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

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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.h
+72 -15
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@@ -46,8 +46,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <v1.0/common/mavlink.h>
/**
* Switch to new state with no checking.
@@ -56,8 +54,13 @@
* the function does not question the state change, this must be done before
* The function performs actions that are connected with the new state (buzzer, reboot, ...)
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*
* @return 0 (macro OK) or 1 on error (macro ERROR)
*/
void do_state_update(int status_pub, struct vehicle_status_s *current_status, commander_state_machine_t new_state);
int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state);
/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
@@ -72,43 +75,75 @@ void do_state_update(int status_pub, struct vehicle_status_s *current_status, co
/**
* Handle state machine if got position fix
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Handle state machine if position fix lost
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Handle state machine if user wants to arm
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Handle state machine if user wants to disarm
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Handle state machine if mode switch is manual
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Handle state machine if mode switch is stabilized
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Handle state machine if mode switch is auto
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Publish current state information
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/*
@@ -119,17 +154,39 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
/**
* Handles *incoming request* to switch to a specific state, if state change is successful returns 0
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
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);
/**
* Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode);
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);
/**
* Always switches to critical mode under any circumstances.
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status);
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status);
/**
* Switches to emergency if required.
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);