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Fixed correct RC loss detection, AR.Drone is now shutting down motors after 1 s of RC loss. Added debug topic.

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This commit is contained in:
Lorenz Meier
2012-09-05 11:37:17 +02:00
parent 86a2a4fb9f
commit 84e11a0cac
23 changed files with 213 additions and 79 deletions
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apps/commander/commander.c
+10
View File
@@ -69,6 +69,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
@@ -1174,6 +1175,7 @@ int commander_thread_main(int argc, char *argv[])
/* End battery voltage check */
/* Start RC state check */
bool prev_lost = current_status.rc_signal_lost;
if (rc.chan_count > 4 && (hrt_absolute_time() - rc.timestamp) < 100000) {
@@ -1238,10 +1240,18 @@ int commander_thread_main(int argc, char *argv[])
/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
current_status.rc_signal_cutting_off = true;
current_status.rc_signal_lost_interval = hrt_absolute_time() - rc.timestamp;
/* if the RC signal is gone for a full second, consider it lost */
if (current_status.rc_signal_lost_interval > 1000000) current_status.rc_signal_lost = true;
}
/* Check if this is the first loss or first gain*/
if ((!prev_lost && current_status.rc_signal_lost) ||
prev_lost && !current_status.rc_signal_lost) {
/* publish rc lost */
publish_armed_status(&current_status);
}
/* End mode switch */
/* END RC state check */
apps/commander/state_machine_helper.c
+9 -4
View File
@@ -199,10 +199,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
if (invalid_state == false || old_state != new_state) {
current_status->state_machine = new_state;
state_machine_publish(status_pub, current_status, mavlink_fd);
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
publish_armed_status(current_status);
ret = OK;
}
if (invalid_state) {
@@ -220,6 +217,14 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
printf("[commander] new state: %s\n", system_state_txt[current_status->state_machine]);
}
void publish_armed_status(const struct vehicle_status_s *current_status) {
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
armed.failsafe = current_status->rc_signal_lost;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}
/*
* Private functions, update the state machine
apps/commander/state_machine_helper.h
+6
View File
@@ -188,6 +188,12 @@ void state_machine_emergency_always_critical(int status_pub, struct vehicle_stat
*/
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Publish the armed state depending on the current system state
*
* @param current_status the current system status
*/
void publish_armed_status(const struct vehicle_status_s *current_status);