_transfer_current_seq = wp.seq;
}
if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
_transfer_seq = wp.seq + 1;
if (_transfer_seq == _transfer_count) {
/* got all new mission items successfully */
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
_mavlink->send_statustext_info("WPM: Transfer complete.");
_state = MAVLINK_WPM_STATE_IDLE;
if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
} else {
/* request next item */
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
}
}
void
MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
{
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
/* don't touch mission items storage itself, but only items count in mission state */
_time_last_recv = hrt_absolute_time();
if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) {
if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
} else {
_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy");
if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); }
}
}
}
int
MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
{
/* only support global waypoints for now */
switch (mavlink_mission_item->frame) {
case MAV_FRAME_GLOBAL:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
default:
return MAV_MISSION_ERROR;
}
switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param1;
break;
case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1;
mission_item->do_jump_current_count = 0;
mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param1;
break;
}
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
/* reset DO_JUMP count */
mission_item->do_jump_current_count = 0;
return MAV_MISSION_ACCEPTED;
}
int
MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
{
if (mission_item->altitude_is_relative) {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
} else {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min;
break;
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;
break;
}
mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index;
return OK;
}
src/modules/mavlink/mavlink_mission.h
+177
View File
@@ -0,0 +1,177 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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.
*
****************************************************************************/
/**
* @file mavlink_mission.h
* MAVLink mission manager interface definition.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#include "mavlink_bridge_header.h"
#include "mavlink_rate_limiter.h"
#include <uORB/uORB.h>
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication action timeout in useconds
#define MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT 500000 ///< Protocol communication retry timeout in useconds
class Mavlink;
class MavlinkMissionManager {
public:
MavlinkMissionManager(Mavlink *parent);
~MavlinkMissionManager();
void init_offboard_mission();
int update_active_mission(int dataman_id, unsigned count, int seq);
void send_message(mavlink_message_t *msg);
/**
* @brief Sends an waypoint ack message
*/
void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type);
/**
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void send_mission_current(uint16_t seq);
void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count);
void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq);
void send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq);
/**
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void send_mission_item_reached(uint16_t seq);
void eventloop();
void handle_message(const mavlink_message_t *msg);
void handle_mission_ack(const mavlink_message_t *msg);
void handle_mission_set_current(const mavlink_message_t *msg);
void handle_mission_request_list(const mavlink_message_t *msg);
void handle_mission_request(const mavlink_message_t *msg);
void handle_mission_count(const mavlink_message_t *msg);
void handle_mission_item(const mavlink_message_t *msg);
void handle_mission_clear_all(const mavlink_message_t *msg);
/**
* Parse mavlink MISSION_ITEM message to get mission_item_s.
*/
int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
/**
* Format mission_item_s as mavlink MISSION_ITEM message.
*/
int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
void set_verbose(bool v) { _verbose = v; }
private:
Mavlink* _mavlink;
enum MAVLINK_WPM_STATES _state; ///< Current state
uint64_t _time_last_recv;
uint64_t _time_last_sent;
uint32_t _action_timeout;
uint32_t _retry_timeout;
unsigned _max_count; ///< Maximum number of mission items
int _dataman_id; ///< Dataman storage ID for active mission
unsigned _count; ///< Count of items in active mission
int _current_seq; ///< Current item sequence in active mission
int _transfer_dataman_id; ///< Dataman storage ID for current transmission
unsigned _transfer_count; ///< Items count in current transmission
unsigned _transfer_seq; ///< Item sequence in current transmission
unsigned _transfer_current_seq; ///< Current item ID for current transmission (-1 means not initialized)
unsigned _transfer_partner_sysid; ///< Partner system ID for current transmission
unsigned _transfer_partner_compid; ///< Partner component ID for current transmission
int _offboard_mission_sub;
int _mission_result_sub;
orb_advert_t _offboard_mission_pub;
MavlinkRateLimiter _slow_rate_limiter;
bool _verbose;
mavlink_channel_t _channel;
uint8_t _comp_id;
};
src/modules/mavlink/mavlink_receiver.cpp
+2 -11
View File
@@ -79,7 +79,6 @@ __BEGIN_DECLS
#include "mavlink_bridge_header.h"
#include "mavlink_receiver.h"
#include "mavlink_main.h"
#include "util.h"
__END_DECLS
@@ -1014,16 +1013,8 @@ MavlinkReceiver::receive_thread(void *arg)
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with waypoint component */
_mavlink->mavlink_wpm_message_handler(&msg);
/* handle packet with parameter component */
_mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg);
if (_mavlink->get_forwarding_on()) {
/* forward any messages to other mavlink instances */
Mavlink::forward_message(&msg, _mavlink);
}
/* handle packet with parent object */
_mavlink->handle_message(&msg);
}
}
}
src/modules/mavlink/mavlink_receiver.h
-2
View File
@@ -105,8 +105,6 @@ public:
static void *start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink *_mavlink;
void handle_message(mavlink_message_t *msg);
src/modules/mavlink/module.mk
+1
View File
@@ -39,6 +39,7 @@ MODULE_COMMAND = mavlink
SRCS += mavlink_main.cpp \
mavlink.c \
mavlink_receiver.cpp \
mavlink_mission.cpp \
mavlink_orb_subscription.cpp \
mavlink_messages.cpp \
mavlink_stream.cpp \
src/modules/mavlink/util.h
-53
View File
@@ -1,53 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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.
*
****************************************************************************/
/**
* @file util.h
* Utility and helper functions and data.
*/
#pragma once
/** MAVLink communications channel */
extern uint8_t chan;
/** Shutdown marker */
extern volatile bool thread_should_exit;
/** Waypoint storage */
extern mavlink_wpm_storage *wpm;
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
src/modules/mavlink/waypoints.h
-111
View File
@@ -1,111 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2009-2014 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.
*
****************************************************************************/
/**
* @file waypoints.h
* MAVLink waypoint protocol definition (BSD-relicensed).
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef WAYPOINTS_H_
#define WAYPOINTS_H_
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
#include <v1.0/mavlink_types.h>
#include "mavlink_bridge_header.h"
#include <stdbool.h>
#include <uORB/topics/mission.h>
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
struct mavlink_wpm_storage {
uint16_t size;
uint16_t max_size;
enum MAVLINK_WPM_STATES current_state;
int16_t current_wp_id; ///< Waypoint in current transmission
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint32_t timeout;
int current_dataman_id;
};
typedef struct mavlink_wpm_storage mavlink_wpm_storage;
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
void mavlink_wpm_init(mavlink_wpm_storage *state);
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
#endif /* WAYPOINTS_H_ */
src/modules/navigator/mission.cpp
+155 -51
View File
@@ -61,6 +61,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_onboard_enabled(this, "ONBOARD_EN"),
_param_takeoff_alt(this, "TAKEOFF_ALT"),
_param_dist_1wp(this, "DIST_1WP"),
_onboard_mission({0}),
_offboard_mission({0}),
_current_onboard_mission_index(-1),
@@ -69,13 +70,12 @@ Mission::Mission(Navigator *navigator, const char *name) :
_takeoff(false),
_mission_result_pub(-1),
_mission_result({0}),
_mission_type(MISSION_TYPE_NONE)
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_dist_1wp_ok(false)
{
/* load initial params */
updateParams();
/* set initial mission items */
on_inactive();
}
Mission::~Mission()
@@ -85,16 +85,25 @@ Mission::~Mission()
void
Mission::on_inactive()
{
/* check anyway if missions have changed so that feedback to groundstation is given */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
if (_inited) {
/* check if missions have changed so that feedback to ground station is given */
bool onboard_updated = false;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
bool offboard_updated = false;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
}
} else {
/* read mission topics on initialization */
_inited = true;
update_onboard_mission();
update_offboard_mission();
}
@@ -113,13 +122,13 @@ void
Mission::on_active()
{
/* check if anything has changed */
bool onboard_updated;
bool onboard_updated = false;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated;
bool offboard_updated = false;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
@@ -148,9 +157,9 @@ Mission::update_onboard_mission()
{
if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) {
/* accept the current index set by the onboard mission if it is within bounds */
if (_onboard_mission.current_index >=0
&& _onboard_mission.current_index < (int)_onboard_mission.count) {
_current_onboard_mission_index = _onboard_mission.current_index;
if (_onboard_mission.current_seq >=0
&& _onboard_mission.current_seq < (int)_onboard_mission.count) {
_current_onboard_mission_index = _onboard_mission.current_seq;
} else {
/* if less WPs available, reset to first WP */
if (_current_onboard_mission_index >= (int)_onboard_mission.count) {
@@ -164,7 +173,7 @@ Mission::update_onboard_mission()
} else {
_onboard_mission.count = 0;
_onboard_mission.current_index = 0;
_onboard_mission.current_seq = 0;
_current_onboard_mission_index = 0;
}
}
@@ -173,14 +182,12 @@ void
Mission::update_offboard_mission()
{
if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq);
/* determine current index */
if (_offboard_mission.current_index >= 0
&& _offboard_mission.current_index < (int)_offboard_mission.count) {
_current_offboard_mission_index = _offboard_mission.current_index;
if (_offboard_mission.current_seq >= 0 && _offboard_mission.current_seq < (int)_offboard_mission.count) {
_current_offboard_mission_index = _offboard_mission.current_seq;
} else {
/* if less WPs available, reset to first WP */
/* if less items available, reset to first item */
if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
_current_offboard_mission_index = 0;
@@ -193,23 +200,16 @@ Mission::update_offboard_mission()
/* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current;
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current,
(size_t)_offboard_mission.count,
_navigator->get_geofence(),
_navigator->get_home_position()->alt);
missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt);
} else {
warnx("offboard mission update failed");
_offboard_mission.count = 0;
_offboard_mission.current_index = 0;
_offboard_mission.current_seq = 0;
_current_offboard_mission_index = 0;
}
@@ -240,6 +240,69 @@ Mission::advance_mission()
}
}
bool
Mission::check_dist_1wp()
{
if (_dist_1wp_ok) {
/* always return true after at least one successful check */
return true;
}
/* check if first waypoint is not too far from home */
if (_param_dist_1wp.get() > 0.0f) {
if (_navigator->get_vstatus()->condition_home_position_valid) {
struct mission_item_s mission_item;
/* find first waypoint (with lat/lon) item in datamanager */
for (unsigned i = 0; i < _offboard_mission.count; i++) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id), i,
&mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) {
/* check only items with valid lat/lon */
if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
mission_item.nav_cmd == NAV_CMD_PATHPLANNING) {
/* check distance from home to item */
float dist_to_1wp = get_distance_to_next_waypoint(
mission_item.lat, mission_item.lon,
_navigator->get_home_position()->lat, _navigator->get_home_position()->lon);
if (dist_to_1wp < _param_dist_1wp.get()) {
_dist_1wp_ok = true;
return true;
} else {
/* item is too far from home */
mavlink_log_critical(_navigator->get_mavlink_fd(), "Waypoint too far: %d m,[MIS_DIST_1WP=%d]", (int)dist_to_1wp, (int)_param_dist_1wp.get());
return false;
}
}
} else {
/* error reading, mission is invalid */
mavlink_log_info(_navigator->get_mavlink_fd(), "error reading offboard mission");
return false;
}
}
/* no waypoints found in mission, then we will not fly far away */
_dist_1wp_ok = true;
return true;
} else {
mavlink_log_info(_navigator->get_mavlink_fd(), "no home position");
return false;
}
} else {
return true;
}
}
void
Mission::set_mission_items()
{
@@ -260,7 +323,7 @@ Mission::set_mission_items()
_mission_type = MISSION_TYPE_ONBOARD;
/* try setting offboard mission item */
} else if (read_mission_item(false, true, &_mission_item)) {
} else if (check_dist_1wp() && read_mission_item(false, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
@@ -401,12 +464,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
mission = &_offboard_mission;
if (_offboard_mission.dataman_id == 0) {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
}
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
@@ -472,12 +530,55 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
return false;
}
void
Mission::save_offboard_mission_state()
{
mission_s mission_state;
/* lock MISSION_STATE item */
dm_lock(DM_KEY_MISSION_STATE);
/* read current state */
int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));
if (read_res == sizeof(mission_s)) {
/* data read successfully, check dataman ID and items count */
if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) {
/* navigator may modify only sequence, write modified state only if it changed */
if (mission_state.current_seq != _current_offboard_mission_index) {
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
}
}
}
} else {
/* invalid data, this must not happen and indicates error in offboard_mission publisher */
mission_state.dataman_id = _offboard_mission.dataman_id;
mission_state.count = _offboard_mission.count;
mission_state.current_seq = _current_offboard_mission_index;
warnx("ERROR: invalid mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: invalid mission state");
/* write modified state only if changed */
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
}
}
/* unlock MISSION_STATE item */
dm_unlock(DM_KEY_MISSION_STATE);
}
void
Mission::report_mission_item_reached()
{
if (_mission_type == MISSION_TYPE_OFFBOARD) {
_mission_result.mission_reached = true;
_mission_result.mission_index_reached = _current_offboard_mission_index;
_mission_result.reached = true;
_mission_result.seq_reached = _current_offboard_mission_index;
}
publish_mission_result();
}
@@ -485,14 +586,17 @@ Mission::report_mission_item_reached()
void
Mission::report_current_offboard_mission_item()
{
_mission_result.index_current_mission = _current_offboard_mission_index;
warnx("current offboard mission index: %d", _current_offboard_mission_index);
_mission_result.seq_current = _current_offboard_mission_index;
publish_mission_result();
save_offboard_mission_state();
}
void
Mission::report_mission_finished()
{
_mission_result.mission_finished = true;
_mission_result.finished = true;
publish_mission_result();
}
@@ -509,6 +613,6 @@ Mission::publish_mission_result()
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.mission_reached = false;
_mission_result.mission_finished = false;
_mission_result.reached = false;
_mission_result.finished = false;
}
src/modules/navigator/mission.h
+16 -1
View File
@@ -91,6 +91,12 @@ private:
*/
void advance_mission();
/**
* Check distance to first waypoint (with lat/lon)
* @return true only if it's not too far from home (< MIS_DIST_1WP)
*/
bool check_dist_1wp();
/**
* Set new mission items
*/
@@ -102,6 +108,11 @@ private:
*/
bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item);
/**
* Save current offboard mission state to dataman
*/
void save_offboard_mission_state();
/**
* Report that a mission item has been reached
*/
@@ -122,8 +133,9 @@ private:
*/
void publish_mission_result();
control::BlockParamFloat _param_onboard_enabled;
control::BlockParamInt _param_onboard_enabled;
control::BlockParamFloat _param_takeoff_alt;
control::BlockParamFloat _param_dist_1wp;
struct mission_s _onboard_mission;
struct mission_s _offboard_mission;
@@ -142,6 +154,9 @@ private:
MISSION_TYPE_OFFBOARD
} _mission_type;
bool _inited;
bool _dist_1wp_ok;
MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
};
src/modules/navigator/mission_params.c
+18 -3
View File
@@ -58,12 +58,27 @@
*/
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 10.0f);
/**
* Enable onboard mission
* Enable persistent onboard mission storage
*
* When enabled, missions that have been uploaded by the GCS are stored
* and reloaded after reboot persistently.
*
* @min 0
* @max 1
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 0);
PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
/**
* Maximal horizontal distance from home to first waypoint
*
* Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
* Set a value of zero or less to disable. The mission will not be started if the current
* waypoint is more distant than MIS_DIS_1WP from the current position.
*
* @min 0
* @max 250
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 175);
src/modules/sensors/sensor_params.c
+11 -2
View File
@@ -194,16 +194,25 @@ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
/**
* Differential pressure sensor offset
*
* The offset (zero-reading) in Pascal
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
/**
* Differential pressure sensor analog enabled
* Differential pressure sensor analog scaling
*
* Pick the appropriate scaling from the datasheet.
* this number defines the (linear) conversion from voltage
* to Pascal (pa). For the MPXV7002DP this is 1000.
*
* NOTE: If the sensor always registers zero, try switching
* the static and dynamic tubes.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
/**
src/modules/sensors/sensors.cpp
+12 -10
View File
@@ -133,7 +133,7 @@
#endif
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 3.5f
#define BATT_V_IGNORE_THRESHOLD 4.8f
/**
* HACK - true temperature is much less than indicated temperature in baro,
@@ -248,7 +248,7 @@ private:
float accel_offset[3];
float accel_scale[3];
float diff_pres_offset_pa;
float diff_pres_analog_enabled;
float diff_pres_analog_scale;
int board_rotation;
int external_mag_rotation;
@@ -311,7 +311,7 @@ private:
param_t mag_offset[3];
param_t mag_scale[3];
param_t diff_pres_offset_pa;
param_t diff_pres_analog_enabled;
param_t diff_pres_analog_scale;
param_t rc_map_roll;
param_t rc_map_pitch;
@@ -501,6 +501,7 @@ Sensors::Sensors() :
_battery_current_timestamp(0)
{
memset(&_rc, 0, sizeof(_rc));
memset(&_diff_pres, 0, sizeof(_diff_pres));
/* basic r/c parameters */
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@@ -590,7 +591,7 @@ Sensors::Sensors() :
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
_parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA");
_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
@@ -798,7 +799,7 @@ Sensors::parameters_update()
/* Airspeed offset */
param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
param_get(_parameter_handles.diff_pres_analog_enabled, &(_parameters.diff_pres_analog_enabled));
param_get(_parameter_handles.diff_pres_analog_scale, &(_parameters.diff_pres_analog_scale));
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
@@ -1323,22 +1324,23 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* calculate airspeed, raw is the difference from */
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; // V_ref/4096 * (voltage divider factor)
/**
* The voltage divider pulls the signal down, only act on
* a valid voltage from a connected sensor. Also assume a non-
* zero offset from the sensor if its connected.
*/
if (voltage > 0.4f && (_parameters.diff_pres_analog_enabled > 0)) {
if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) {
float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa;
float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f;
_diff_pres.timestamp = t;
_diff_pres.differential_pressure_pa = diff_pres_pa;
_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
_diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw;
_diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f);
_diff_pres.temperature = -1000.0f;
_diff_pres.voltage = voltage;
/* announce the airspeed if needed, just publish else */
if (_diff_pres_pub > 0) {
src/modules/systemlib/board_serial.c
+4 -4
View File
@@ -44,11 +44,11 @@
#include "board_config.h"
#include "board_serial.h"
int get_board_serial(char *serialid)
int get_board_serial(uint8_t *serialid)
{
const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
const volatile uint32_t *udid_ptr = (const uint32_t *)UDID_START;
union udid id;
val_read((unsigned *)&id, udid_ptr, sizeof(id));
val_read((uint32_t *)&id, udid_ptr, sizeof(id));
/* Copy the serial from the chips non-write memory and swap endianess */
@@ -57,4 +57,4 @@ int get_board_serial(char *serialid)
serialid[8] = id.data[11]; serialid[9] = id.data[10]; serialid[10] = id.data[9]; serialid[11] = id.data[8];
return 0;
}
}
src/modules/systemlib/board_serial.h
+1 -1
View File
@@ -44,6 +44,6 @@
__BEGIN_DECLS
__EXPORT int get_board_serial(char *serialid);
__EXPORT int get_board_serial(uint8_t *serialid);
__END_DECLS
src/modules/systemlib/otp.h
+1 -1
View File
@@ -125,7 +125,7 @@ struct otp_lock {
#pragma pack(push, 1)
union udid {
uint32_t serial[3];
char data[12];
uint8_t data[12];
};
#pragma pack(pop)
src/modules/uORB/topics/differential_pressure.h
-1
View File
@@ -58,7 +58,6 @@ struct differential_pressure_s {
float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */
float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */
float max_differential_pressure_pa; /**< Maximum differential pressure reading */
float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */
float temperature; /**< Temperature provided by sensor, -1000.0f if unknown */
};
src/modules/uORB/topics/mission.h
+7 -3
View File
@@ -98,11 +98,15 @@ struct mission_item_s {
unsigned do_jump_current_count; /**< count how many times the jump has been done */
};
/**
* This topic used to notify navigator about mission changes, mission itself and new mission state
* must be stored in dataman before publication.
*/
struct mission_s
{
int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */
unsigned count; /**< count of the missions stored in the datamanager */
int current_index; /**< default -1, start at the one changed latest */
int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
unsigned count; /**< count of the missions stored in the dataman */
int current_seq; /**< default -1, start at the one changed latest */
};
/**
src/modules/uORB/topics/mission_result.h
+4 -4
View File
@@ -53,10 +53,10 @@
struct mission_result_s
{
bool mission_reached; /**< true if mission has been reached */
unsigned mission_index_reached; /**< index of the mission which has been reached */
unsigned index_current_mission; /**< index of the current mission */
bool mission_finished; /**< true if mission has been completed */
unsigned seq_reached; /**< Sequence of the mission item which has been reached */
unsigned seq_current; /**< Sequence of the current mission item */
bool reached; /**< true if mission has been reached */
bool finished; /**< true if mission has been completed */
};
/**