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add obc gps failure mode

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This commit is contained in:
Thomas Gubler
2014-08-22 00:40:45 +02:00
parent 1a14ff250e
commit 752a0a5625
8 changed files with 207 additions and 48 deletions
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src/modules/navigator/gpsfailure.cpp
+51 -44
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@@ -57,7 +57,12 @@
GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_gpsf_state(GPSF_STATE_NONE)
_param_loitertime(this, "LT"),
_param_openlooploiter_roll(this, "R"),
_param_openlooploiter_pitch(this, "P"),
_param_openlooploiter_thrust(this, "TR"),
_gpsf_state(GPSF_STATE_NONE),
_timestamp_activation(0)
{
/* load initial params */
updateParams();
@@ -82,6 +87,7 @@ void
GpsFailure::on_activation()
{
_gpsf_state = GPSF_STATE_NONE;
_timestamp_activation = hrt_absolute_time();
updateParams();
advance_gpsf();
set_gpsf_item();
@@ -90,10 +96,34 @@ GpsFailure::on_activation()
void
GpsFailure::on_active()
{
if (is_mission_item_reached()) {
updateParams();
advance_gpsf();
switch (_gpsf_state) {
case GPSF_STATE_LOITER: {
/* Position controller does not run in this mode:
* navigator has to publish an attitude setpoint */
_navigator->get_att_sp()->roll_body = M_DEG_TO_RAD_F * _param_openlooploiter_roll.get();
_navigator->get_att_sp()->pitch_body = M_DEG_TO_RAD_F * _param_openlooploiter_pitch.get();
_navigator->get_att_sp()->thrust = _param_openlooploiter_thrust.get();
_navigator->publish_att_sp();
/* Measure time */
hrt_abstime elapsed = hrt_elapsed_time(&_timestamp_activation);
//warnx("open loop loiter, posctl enabled %u, elapsed %.1fs, thrust %.2f",
//_navigator->get_control_mode()->flag_control_position_enabled, elapsed * 1e-6, (double)_param_openlooploiter_thrust.get());
if (elapsed > _param_loitertime.get() * 1e6f) {
/* no recovery, adavance the state machine */
warnx("gps not recovered, switch to next state");
advance_gpsf();
}
break;
}
case GPSF_STATE_TERMINATE:
set_gpsf_item();
advance_gpsf();
break;
default:
break;
}
}
@@ -102,68 +132,45 @@ GpsFailure::set_gpsf_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
/* Set pos sp triplet to invalid to stop pos controller */
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
switch (_gpsf_state) {
case GPSF_STATE_LOITER: {
//_mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7;
//_mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7;
//_mission_item.altitude_is_relative = false;
//_mission_item.altitude = _param_commsholdalt.get();
//_mission_item.yaw = NAN;
//_mission_item.loiter_radius = _navigator->get_loiter_radius();
//_mission_item.loiter_direction = 1;
//_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
//_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
//_mission_item.pitch_min = 0.0f;
//_mission_item.autocontinue = true;
//_mission_item.origin = ORIGIN_ONBOARD;
//_navigator->set_can_loiter_at_sp(true);
break;
}
case GPSF_STATE_TERMINATE: {
//_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
//_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
//_mission_item.altitude_is_relative = false;
//_mission_item.altitude = _param_airfieldhomealt.get();
//_mission_item.yaw = NAN;
//_mission_item.loiter_radius = _navigator->get_loiter_radius();
//_mission_item.loiter_direction = 1;
//_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
//_mission_item.pitch_min = 0.0f;
//_mission_item.autocontinue = true;
//_mission_item.origin = ORIGIN_ONBOARD;
//_navigator->set_can_loiter_at_sp(true);
break;
/* Request flight termination from the commander */
pos_sp_triplet->flight_termination = true;
warnx("request flight termination");
}
default:
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void
GpsFailure::advance_gpsf()
{
updateParams();
switch (_gpsf_state) {
case GPSF_STATE_NONE:
_gpsf_state = GPSF_STATE_LOITER;
warnx("gpsf loiter");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: open loop loiter");
break;
case GPSF_STATE_LOITER:
_gpsf_state = GPSF_STATE_TERMINATE;
warnx("gpsf terminate");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no gps recovery, termination");
warnx("mavlink sent");
break;
case GPSF_STATE_TERMINATE:
warnx("gpsf end");
_gpsf_state = GPSF_STATE_END;
default:
break;
}