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Navigator resurrect FW GPS failure navigation (#7762)

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This commit is contained in:
Daniel Agar
2017-09-08 12:18:59 -04:00
committed by GitHub
parent e15afcca7a
commit 7a42424411
6 changed files with 138 additions and 147 deletions
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src/modules/navigator/gpsfailure.cpp
+36 -34
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@@ -37,24 +37,21 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include "gpsfailure.h"
#include "navigator.h"
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include <mathlib/mathlib.h>
#include "navigator.h"
#include "gpsfailure.h"
using matrix::Eulerf;
using matrix::Quatf;
#define DELAY_SIGMA 0.01f
static constexpr float DELAY_SIGMA = 0.01f;
GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
@@ -67,14 +64,11 @@ GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
GpsFailure::~GpsFailure()
{
}
void
GpsFailure::on_inactive()
{
@@ -96,24 +90,34 @@ GpsFailure::on_activation()
void
GpsFailure::on_active()
{
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();
vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = math::radians(_param_openlooploiter_roll.get());
att_sp.pitch_body = math::radians(_param_openlooploiter_pitch.get());
att_sp.thrust = _param_openlooploiter_thrust.get();
Quatf q(Eulerf(att_sp.roll_body, att_sp.pitch_body, 0.0f));
q.copyTo(att_sp.q_d);
att_sp.q_d_valid = true;
if (_att_sp_pub != nullptr) {
/* 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);
}
/* 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");
if ((_param_loitertime.get() > FLT_EPSILON) &&
(hrt_elapsed_time(&_timestamp_activation) > _param_loitertime.get() * 1e6f)) {
/* no recovery, advance the state machine */
PX4_WARN("GPS not recovered, switching to next failure state");
advance_gpsf();
}
@@ -142,17 +146,17 @@ GpsFailure::set_gpsf_item()
switch (_gpsf_state) {
case GPSF_STATE_TERMINATE: {
/* Request flight termination from the commander */
/* Request flight termination from commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->set_mission_result_updated();
warnx("gps fail: request flight termination");
PX4_WARN("GPS failure: request flight termination");
}
break;
default:
break;
}
reset_mission_item_reached();
_navigator->set_position_setpoint_triplet_updated();
}
@@ -162,20 +166,18 @@ GpsFailure::advance_gpsf()
switch (_gpsf_state) {
case GPSF_STATE_NONE:
_gpsf_state = GPSF_STATE_LOITER;
warnx("gpsf loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "GPS failed: open loop loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Global position failure: fixed bank loiter");
break;
case GPSF_STATE_LOITER:
_gpsf_state = GPSF_STATE_TERMINATE;
warnx("gpsf terminate");
mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "no gps recovery, termination");
warnx("mavlink sent");
mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "no GPS recovery, terminating flight");
break;
case GPSF_STATE_TERMINATE:
warnx("gpsf end");
PX4_WARN("terminate");
_gpsf_state = GPSF_STATE_END;
break;
default:
break;