mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 14:53:35 +08:00
commander: rework arming checks to use the events interface
This commit is contained in:
Beat Küng
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(mode_util
|
||||
mode_requirements.cpp
|
||||
)
|
||||
@@ -0,0 +1,160 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "mode_requirements.hpp"
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
|
||||
static inline void setRequirement(uint8_t nav_state, uint32_t &mode_requirement)
|
||||
{
|
||||
mode_requirement |= 1u << nav_state;
|
||||
}
|
||||
|
||||
|
||||
void getModeRequirements(uint8_t vehicle_type, vehicle_status_flags_s &flags)
|
||||
{
|
||||
flags.mode_req_angular_velocity = 0;
|
||||
flags.mode_req_attitude = 0;
|
||||
flags.mode_req_local_position = 0;
|
||||
flags.mode_req_global_position = 0;
|
||||
flags.mode_req_local_alt = 0;
|
||||
flags.mode_req_mission = 0;
|
||||
flags.mode_req_offboard_signal = 0;
|
||||
flags.mode_req_home_position = 0;
|
||||
flags.mode_req_prevent_arming = 0;
|
||||
flags.mode_req_other = 0;
|
||||
|
||||
// NAVIGATION_STATE_MANUAL
|
||||
|
||||
// NAVIGATION_STATE_ALTCTL
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_local_alt);
|
||||
|
||||
// NAVIGATION_STATE_POSCTL
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position);
|
||||
|
||||
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_global_position);
|
||||
}
|
||||
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_alt);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_MISSION
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_global_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_alt);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_mission);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_LOITER
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_global_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_alt);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_RTL
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_global_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_local_alt);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_home_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_prevent_arming);
|
||||
|
||||
// NAVIGATION_STATE_ACRO
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_angular_velocity);
|
||||
|
||||
// NAVIGATION_STATE_DESCEND
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_local_alt);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_prevent_arming);
|
||||
|
||||
// NAVIGATION_STATE_TERMINATION
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_TERMINATION, flags.mode_req_prevent_arming);
|
||||
|
||||
// NAVIGATION_STATE_OFFBOARD
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_OFFBOARD, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_OFFBOARD, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_OFFBOARD, flags.mode_req_offboard_signal);
|
||||
|
||||
// NAVIGATION_STATE_STAB
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_attitude);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_TAKEOFF
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_alt);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_LAND
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_alt);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_prevent_arming);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_FOLLOW_TARGET
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_alt);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_prevent_arming);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_PRECLAND
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_local_alt);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_prevent_arming);
|
||||
|
||||
// NAVIGATION_STATE_ORBIT
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_alt);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_prevent_arming);
|
||||
|
||||
// NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_attitude);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
|
||||
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_alt);
|
||||
|
||||
|
||||
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 23, "update mode requirements");
|
||||
}
|
||||
@@ -0,0 +1,44 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/topics/vehicle_status_flags.h>
|
||||
|
||||
/**
|
||||
* Get per-mode requirements
|
||||
* @param vehicle_type one of vehicle_status_s::VEHICLE_TYPE_*
|
||||
* @param flags output flags, all mode_req_* entries are set
|
||||
*/
|
||||
void getModeRequirements(uint8_t vehicle_type, vehicle_status_flags_s &flags);
|
||||
|
||||
Reference in New Issue
Block a user