gpsfailure: add skeleton class, activate in commander

src/modules/commander/state_machine_helper.cpp

@@ -499,12 +499,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
 		} else if (status->data_link_lost_cmd) {
 			status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
-		//} else if (status->gps_failure_cmd) {
-			//status->nav_state = NAVIGATION_STATE_AUTO_***;
+		} 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 */
 		} else if (status->engine_failure) {
 			status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL;
+		} else if (status->gps_failure) {
+			status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL;
 		} else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
 		    (!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
 			status->failsafe = true;

src/modules/navigator/datalinkloss.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 /**
  * @file datalinkloss.cpp
- * Helper class for Data Link Loss Mode acording to the OBC rules
+ * Helper class for Data Link Loss Mode according to the OBC rules
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */

src/modules/navigator/gpsfailure.cpp

@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   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
+ * 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.cpp
+ * Helper class for gpsfailure mode according to the OBC rules
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/home_position.h>
+
+#include "navigator.h"
+#include "gpsfailure.h"
+
+#define DELAY_SIGMA	0.01f
+
+GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
+	MissionBlock(navigator, name),
+	_gpsf_state(GPSF_STATE_NONE)
+{
+	/* load initial params */
+	updateParams();
+	/* initial reset */
+	on_inactive();
+}
+
+GpsFailure::~GpsFailure()
+{
+}
+
+void
+GpsFailure::on_inactive()
+{
+	/* reset GPSF state only if setpoint moved */
+	if (!_navigator->get_can_loiter_at_sp()) {
+		_gpsf_state = GPSF_STATE_NONE;
+	}
+}
+
+void
+GpsFailure::on_activation()
+{
+	_gpsf_state = GPSF_STATE_NONE;
+	updateParams();
+	advance_gpsf();
+	set_gpsf_item();
+}
+
+void
+GpsFailure::on_active()
+{
+	if (is_mission_item_reached()) {
+		updateParams();
+		advance_gpsf();
+		set_gpsf_item();
+	}
+}
+
+void
+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);
+
+	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;
+	}
+	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()
+{
+	switch (_gpsf_state) {
+	case GPSF_STATE_NONE:
+		_gpsf_state = GPSF_STATE_LOITER;
+		break;
+	case GPSF_STATE_LOITER:
+		_gpsf_state = GPSF_STATE_TERMINATE;
+		break;
+	default:
+		break;
+	}
+}

src/modules/navigator/gpsfailure.h

@@ -0,0 +1,86 @@
+/***************************************************************************
+ *
+ *   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
+ * 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.h
+ * Helper class for Data Link Loss Mode according to the OBC rules
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef NAVIGATOR_GPSFAILURE_H
+#define NAVIGATOR_GPSFAILURE_H
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <uORB/Subscription.hpp>
+
+#include "navigator_mode.h"
+#include "mission_block.h"
+
+class Navigator;
+
+class GpsFailure : public MissionBlock
+{
+public:
+	GpsFailure(Navigator *navigator, const char *name);
+
+	~GpsFailure();
+
+	virtual void on_inactive();
+
+	virtual void on_activation();
+
+	virtual void on_active();
+
+private:
+	/* Params */
+
+	enum GPSFState {
+		GPSF_STATE_NONE = 0,
+		GPSF_STATE_LOITER = 1,
+		GPSF_STATE_TERMINATE = 2,
+	} _gpsf_state;
+
+	/**
+	 * Set the GPSF item
+	 */
+	void		set_gpsf_item();
+
+	/**
+	 * Move to next GPSF item
+	 */
+	void		advance_gpsf();
+
+};
+#endif

src/modules/navigator/module.mk

@@ -52,7 +52,8 @@ SRCS		= navigator_main.cpp \
 		  geofence_params.c \
 		  datalinkloss.cpp \
 		  enginefailure.cpp \
-		  datalinkloss_params.c
+		  datalinkloss_params.c \
+		  gpsfailure.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 

src/modules/navigator/navigator.h

@@ -61,12 +61,13 @@
 #include "offboard.h"
 #include "datalinkloss.h"
 #include "enginefailure.h"
+#include "gpsfailure.h"
 #include "geofence.h"
 
 /**
  * Number of navigation modes that need on_active/on_inactive calls
  */
-#define NAVIGATOR_MODE_ARRAY_SIZE 6
+#define NAVIGATOR_MODE_ARRAY_SIZE 7
 
 class Navigator : public control::SuperBlock
 {
@@ -184,6 +185,7 @@ private:
 	DataLinkLoss	_dataLinkLoss;			/**< class that handles the OBC datalink loss mode */
 	EngineFailure	_engineFailure;			/**< class that handles the engine failure mode
 							  (FW only!) */
+	GpsFailure	_gpsFailure;			/**< class that handles the OBC gpsfailure loss mode */
 
 	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
 

src/modules/navigator/navigator_main.cpp

@@ -132,6 +132,7 @@ Navigator::Navigator() :
 	_offboard(this, "OFF"),
 	_dataLinkLoss(this, "DLL"),
 	_engineFailure(this, "EF"),
+	_gpsFailure(this, "GPSF"),
 	_can_loiter_at_sp(false),
 	_pos_sp_triplet_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
@@ -145,6 +146,7 @@ Navigator::Navigator() :
 	_navigation_mode_array[3] = &_offboard;
 	_navigation_mode_array[4] = &_dataLinkLoss;
 	_navigation_mode_array[5] = &_engineFailure;
+	_navigation_mode_array[6] = &_gpsFailure;
 
 	updateParams();
 }
@@ -421,6 +423,9 @@ Navigator::task_main()
 			case NAVIGATION_STATE_AUTO_LANDENGFAIL:
 				_navigation_mode = &_engineFailure;
 				break;
+			case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
+				_navigation_mode = &_gpsFailure;
+				break;
 			case NAVIGATION_STATE_LAND:
 			case NAVIGATION_STATE_TERMINATION:
 			case NAVIGATION_STATE_OFFBOARD: