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Merge pull request #1443 from PX4/fix_strangertl

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Fix strange RTL behavior
This commit is contained in:
Thomas Gubler
2014-11-12 13:19:07 +01:00
parent d7ebea6ec2 d63c054bb0
commit 5afc64e424
7 changed files with 35 additions and 21 deletions
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src/modules/commander/commander.cpp
+8 -1
View File
@@ -758,7 +758,10 @@ int commander_thread_main(int argc, char *argv[])
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER";
nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS";
nav_states_str[NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL";
nav_states_str[NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
@@ -1846,7 +1849,11 @@ int commander_thread_main(int argc, char *argv[])
if (status.failsafe != failsafe_old) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe);
if (status.failsafe) {
mavlink_log_critical(mavlink_fd, "failsafe mode on");
} else {
mavlink_log_critical(mavlink_fd, "failsafe mode off");
}
failsafe_old = status.failsafe;
}
src/modules/commander/state_machine_helper.cpp
+19 -16
View File
@@ -444,7 +444,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished,
const bool stay_in_failsafe)
const bool stay_in_failsafe)
{
navigation_state_t nav_state_old = status->nav_state;
@@ -497,11 +497,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
break;
case MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if commanded to do so
* - if we have an engine failure
* - if either the datalink is enabled and lost as well as RC is lost
* - if there is no datalink and the mission is finished */
* - depending on datalink, RC and if the mission is finished */
/* first look at the commands */
if (status->engine_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
@@ -509,14 +511,17 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
} else if (status->gps_failure_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->rc_signal_lost_cmd) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX
/* Finished handling commands which have priority , now handle failures */
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
/* finished handling commands which have priority, now handle failures */
} else if (status->gps_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->engine_failure) {
status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
(!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
/* datalink loss enabled:
* check for datalink lost: this should always trigger RTGS */
} else if (data_link_loss_enabled && status->data_link_lost) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
@@ -529,12 +534,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* also go into failsafe if just datalink is lost */
} else if (status->data_link_lost && data_link_loss_enabled) {
/* datalink loss disabled:
* check if both, RC and datalink are lost during the mission
* or RC is lost after the mission is finished: this should always trigger RCRECOVER */
} else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) ||
(status->rc_signal_lost && mission_finished))) {
status->failsafe = true;
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = NAVIGATION_STATE_LAND;
} else if (status->condition_local_altitude_valid) {
@@ -543,13 +551,8 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = NAVIGATION_STATE_TERMINATION;
}
/* don't bother if RC is lost and mission is not yet finished */
} else if (status->rc_signal_lost && !stay_in_failsafe) {
/* this mode is ok, we don't need RC for missions */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */
} else if (!stay_in_failsafe){
/* everything is perfect */
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
}
break;
src/modules/navigator/datalinkloss.cpp
+4
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@@ -156,6 +156,7 @@ DataLinkLoss::set_dll_item()
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
warnx("not switched to manual: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
@@ -188,6 +189,7 @@ DataLinkLoss::advance_dll()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
if (!_param_skipcommshold.get()) {
@@ -208,6 +210,7 @@ DataLinkLoss::advance_dll()
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
break;
case DLL_STATE_FLYTOAIRFIELDHOMEWP:
_dll_state = DLL_STATE_TERMINATE;
@@ -215,6 +218,7 @@ DataLinkLoss::advance_dll()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
break;
case DLL_STATE_TERMINATE:
warnx("dll end");
src/modules/navigator/mission.cpp
+1
View File
@@ -712,6 +712,7 @@ Mission::set_mission_item_reached()
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
_navigator->publish_mission_result();
reset_mission_item_reached();
}
void
src/modules/navigator/navigator_main.cpp
-3
View File
@@ -630,9 +630,6 @@ Navigator::publish_mission_result()
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.reached = false;
_mission_result.finished = false;
}
void
src/modules/navigator/rcloss.cpp
+2
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@@ -163,6 +163,7 @@ RCLoss::advance_rcl()
_rcl_state = RCL_STATE_TERMINATE;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
}
break;
case RCL_STATE_LOITER:
@@ -171,6 +172,7 @@ RCLoss::advance_rcl()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
reset_mission_item_reached();
break;
case RCL_STATE_TERMINATE:
warnx("rcl end");
src/modules/uORB/topics/vehicle_status.h
+1 -1
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@@ -108,7 +108,7 @@ typedef enum {
NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */
NAVIGATION_STATE_ACRO, /**< Acro mode */
NAVIGATION_STATE_LAND, /**< Land mode */
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
NAVIGATION_STATE_TERMINATION, /**< Termination mode */
NAVIGATION_STATE_OFFBOARD,
NAVIGATION_STATE_MAX,