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Massive improvements in state machine, still tracing wrong throttle scaling in manual input path

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This commit is contained in:
Lorenz Meier
2012-08-13 18:53:37 +02:00
parent 56b3b46f75
commit 9014577aff
10 changed files with 268 additions and 167 deletions
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apps/commander/state_machine_helper.c
+83 -64
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@@ -45,6 +45,7 @@
#include <uORB/topics/vehicle_status.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_hrt.h>
#include <mavlink/mavlink_log.h>
static const char* system_state_txt[] = {
"SYSTEM_STATE_PREFLIGHT",
@@ -61,10 +62,13 @@ static const char* system_state_txt[] = {
};
void do_state_update(int status_pub, struct vehicle_status_s *current_status, commander_state_machine_t new_state)
/**
* Transition from one state to another
*/
int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state)
{
int invalid_state = false;
int ret = ERROR;
commander_state_machine_t old_state = current_status->state_machine;
@@ -74,10 +78,10 @@ void do_state_update(int status_pub, struct vehicle_status_s *current_status, co
uint8_t flight_environment_parameter = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
} else {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
}
return;
@@ -89,63 +93,63 @@ void do_state_update(int status_pub, struct vehicle_status_s *current_status, co
//TODO: add emcy landing code here
fprintf(stderr, "[commander] EMERGENCY LANDING!\n");
//global_data_send_mavlink_statustext_message_out("Commander: state: emergency landing", MAV_SEVERITY_INFO);
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY LANDING!");
break;
case SYSTEM_STATE_EMCY_CUTOFF:
/* Tell the controller to cutoff the motors (thrust = 0), make sure that this is not overwritten by another app and stays at 0 */
//TODO: add emcy cutoff code here
/* Tell the controller to cutoff the motors (thrust = 0) */
fprintf(stderr, "[commander] EMERGENCY MOTOR CUTOFF!\n");
//global_data_send_mavlink_statustext_message_out("Commander: state: emergency cutoff", MAV_SEVERITY_INFO);
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY MOTOR CUTOFF!");
break;
case SYSTEM_STATE_GROUND_ERROR:
fprintf(stderr, "[commander] GROUND ERROR, locking down propulsion system\n");
//global_data_send_mavlink_statustext_message_out("Commander: state: ground error", MAV_SEVERITY_INFO);
mavlink_log_critical(mavlink_fd, "[commander] GROUND ERROR, locking down propulsion system");
break;
case SYSTEM_STATE_PREFLIGHT:
//global_data_send_mavlink_statustext_message_out("Commander: state: preflight", MAV_SEVERITY_INFO);
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
invalid_state = false;
mavlink_log_info(mavlink_fd, "[commander] Switched to PREFLIGHT state");
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "[commander] REFUSED to switch to PREFLIGHT state");
}
break;
case SYSTEM_STATE_REBOOT:
usleep(500000);
reboot();
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
invalid_state = false;
mavlink_log_critical(mavlink_fd, "[commander] REBOOTING SYSTEM");
usleep(500000);
reboot();
/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "[commander] REFUSED to REBOOT");
}
break;
case SYSTEM_STATE_STANDBY:
//global_data_send_mavlink_statustext_message_out("Commander: state: standby", MAV_SEVERITY_INFO);
mavlink_log_critical(mavlink_fd, "[commander] Switched to STANDBY state");
break;
case SYSTEM_STATE_GROUND_READY:
//global_data_send_mavlink_statustext_message_out("Commander: state: armed", MAV_SEVERITY_INFO);
//if in manual mode switch to manual state
// if (current_status->remote_manual) {
// printf("[commander] manual mode\n");
// do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
// return;
// }
mavlink_log_critical(mavlink_fd, "[commander] Switched to GROUND READY state");
break;
case SYSTEM_STATE_AUTO:
//global_data_send_mavlink_statustext_message_out("Commander: state: auto", MAV_SEVERITY_INFO);
mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / AUTO mode");
break;
case SYSTEM_STATE_STABILIZED:
//global_data_send_mavlink_statustext_message_out("Commander: state: stabilized", MAV_SEVERITY_INFO);
mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / STABILIZED mode");
break;
case SYSTEM_STATE_MANUAL:
//global_data_send_mavlink_statustext_message_out("Commander: state: manual", MAV_SEVERITY_INFO);
mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / MANUAL mode");
break;
default:
@@ -155,11 +159,11 @@ void do_state_update(int status_pub, struct vehicle_status_s *current_status, co
if (invalid_state == false || old_state != new_state) {
current_status->state_machine = new_state;
state_machine_publish(status_pub, current_status);
state_machine_publish(status_pub, current_status, mavlink_fd);
}
}
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status) {
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) {
/* publish the new state */
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
@@ -171,26 +175,26 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
/*
* Private functions, update the state machine
*/
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status)
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
fprintf(stderr, "[commander] EMERGENCY HANDLER\n");
/* Depending on the current state go to one of the error states */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
} else {
fprintf(stderr, "[commander] Unknown system state: #%d\n", current_status->state_machine);
}
}
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors
{
if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself
state_machine_emergency_always_critical(status_pub, current_status);
state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd);
} else {
//global_data_send_mavlink_statustext_message_out("[commander] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
@@ -399,28 +403,28 @@ void state_machine_emergency(int status_pub, struct vehicle_status_s *current_st
/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status)
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status)
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) {
state_machine_emergency(status_pub, current_status);
state_machine_emergency(status_pub, current_status, mavlink_fd);
}
}
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status)
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
// XXX CHANGE BACK
if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
printf("[commander] arming\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
} /*else if (current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] landing\n");
@@ -428,52 +432,67 @@ void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_s
}*/
}
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status)
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
printf("[commander] going standby\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
} else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] MISSION ABORT!\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status)
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->control_manual_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] manual mode\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
}
}
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status)
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->control_manual_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] stabilized mode\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
}
}
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status)
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->control_manual_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
printf("[commander] auto mode\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_AUTO);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
}
}
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode)
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
{
printf("in update state request\n");
uint8_t ret = 1;
current_status->mode |= MAV_MODE_FLAG_SAFETY_ARMED;
current_status->mode |= VEHICLE_MODE_FLAG_SAFETY_ARMED;
/* Set manual input enabled flag */
current_status->mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
current_status->mode |= VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
/* vehicle is disarmed, mode requests arming */
if (!(current_status->mode & VEHICLE_MODE_FLAG_SAFETY_ARMED) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
@@ -481,10 +500,10 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
// XXX REMOVE
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
/* Set armed flag */
current_status->mode |= MAV_MODE_FLAG_SAFETY_ARMED;
current_status->mode |= VEHICLE_MODE_FLAG_SAFETY_ARMED;
/* Set manual input enabled flag */
current_status->mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
current_status->mode |= VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
ret = OK;
printf("[commander] arming due to command request\n");
}
@@ -495,7 +514,7 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
/* only disarm in ground ready */
//if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
/* Clear armed flag, leave manual input enabled */
// current_status->mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
// current_status->mode &= ~VEHICLE_MODE_FLAG_SAFETY_ARMED;
// do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
// ret = OK;
// printf("[commander] disarming due to command request\n");
@@ -503,16 +522,16 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
//}
/* Switch on HIL if in standby */
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & MAV_MODE_FLAG_HIL_ENABLED)) {
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
/* Enable HIL on request */
current_status->mode |= MAV_MODE_FLAG_HIL_ENABLED;
current_status->mode |= VEHICLE_MODE_FLAG_HIL_ENABLED;
ret = OK;
state_machine_publish(status_pub, current_status);
state_machine_publish(status_pub, current_status, mavlink_fd);
printf("[commander] Enabling HIL\n");
}
/* NEVER actually switch off HIL without reboot */
if ((current_status->mode & MAV_MODE_FLAG_HIL_ENABLED) && !(mode & MAV_MODE_FLAG_HIL_ENABLED)) {
if ((current_status->mode & VEHICLE_MODE_FLAG_HIL_ENABLED) && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
fprintf(stderr, "[commander] DENYING request to switch of HIL. Please power cycle (safety reasons)\n");
ret = ERROR;
}
@@ -520,7 +539,7 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
return ret;
}
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations
{
commander_state_machine_t current_system_state = current_status->state_machine;
@@ -539,7 +558,7 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) {
printf("system will reboot\n");
//global_data_send_mavlink_statustext_message_out("Rebooting autopilot.. ", MAV_SEVERITY_INFO);
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
ret = 0;
}
@@ -549,7 +568,7 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
printf("try to switch to auto/takeoff\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_AUTO);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
printf("state: auto\n");
ret = 0;
}
@@ -560,7 +579,7 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
printf("try to switch to manual\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
printf("state: manual\n");
ret = 0;
}