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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Merged commander fixes into airspeed_test_fix
This commit is contained in:
Lorenz Meier
@@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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@@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Anton Babushkin <anton.babushkin@me.com>
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Anton Babushkin <anton.babushkin@me.com>
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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@@ -1,6 +1,6 @@
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/****************************************************************************
|
||||
*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -1,6 +1,6 @@
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/****************************************************************************
|
||||
*
|
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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@@ -1,6 +1,6 @@
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/****************************************************************************
|
||||
*
|
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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@@ -1,7 +1,6 @@
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/****************************************************************************
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||||
*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
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* Author: Anton Babushkin <anton.babushkin@me.com>
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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@@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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* Copyright (c) 2012 PX4 Development Team. All rights reserved.
|
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
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@@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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* Copyright (c) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -403,10 +403,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
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return arming_res;
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}
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bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
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bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local,
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struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
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struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
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{
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/* only handle commands that are meant to be handled by this system and component */
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if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
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if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
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return false;
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}
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@@ -425,7 +427,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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/* set HIL state */
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hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF;
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transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd);
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transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, mavlink_fd);
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// Transition the arming state
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arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
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@@ -434,43 +436,43 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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/* use autopilot-specific mode */
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if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
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/* MANUAL */
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main_ret = main_state_transition(status, MAIN_STATE_MANUAL);
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main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
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} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
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/* ALTCTL */
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main_ret = main_state_transition(status, MAIN_STATE_ALTCTL);
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main_ret = main_state_transition(status_local, MAIN_STATE_ALTCTL);
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} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
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/* POSCTL */
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main_ret = main_state_transition(status, MAIN_STATE_POSCTL);
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main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
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} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
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/* AUTO */
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main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
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main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
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} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
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/* ACRO */
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main_ret = main_state_transition(status, MAIN_STATE_ACRO);
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main_ret = main_state_transition(status_local, MAIN_STATE_ACRO);
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} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
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/* OFFBOARD */
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main_ret = main_state_transition(status, MAIN_STATE_OFFBOARD);
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main_ret = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
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}
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} else {
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/* use base mode */
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if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) {
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/* AUTO */
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main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
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main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
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} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
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if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
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/* POSCTL */
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main_ret = main_state_transition(status, MAIN_STATE_POSCTL);
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main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
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} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
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/* MANUAL */
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main_ret = main_state_transition(status, MAIN_STATE_MANUAL);
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main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
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}
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}
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}
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@@ -485,22 +487,25 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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break;
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case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
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// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
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// We use an float epsilon delta to test float equality.
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if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
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mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
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// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
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// for logic state parameters
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if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) {
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mavlink_log_critical(mavlink_fd, "Unsupported ARM_DISARM param: %.3f", (double)cmd->param1);
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} else {
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bool cmd_arms = (static_cast<int>(cmd->param1 + 0.5f) == 1);
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// Flick to inair restore first if this comes from an onboard system
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if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
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status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
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if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) {
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status_local->arming_state = ARMING_STATE_IN_AIR_RESTORE;
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}
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transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
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transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command");
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if (arming_res == TRANSITION_DENIED) {
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mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
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mavlink_log_critical(mavlink_fd, "REJECTING component arm cmd");
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cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
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} else {
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@@ -512,20 +517,24 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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case VEHICLE_CMD_OVERRIDE_GOTO: {
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// TODO listen vehicle_command topic directly from navigator (?)
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unsigned int mav_goto = cmd->param1;
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// Increase by 0.5f and rely on the integer cast
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// implicit floor(). This is the *safest* way to
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// convert from floats representing small ints to actual ints.
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unsigned int mav_goto = (cmd->param1 + 0.5f);
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if (mav_goto == 0) { // MAV_GOTO_DO_HOLD
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status->nav_state = NAVIGATION_STATE_AUTO_LOITER;
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mavlink_log_critical(mavlink_fd, "#audio: pause mission cmd");
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status_local->nav_state = NAVIGATION_STATE_AUTO_LOITER;
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mavlink_log_critical(mavlink_fd, "Pause mission cmd");
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cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE
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status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
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mavlink_log_critical(mavlink_fd, "#audio: continue mission cmd");
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status_local->nav_state = NAVIGATION_STATE_AUTO_MISSION;
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mavlink_log_critical(mavlink_fd, "Continue mission cmd");
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cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f",
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mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
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(double)cmd->param1,
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(double)cmd->param2,
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(double)cmd->param3,
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@@ -543,7 +552,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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//XXX: to enable the parachute, a param needs to be set
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//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
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if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
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if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
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transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
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cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
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@@ -561,7 +570,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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if (use_current) {
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/* use current position */
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if (status->condition_global_position_valid) {
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if (status_local->condition_global_position_valid) {
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home->lat = global_pos->lat;
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home->lon = global_pos->lon;
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home->alt = global_pos->alt;
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@@ -598,7 +607,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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}
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/* mark home position as set */
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status->condition_home_position_valid = true;
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status_local->condition_home_position_valid = true;
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}
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}
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break;
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@@ -688,11 +697,11 @@ int commander_thread_main(int argc, char *argv[])
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/* initialize */
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if (led_init() != 0) {
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warnx("ERROR: Failed to initialize leds");
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warnx("ERROR: LED INIT FAIL");
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}
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if (buzzer_init() != OK) {
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warnx("ERROR: Failed to initialize buzzer");
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warnx("ERROR: BUZZER INIT FAIL");
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}
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mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
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@@ -766,8 +775,9 @@ int commander_thread_main(int argc, char *argv[])
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mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d",
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mission.dataman_id, mission.count, mission.current_seq);
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} else {
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warnx("reading mission state failed");
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mavlink_log_info(mavlink_fd, "[cmd] reading mission state failed");
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const char *missionfail = "reading mission state failed";
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warnx("%s", missionfail);
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mavlink_log_critical(mavlink_fd, missionfail);
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/* initialize mission state in dataman */
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mission.dataman_id = 0;
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@@ -780,8 +790,6 @@ int commander_thread_main(int argc, char *argv[])
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orb_publish(ORB_ID(offboard_mission), mission_pub, &mission);
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}
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|
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mavlink_log_info(mavlink_fd, "[cmd] started");
|
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|
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int ret;
|
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|
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pthread_attr_t commander_low_prio_attr;
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@@ -1074,7 +1082,7 @@ int commander_thread_main(int argc, char *argv[])
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arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
|
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if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) {
|
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mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
|
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mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
|
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arming_state_changed = true;
|
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}
|
||||
}
|
||||
@@ -1178,10 +1186,10 @@ int commander_thread_main(int argc, char *argv[])
|
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status_changed = true;
|
||||
|
||||
if (status.condition_landed) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: LANDED");
|
||||
mavlink_log_critical(mavlink_fd, "LANDED MODE");
|
||||
|
||||
} else {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
|
||||
mavlink_log_critical(mavlink_fd, "IN AIR MODE");
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1261,14 +1269,14 @@ int commander_thread_main(int argc, char *argv[])
|
||||
/* if battery voltage is getting lower, warn using buzzer, etc. */
|
||||
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
|
||||
low_battery_voltage_actions_done = true;
|
||||
mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
|
||||
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
|
||||
status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
|
||||
status_changed = true;
|
||||
|
||||
} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
|
||||
/* critical battery voltage, this is rather an emergency, change state machine */
|
||||
critical_battery_voltage_actions_done = true;
|
||||
mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
|
||||
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
|
||||
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
|
||||
|
||||
if (armed.armed) {
|
||||
@@ -1330,12 +1338,12 @@ int commander_thread_main(int argc, char *argv[])
|
||||
/* handle the case where RC signal was regained */
|
||||
if (!status.rc_signal_found_once) {
|
||||
status.rc_signal_found_once = true;
|
||||
mavlink_log_critical(mavlink_fd, "#audio: detected RC signal first time");
|
||||
mavlink_log_critical(mavlink_fd, "detected RC signal first time");
|
||||
status_changed = true;
|
||||
|
||||
} else {
|
||||
if (status.rc_signal_lost) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: RC signal regained");
|
||||
mavlink_log_critical(mavlink_fd, "RC signal regained");
|
||||
status_changed = true;
|
||||
}
|
||||
}
|
||||
@@ -1376,7 +1384,7 @@ int commander_thread_main(int argc, char *argv[])
|
||||
* the system can be armed in auto if armed via the GCS.
|
||||
*/
|
||||
if (status.main_state != MAIN_STATE_MANUAL) {
|
||||
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
|
||||
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
|
||||
} else {
|
||||
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
|
||||
if (arming_ret == TRANSITION_CHANGED) {
|
||||
@@ -1396,16 +1404,16 @@ int commander_thread_main(int argc, char *argv[])
|
||||
|
||||
if (arming_ret == TRANSITION_CHANGED) {
|
||||
if (status.arming_state == ARMING_STATE_ARMED) {
|
||||
mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC");
|
||||
mavlink_log_info(mavlink_fd, "ARMED by RC");
|
||||
|
||||
} else {
|
||||
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC");
|
||||
mavlink_log_info(mavlink_fd, "DISARMED by RC");
|
||||
}
|
||||
arming_state_changed = true;
|
||||
|
||||
} else if (arming_ret == TRANSITION_DENIED) {
|
||||
/* DENIED here indicates bug in the commander */
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
|
||||
mavlink_log_critical(mavlink_fd, "arming state transition denied");
|
||||
tune_negative(true);
|
||||
}
|
||||
|
||||
@@ -1419,12 +1427,12 @@ int commander_thread_main(int argc, char *argv[])
|
||||
|
||||
} else if (main_res == TRANSITION_DENIED) {
|
||||
/* DENIED here indicates bug in the commander */
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied");
|
||||
mavlink_log_critical(mavlink_fd, "main state transition denied");
|
||||
}
|
||||
|
||||
} else {
|
||||
if (!status.rc_signal_lost) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
|
||||
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
|
||||
status.rc_signal_lost = true;
|
||||
status_changed = true;
|
||||
}
|
||||
@@ -1436,14 +1444,14 @@ int commander_thread_main(int argc, char *argv[])
|
||||
if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
|
||||
/* handle the case where data link was regained */
|
||||
if (telemetry_lost[i]) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: data link %i regained", i);
|
||||
mavlink_log_critical(mavlink_fd, "data link %i regained", i);
|
||||
telemetry_lost[i] = false;
|
||||
}
|
||||
have_link = true;
|
||||
|
||||
} else {
|
||||
if (!telemetry_lost[i]) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: data link %i lost", i);
|
||||
mavlink_log_critical(mavlink_fd, "data link %i lost", i);
|
||||
telemetry_lost[i] = true;
|
||||
}
|
||||
}
|
||||
@@ -1458,7 +1466,7 @@ int commander_thread_main(int argc, char *argv[])
|
||||
|
||||
} else {
|
||||
if (!status.data_link_lost) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: ALL DATA LINKS LOST");
|
||||
mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
|
||||
status.data_link_lost = true;
|
||||
status_changed = true;
|
||||
}
|
||||
@@ -1642,22 +1650,22 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
|
||||
}
|
||||
|
||||
void
|
||||
control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed)
|
||||
control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed)
|
||||
{
|
||||
/* driving rgbled */
|
||||
if (changed) {
|
||||
bool set_normal_color = false;
|
||||
|
||||
/* set mode */
|
||||
if (status->arming_state == ARMING_STATE_ARMED) {
|
||||
if (status_local->arming_state == ARMING_STATE_ARMED) {
|
||||
rgbled_set_mode(RGBLED_MODE_ON);
|
||||
set_normal_color = true;
|
||||
|
||||
} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
|
||||
} else if (status_local->arming_state == ARMING_STATE_ARMED_ERROR) {
|
||||
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
|
||||
rgbled_set_color(RGBLED_COLOR_RED);
|
||||
|
||||
} else if (status->arming_state == ARMING_STATE_STANDBY) {
|
||||
} else if (status_local->arming_state == ARMING_STATE_STANDBY) {
|
||||
rgbled_set_mode(RGBLED_MODE_BREATHE);
|
||||
set_normal_color = true;
|
||||
|
||||
@@ -1668,12 +1676,12 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
|
||||
|
||||
if (set_normal_color) {
|
||||
/* set color */
|
||||
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe) {
|
||||
if (status_local->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status_local->failsafe) {
|
||||
rgbled_set_color(RGBLED_COLOR_AMBER);
|
||||
/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
|
||||
|
||||
} else {
|
||||
if (status->condition_local_position_valid) {
|
||||
if (status_local->condition_local_position_valid) {
|
||||
rgbled_set_color(RGBLED_COLOR_GREEN);
|
||||
|
||||
} else {
|
||||
@@ -1706,7 +1714,7 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
|
||||
#endif
|
||||
|
||||
/* give system warnings on error LED, XXX maybe add memory usage warning too */
|
||||
if (status->load > 0.95f) {
|
||||
if (status_local->load > 0.95f) {
|
||||
if (leds_counter % 2 == 0) {
|
||||
led_toggle(LED_AMBER);
|
||||
}
|
||||
@@ -1719,16 +1727,16 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
|
||||
}
|
||||
|
||||
transition_result_t
|
||||
set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man)
|
||||
set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_setpoint_s *sp_man)
|
||||
{
|
||||
/* set main state according to RC switches */
|
||||
transition_result_t res = TRANSITION_DENIED;
|
||||
|
||||
/* offboard switch overrides main switch */
|
||||
if (sp_man->offboard_switch == SWITCH_POS_ON) {
|
||||
res = main_state_transition(status, MAIN_STATE_OFFBOARD);
|
||||
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
|
||||
if (res == TRANSITION_DENIED) {
|
||||
print_reject_mode(status, "OFFBOARD");
|
||||
print_reject_mode(status_local, "OFFBOARD");
|
||||
|
||||
} else {
|
||||
return res;
|
||||
@@ -1743,78 +1751,78 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
|
||||
|
||||
case SWITCH_POS_OFF: // MANUAL
|
||||
if (sp_man->acro_switch == SWITCH_POS_ON) {
|
||||
res = main_state_transition(status, MAIN_STATE_ACRO);
|
||||
res = main_state_transition(status_local, MAIN_STATE_ACRO);
|
||||
|
||||
} else {
|
||||
res = main_state_transition(status, MAIN_STATE_MANUAL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
|
||||
}
|
||||
// TRANSITION_DENIED is not possible here
|
||||
break;
|
||||
|
||||
case SWITCH_POS_MIDDLE: // ASSIST
|
||||
if (sp_man->posctl_switch == SWITCH_POS_ON) {
|
||||
res = main_state_transition(status, MAIN_STATE_POSCTL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
}
|
||||
|
||||
print_reject_mode(status, "POSCTL");
|
||||
print_reject_mode(status_local, "POSCTL");
|
||||
}
|
||||
|
||||
// fallback to ALTCTL
|
||||
res = main_state_transition(status, MAIN_STATE_ALTCTL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this mode
|
||||
}
|
||||
|
||||
if (sp_man->posctl_switch != SWITCH_POS_ON) {
|
||||
print_reject_mode(status, "ALTCTL");
|
||||
print_reject_mode(status_local, "ALTCTL");
|
||||
}
|
||||
|
||||
// fallback to MANUAL
|
||||
res = main_state_transition(status, MAIN_STATE_MANUAL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
|
||||
// TRANSITION_DENIED is not possible here
|
||||
break;
|
||||
|
||||
case SWITCH_POS_ON: // AUTO
|
||||
if (sp_man->return_switch == SWITCH_POS_ON) {
|
||||
res = main_state_transition(status, MAIN_STATE_AUTO_RTL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_AUTO_RTL);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
}
|
||||
|
||||
print_reject_mode(status, "AUTO_RTL");
|
||||
print_reject_mode(status_local, "AUTO_RTL");
|
||||
|
||||
// fallback to LOITER if home position not set
|
||||
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
|
||||
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
}
|
||||
|
||||
} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
|
||||
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
|
||||
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
}
|
||||
|
||||
print_reject_mode(status, "AUTO_LOITER");
|
||||
print_reject_mode(status_local, "AUTO_LOITER");
|
||||
|
||||
} else {
|
||||
res = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
|
||||
res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
}
|
||||
|
||||
print_reject_mode(status, "AUTO_MISSION");
|
||||
print_reject_mode(status_local, "AUTO_MISSION");
|
||||
|
||||
// fallback to LOITER if home position not set
|
||||
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
|
||||
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
@@ -1822,21 +1830,21 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
|
||||
}
|
||||
|
||||
// fallback to POSCTL
|
||||
res = main_state_transition(status, MAIN_STATE_POSCTL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
}
|
||||
|
||||
// fallback to ALTCTL
|
||||
res = main_state_transition(status, MAIN_STATE_ALTCTL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
|
||||
|
||||
if (res != TRANSITION_DENIED) {
|
||||
break; // changed successfully or already in this state
|
||||
}
|
||||
|
||||
// fallback to MANUAL
|
||||
res = main_state_transition(status, MAIN_STATE_MANUAL);
|
||||
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
|
||||
// TRANSITION_DENIED is not possible here
|
||||
break;
|
||||
|
||||
@@ -2001,15 +2009,13 @@ set_control_mode()
|
||||
}
|
||||
|
||||
void
|
||||
print_reject_mode(struct vehicle_status_s *status, const char *msg)
|
||||
print_reject_mode(struct vehicle_status_s *status_local, const char *msg)
|
||||
{
|
||||
hrt_abstime t = hrt_absolute_time();
|
||||
|
||||
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
|
||||
last_print_mode_reject_time = t;
|
||||
char s[80];
|
||||
sprintf(s, "#audio: REJECT %s", msg);
|
||||
mavlink_log_critical(mavlink_fd, s);
|
||||
mavlink_log_critical(mavlink_fd, "REJECT %s", msg);
|
||||
|
||||
/* only buzz if armed, because else we're driving people nuts indoors
|
||||
they really need to look at the leds as well. */
|
||||
@@ -2024,9 +2030,7 @@ print_reject_arm(const char *msg)
|
||||
|
||||
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
|
||||
last_print_mode_reject_time = t;
|
||||
char s[80];
|
||||
sprintf(s, "#audio: %s", msg);
|
||||
mavlink_log_critical(mavlink_fd, s);
|
||||
mavlink_log_critical(mavlink_fd, msg);
|
||||
tune_negative(true);
|
||||
}
|
||||
}
|
||||
@@ -2039,12 +2043,12 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
|
||||
break;
|
||||
|
||||
case VEHICLE_CMD_RESULT_DENIED:
|
||||
mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command);
|
||||
mavlink_log_critical(mavlink_fd, "command denied: %u", cmd.command);
|
||||
tune_negative(true);
|
||||
break;
|
||||
|
||||
case VEHICLE_CMD_RESULT_FAILED:
|
||||
mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command);
|
||||
mavlink_log_critical(mavlink_fd, "command failed: %u", cmd.command);
|
||||
tune_negative(true);
|
||||
break;
|
||||
|
||||
@@ -2055,7 +2059,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
|
||||
break;
|
||||
|
||||
case VEHICLE_CMD_RESULT_UNSUPPORTED:
|
||||
mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command);
|
||||
mavlink_log_critical(mavlink_fd, "command unsupported: %u", cmd.command);
|
||||
tune_negative(true);
|
||||
break;
|
||||
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
* Anton Babushkin <anton.babushkin@me.com>
|
||||
* 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
|
||||
@@ -37,6 +34,11 @@
|
||||
/**
|
||||
* @file commander_helper.cpp
|
||||
* Commander helper functions implementations
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
* 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
|
||||
@@ -36,6 +34,9 @@
|
||||
/**
|
||||
* @file commander_helper.h
|
||||
* Commander helper functions definitions
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#ifndef COMMANDER_HELPER_H_
|
||||
@@ -77,6 +78,8 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern);
|
||||
* Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
|
||||
* else use simple estimate based on voltage.
|
||||
*
|
||||
* @param voltage the current battery voltage
|
||||
* @param discharged the discharged capacity
|
||||
* @return the estimated remaining capacity in 0..1
|
||||
*/
|
||||
float battery_remaining_estimate_voltage(float voltage, float discharged);
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
|
||||
@@ -88,7 +88,7 @@ static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
|
||||
};
|
||||
|
||||
// You can index into the array with an arming_state_t in order to get it's textual representation
|
||||
static const char *state_names[ARMING_STATE_MAX] = {
|
||||
static const char * const state_names[ARMING_STATE_MAX] = {
|
||||
"ARMING_STATE_INIT",
|
||||
"ARMING_STATE_STANDBY",
|
||||
"ARMING_STATE_ARMED",
|
||||
@@ -161,7 +161,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
|
||||
// Fail transition if we need safety switch press
|
||||
} else if (safety->safety_switch_available && !safety->safety_off) {
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!");
|
||||
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
|
||||
|
||||
valid_transition = false;
|
||||
}
|
||||
@@ -172,16 +172,16 @@ arming_state_transition(struct vehicle_status_s *status, /// current
|
||||
// Fail transition if power is not good
|
||||
if (!status->condition_power_input_valid) {
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
|
||||
mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
|
||||
valid_transition = false;
|
||||
}
|
||||
|
||||
// Fail transition if power levels on the avionics rail
|
||||
// are measured but are insufficient
|
||||
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
|
||||
(status->avionics_power_rail_voltage < 4.9f)) {
|
||||
if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
|
||||
(status->avionics_power_rail_voltage < 4.9f))) {
|
||||
|
||||
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
|
||||
mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
|
||||
valid_transition = false;
|
||||
}
|
||||
}
|
||||
@@ -626,7 +626,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
@@ -634,7 +634,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
@@ -648,14 +648,14 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
|
||||
|
||||
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
|
||||
mavlink_log_info(mavlink_fd, "#audio: hold still while arming");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
|
||||
mavlink_log_critical(mavlink_fd, "hold still while arming");
|
||||
/* this is frickin' fatal */
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
} else {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
|
||||
/* this is frickin' fatal */
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
@@ -670,13 +670,13 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
|
||||
if (ret = orb_copy(ORB_ID(airspeed), fd, &airspeed) ||
|
||||
hrt_elapsed_time(&airspeed.timestamp) > 50 * 1000) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
|
||||
mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
|
||||
failed = true;
|
||||
goto system_eval;
|
||||
}
|
||||
|
||||
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
|
||||
mavlink_log_critical(mavlink_fd, "#audio: WIND OR CALIBRATION MISSING");
|
||||
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
|
||||
// XXX do not make this fatal yet
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
* 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
|
||||
@@ -36,14 +34,14 @@
|
||||
/**
|
||||
* @file state_machine_helper.h
|
||||
* State machine helper functions definitions
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#ifndef STATE_MACHINE_HELPER_H_
|
||||
#define STATE_MACHINE_HELPER_H_
|
||||
|
||||
#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
|
||||
#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
|
||||
@@ -559,61 +559,26 @@ FixedwingEstimator::check_filter_state()
|
||||
|
||||
int check = _ekf->CheckAndBound(&ekf_report);
|
||||
|
||||
const char* ekfname = "att pos estimator: ";
|
||||
const char* const feedback[] = { 0,
|
||||
"NaN in states, resetting",
|
||||
"stale IMU data, resetting",
|
||||
"got initial position lock",
|
||||
"excessive gyro offsets",
|
||||
"GPS velocity divergence",
|
||||
"excessive covariances",
|
||||
"unknown condition"};
|
||||
|
||||
switch (check) {
|
||||
case 0:
|
||||
/* all ok */
|
||||
break;
|
||||
case 1:
|
||||
{
|
||||
const char* str = "NaN in states, resetting";
|
||||
warnx("%s", str);
|
||||
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
const char* str = "stale IMU data, resetting";
|
||||
warnx("%s", str);
|
||||
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 3:
|
||||
{
|
||||
const char* str = "switching to dynamic state";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 4:
|
||||
{
|
||||
const char* str = "excessive gyro offsets";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 5:
|
||||
{
|
||||
const char* str = "GPS velocity divergence";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
}
|
||||
case 6:
|
||||
{
|
||||
const char* str = "excessive covariances";
|
||||
warnx("%s", str);
|
||||
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
|
||||
break;
|
||||
// Print out error condition
|
||||
if (check) {
|
||||
unsigned warn_index = static_cast<unsigned>(check);
|
||||
unsigned max_warn_index = (sizeof(feedback) / sizeof(feedback[0]));
|
||||
|
||||
if (max_warn_index < warn_index) {
|
||||
warn_index = max_warn_index;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
const char* str = "unknown reset condition";
|
||||
warnx("%s", str);
|
||||
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
|
||||
}
|
||||
warnx("reset: %s", feedback[warn_index]);
|
||||
mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
|
||||
}
|
||||
|
||||
struct estimator_status_report rep;
|
||||
@@ -645,6 +610,10 @@ FixedwingEstimator::check_filter_state()
|
||||
rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1);
|
||||
rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2);
|
||||
rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6);
|
||||
// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7);
|
||||
|
||||
rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0);
|
||||
rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1);
|
||||
@@ -1202,10 +1171,10 @@ FixedwingEstimator::task_main()
|
||||
_baro_gps_offset = 0.0f;
|
||||
|
||||
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
|
||||
|
||||
} else if (_ekf->statesInitialised) {
|
||||
|
||||
// We're apparently initialized in this case now
|
||||
|
||||
int check = check_filter_state();
|
||||
|
||||
if (check) {
|
||||
@@ -1213,7 +1182,6 @@ FixedwingEstimator::task_main()
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
// Run the strapdown INS equations every IMU update
|
||||
_ekf->UpdateStrapdownEquationsNED();
|
||||
#if 0
|
||||
@@ -1281,7 +1249,11 @@ FixedwingEstimator::task_main()
|
||||
// run the fusion step
|
||||
_ekf->FuseVelposNED();
|
||||
|
||||
} else if (_ekf->statesInitialised) {
|
||||
} else if (!_gps_initialized) {
|
||||
|
||||
// force static mode
|
||||
_ekf->staticMode = true;
|
||||
|
||||
// Convert GPS measurements to Pos NE, hgt and Vel NED
|
||||
_ekf->velNED[0] = 0.0f;
|
||||
_ekf->velNED[1] = 0.0f;
|
||||
@@ -1303,7 +1275,7 @@ FixedwingEstimator::task_main()
|
||||
_ekf->fusePosData = false;
|
||||
}
|
||||
|
||||
if (newHgtData && _ekf->statesInitialised) {
|
||||
if (newHgtData) {
|
||||
// Could use a blend of GPS and baro alt data if desired
|
||||
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
|
||||
_ekf->fuseHgtData = true;
|
||||
@@ -1317,7 +1289,7 @@ FixedwingEstimator::task_main()
|
||||
}
|
||||
|
||||
// Fuse Magnetometer Measurements
|
||||
if (newDataMag && _ekf->statesInitialised) {
|
||||
if (newDataMag) {
|
||||
_ekf->fuseMagData = true;
|
||||
_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
|
||||
|
||||
@@ -1331,7 +1303,7 @@ FixedwingEstimator::task_main()
|
||||
}
|
||||
|
||||
// Fuse Airspeed Measurements
|
||||
if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
|
||||
if (newAdsData && _ekf->VtasMeas > 7.0f) {
|
||||
_ekf->fuseVtasData = true;
|
||||
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
|
||||
_ekf->FuseAirspeed();
|
||||
@@ -1399,7 +1371,7 @@ FixedwingEstimator::task_main()
|
||||
|
||||
_velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
|
||||
_velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
|
||||
_airspeed_filtered = 0.95f*_airspeed_filtered + + 0.05f*_airspeed.true_airspeed_m_s;
|
||||
_airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s;
|
||||
|
||||
|
||||
/* crude land detector for fixedwing only,
|
||||
@@ -1490,27 +1462,28 @@ FixedwingEstimator::task_main()
|
||||
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
|
||||
_wind.timestamp = _global_pos.timestamp;
|
||||
_wind.windspeed_north = _ekf->states[14];
|
||||
_wind.windspeed_east = _ekf->states[15];
|
||||
_wind.covariance_north = _ekf->P[14][14];
|
||||
_wind.covariance_east = _ekf->P[15][15];
|
||||
|
||||
/* lazily publish the wind estimate only once available */
|
||||
if (_wind_pub > 0) {
|
||||
/* publish the wind estimate */
|
||||
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
|
||||
|
||||
} else {
|
||||
/* advertise and publish */
|
||||
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
|
||||
_wind.timestamp = _global_pos.timestamp;
|
||||
_wind.windspeed_north = _ekf->states[14];
|
||||
_wind.windspeed_east = _ekf->states[15];
|
||||
_wind.covariance_north = _ekf->P[14][14];
|
||||
_wind.covariance_east = _ekf->P[15][15];
|
||||
|
||||
/* lazily publish the wind estimate only once available */
|
||||
if (_wind_pub > 0) {
|
||||
/* publish the wind estimate */
|
||||
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
|
||||
|
||||
} else {
|
||||
/* advertise and publish */
|
||||
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -2206,7 +2206,7 @@ void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, d
|
||||
|
||||
void AttPosEKF::OnGroundCheck()
|
||||
{
|
||||
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
|
||||
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
|
||||
if (staticMode) {
|
||||
staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
|
||||
}
|
||||
@@ -2806,12 +2806,18 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
|
||||
current_ekf_state.statesNaN = false;
|
||||
|
||||
current_ekf_state.velHealth = true;
|
||||
//current_ekf_state.posHealth = ?;
|
||||
//current_ekf_state.hgtHealth = ?;
|
||||
current_ekf_state.posHealth = true;
|
||||
current_ekf_state.hgtHealth = true;
|
||||
|
||||
current_ekf_state.velTimeout = false;
|
||||
//current_ekf_state.posTimeout = ?;
|
||||
//current_ekf_state.hgtTimeout = ?;
|
||||
current_ekf_state.posTimeout = false;
|
||||
current_ekf_state.hgtTimeout = false;
|
||||
|
||||
fuseVelData = false;
|
||||
fusePosData = false;
|
||||
fuseHgtData = false;
|
||||
fuseMagData = false;
|
||||
fuseVtasData = false;
|
||||
|
||||
// Fill variables with valid data
|
||||
velNED[0] = initvelNED[0];
|
||||
|
||||
Reference in New Issue
Block a user