add obc gps failure mode

src/modules/commander/commander.cpp

@@ -1311,11 +1311,12 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet);
 
 			/* Check for geofence violation */
-			if (pos_sp_triplet.geofence_violated) {
+			if (pos_sp_triplet.geofence_violated || pos_sp_triplet.flight_termination) {
 				//XXX: make this configurable to select different actions (e.g. navigation modes)
 				/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
-				armed.force_failsafe = true;
+				armed.fosrce_failsafe = true;
 				status_changed = true;
+				warnx("Flight termination");
 			} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
 		}
 
@@ -2060,6 +2061,7 @@ set_control_mode()
 	case NAVIGATION_STATE_AUTO_LOITER:
 	case NAVIGATION_STATE_AUTO_RTL:
 	case NAVIGATION_STATE_AUTO_RTGS:
+	case NAVIGATION_STATE_AUTO_LANDENGFAIL:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = true;
 		control_mode.flag_control_rates_enabled = true;
@@ -2071,6 +2073,18 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
+	case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
 	case NAVIGATION_STATE_LAND:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = true;

src/modules/navigator/gpsfailure.cpp

@@ -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();
+	switch (_gpsf_state) {
-		advance_gpsf();
+	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();
+	/* Set pos sp triplet to invalid to stop pos controller */
-	_navigator->set_can_loiter_at_sp(false);
+	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;
+		/* Request flight termination from the commander */
-		//_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
+		pos_sp_triplet->flight_termination = true;
-		//_mission_item.altitude_is_relative = false;
+		warnx("request flight termination");
-		//_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;
 	}
 	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;
 	}

src/modules/navigator/gpsfailure.h

@@ -43,7 +43,11 @@
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 
-#include <uORB/Subscription.hpp>
+#include <uORB/uORB.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+
+#include <drivers/drv_hrt.h>
 
 #include "navigator_mode.h"
 #include "mission_block.h"
@@ -65,13 +69,20 @@ public:
 
 private:
 	/* Params */
+	control::BlockParamFloat _param_loitertime;
+	control::BlockParamFloat _param_openlooploiter_roll;
+	control::BlockParamFloat _param_openlooploiter_pitch;
+	control::BlockParamFloat _param_openlooploiter_thrust;
 
 	enum GPSFState {
 		GPSF_STATE_NONE = 0,
 		GPSF_STATE_LOITER = 1,
 		GPSF_STATE_TERMINATE = 2,
+		GPSF_STATE_END = 3,
 	} _gpsf_state;
 
+	hrt_abstime _timestamp_activation; //*< timestamp when this mode was activated */
+
 	/**
 	 * Set the GPSF item
 	 */

src/modules/navigator/gpsfailure_params.c

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 gpsfailure_params.c
+ *
+ * Parameters for GPSF navigation mode
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * GPS Failure Navigation Mode parameters, accessible via MAVLink
+ */
+
+/**
+ * Loiter time
+ *
+ * The amount of time in seconds the system should do open loop loiter and wait for gps recovery
+ * before it goes into flight termination.
+ *
+ * @unit seconds
+ * @min 0.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
+
+/**
+ * Open loop loiter roll
+ *
+ * Roll in degrees during the open loop loiter
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 30.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
+
+/**
+ * Open loop loiter pitch
+ *
+ * Pitch in degrees during the open loop loiter
+ *
+ * @unit deg
+ * @min -30.0
+ * @max 30.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
+
+/**
+ * Open loop loiter thrust
+ *
+ * Thrust value which is set during the open loop loiter
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.7f);
+
+

src/modules/navigator/module.mk

@@ -53,7 +53,8 @@ SRCS		= navigator_main.cpp \
 		  datalinkloss.cpp \
 		  enginefailure.cpp \
 		  datalinkloss_params.c \
-		  gpsfailure.cpp
+		  gpsfailure.cpp \
+		  gpsfailure_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 

src/modules/navigator/navigator.h

@@ -53,6 +53,7 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/mission_result.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
 
 #include "navigator_mode.h"
 #include "mission.h"
@@ -108,6 +109,12 @@ public:
 	 * Publish the mission result so commander and mavlink know what is going on
 	 */
 	void publish_mission_result();
+	
+	/**
+	 * Publish the attitude sp, only to be used in very special modes when position control is deactivated
+	 * Example: mode that is triggered on gps failure
+	 */
+	void publish_att_sp();
 
 	/**
 	 * Setters
@@ -125,6 +132,7 @@ public:
 	struct home_position_s*		    get_home_position() { return &_home_pos; }
 	struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
 	struct mission_result_s*	    get_mission_result() { return &_mission_result; }
+	struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; }
 
 	int		get_onboard_mission_sub() { return _onboard_mission_sub; }
 	int		get_offboard_mission_sub() { return _offboard_mission_sub; }
@@ -155,6 +163,9 @@ private:
 
 	orb_advert_t	_pos_sp_triplet_pub;		/**< publish position setpoint triplet */
 	orb_advert_t	_mission_result_pub;
+	orb_advert_t	_att_sp_pub;			/**< publish att sp
+							  used only in very special failsafe modes
+							  when pos control is deactivated */
 
 	vehicle_status_s				_vstatus;		/**< vehicle status */
 	vehicle_control_mode_s				_control_mode;		/**< vehicle control mode */
@@ -166,6 +177,7 @@ private:
 	position_setpoint_triplet_s			_pos_sp_triplet;	/**< triplet of position setpoints */
 
 	mission_result_s				_mission_result;
+	vehicle_attitude_setpoint_s					_att_sp;
 
 	bool 		_mission_item_valid;		/**< flags if the current mission item is valid */
 

src/modules/navigator/navigator_main.cpp

@@ -110,6 +110,7 @@ Navigator::Navigator() :
 	_param_update_sub(-1),
 	_pos_sp_triplet_pub(-1),
 	_mission_result_pub(-1),
+	_att_sp_pub(-1),
 	_vstatus{},
 	_control_mode{},
 	_global_pos{},
@@ -119,6 +120,7 @@ Navigator::Navigator() :
 	_nav_caps{},
 	_pos_sp_triplet{},
 	_mission_result{},
+	_att_sp{},
 	_mission_item_valid(false),
 	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
 	_geofence{},
@@ -609,3 +611,17 @@ Navigator::publish_mission_result()
 	_mission_result.reached = false;
 	_mission_result.finished = false;
 }
+
+void
+Navigator::publish_att_sp()
+{
+	/* lazily publish the attitude sp only once available */
+	if (_att_sp_pub > 0) {
+		/* publish att sp*/
+		orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
+
+	} else {
+		/* advertise and publish */
+		_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
+	}
+}

src/modules/uORB/topics/position_setpoint_triplet.h

@@ -98,6 +98,7 @@ struct position_setpoint_triplet_s
 
 	unsigned nav_state;				/**< report the navigation state */
 	bool geofence_violated;				/**< true if the geofence is violated */
+	bool flight_termination;			/**< true if the navigator demands a flight termination from the commander app */
 };
 
 /**