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This commit is contained in:
Lorenz Meier
2013-01-11 07:42:09 +01:00
parent d6116d9564
commit 9ab20b11b6
4 changed files with 318 additions and 212 deletions
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apps/commander/commander.c
+139 -56
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@@ -247,11 +247,12 @@ enum AUDIO_PATTERN {
AUDIO_PATTERN_TETRIS = 5
};
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) {
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state)
{
/* Trigger alarm if going into any error state */
if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
}
@@ -267,11 +268,13 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
return 0;
}
void tune_confirm(void) {
void tune_confirm(void)
{
ioctl(buzzer, TONE_SET_ALARM, 3);
}
void tune_error(void) {
void tune_error(void)
{
ioctl(buzzer, TONE_SET_ALARM, 4);
}
@@ -298,9 +301,11 @@ void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
/* store to permanent storage */
/* auto-save to EEPROM */
int save_ret = param_save_default();
if(save_ret != 0) {
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
}
mavlink_log_info(mavlink_fd, "[cmd] trim calibration done");
}
@@ -329,7 +334,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
// * but the smallest number by magnitude float can
// * represent. Use -FLT_MAX to initialize the most
// * negative number
// float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
// float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
@@ -344,6 +349,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
0.0f,
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set scale / offsets for mag");
mavlink_log_info(mavlink_fd, "[cmd] failed to set scale / offsets for mag");
@@ -366,9 +372,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
const char axislabels[3] = { 'X', 'Y', 'Z'};
int axis_index = -1;
float *x = (float*)malloc(sizeof(float) * calibration_maxcount);
float *y = (float*)malloc(sizeof(float) * calibration_maxcount);
float *z = (float*)malloc(sizeof(float) * calibration_maxcount);
float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
if (x == NULL || y == NULL || z == NULL) {
warnx("mag cal failed: out of memory");
@@ -382,14 +388,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
tune_confirm();
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
calibration_counter < calibration_maxcount) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
/* user guidance */
if (hrt_absolute_time() >= axis_deadline &&
axis_index < 3) {
axis_index < 3) {
axis_index++;
@@ -397,7 +403,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
sprintf(buf, "[cmd] Please rotate around %c", axislabels[axis_index]);
mavlink_log_info(mavlink_fd, buf);
tune_confirm();
axis_deadline += calibration_interval / 3;
}
@@ -444,6 +450,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
// }
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "[cmd] mag cal canceled");
@@ -477,6 +484,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* announce and set new offset */
@@ -507,15 +515,16 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
/* auto-save to EEPROM */
int save_ret = param_save_default();
if(save_ret != 0) {
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_info(mavlink_fd, "[cmd] FAILED storing calibration");
}
printf("[mag cal]\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
char buf[52];
sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
(double)mscale.y_offset, (double)mscale.z_offset);
@@ -560,7 +569,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
/* set offsets to zero */
int fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale_null = {
struct gyro_scale gscale_null = {
0.0f,
1.0f,
0.0f,
@@ -568,8 +577,10 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
0.0f,
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
while (calibration_counter < calibration_count) {
@@ -583,6 +594,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
gyro_offset[1] += raw.gyro_rad_s[1];
gyro_offset[2] += raw.gyro_rad_s[2];
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "[cmd] gyro calibration aborted, retry");
@@ -603,7 +615,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[cmd] Setting X gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[cmd] Setting Y gyro offset failed!");
}
@@ -614,7 +626,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
@@ -622,13 +634,16 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if(save_ret != 0) {
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
@@ -642,6 +657,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[cmd] gyro calibration FAILED (NaN)");
}
@@ -675,9 +691,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
0.0f,
1.0f,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
@@ -689,20 +708,22 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
accel_offset[1] += raw.accelerometer_m_s2[1];
accel_offset[2] += raw.accelerometer_m_s2[2];
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "[cmd] acceleration calibration aborted");
return;
}
}
accel_offset[0] = accel_offset[0] / calibration_count;
accel_offset[1] = accel_offset[1] / calibration_count;
accel_offset[2] = accel_offset[2] / calibration_count;
if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]);
/* if length is correct, zero results here */
accel_offset[2] = accel_offset[2] + total_len;
@@ -712,7 +733,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!");
}
@@ -724,7 +745,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!");
}
@@ -742,13 +763,16 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
accel_offset[2],
scale,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if(save_ret != 0) {
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
@@ -762,6 +786,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[cmd] accel calibration FAILED (NaN)");
}
@@ -788,28 +813,32 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* request to set different system mode */
switch (cmd->command) {
case VEHICLE_CMD_DO_SET_MODE:
{
case VEHICLE_CMD_DO_SET_MODE: {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
}
}
break;
case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
/* request to arm */
if ((int)cmd->param1 == 1) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
}
/* request to disarm */
/* request to disarm */
} else if ((int)cmd->param1 == 0) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
}
@@ -818,11 +847,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
break;
/* request for an autopilot reboot */
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
if ((int)cmd->param1 == 1) {
if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
/* system may return here */
result = VEHICLE_CMD_RESULT_DENIED;
@@ -855,7 +885,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
// break;
//
/* preflight calibration */
case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
bool handled = false;
/* gyro calibration */
@@ -871,10 +901,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING gyro calibration");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@@ -891,10 +923,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING mag calibration");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@@ -906,10 +940,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[cmd] zero altitude cal. not implemented");
tune_confirm();
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING altitude calibration");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@@ -926,10 +962,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING trim calibration");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@@ -946,10 +984,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
mavlink_log_info(mavlink_fd, "[cmd] CMD finished accel calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING accel calibration");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@@ -962,14 +1002,15 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
break;
case VEHICLE_CMD_PREFLIGHT_STORAGE: {
case VEHICLE_CMD_PREFLIGHT_STORAGE: {
if (current_status.flag_system_armed &&
((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
/* do not perform expensive memory tasks on multirotors in flight */
// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
mavlink_log_info(mavlink_fd, "[cmd] REJECTING save cmd while multicopter armed");
} else {
// XXX move this to LOW PRIO THREAD of commander app
@@ -979,23 +1020,28 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* read all parameters from EEPROM to RAM */
int read_ret = param_load_default();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = VEHICLE_CMD_RESULT_FAILED;
}
@@ -1003,6 +1049,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* write all parameters from RAM to EEPROM */
int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
mavlink_log_info(mavlink_fd, param_get_default_file());
@@ -1012,10 +1059,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (write_ret < -1) {
mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = VEHICLE_CMD_RESULT_FAILED;
}
@@ -1027,7 +1076,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
break;
default: {
default: {
mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
result = VEHICLE_CMD_RESULT_UNSUPPORTED;
/* announce command rejection */
@@ -1038,9 +1087,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* supported command handling stop */
if (result == VEHICLE_CMD_RESULT_FAILED ||
result == VEHICLE_CMD_RESULT_DENIED ||
result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
result == VEHICLE_CMD_RESULT_DENIED ||
result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
ioctl(buzzer, TONE_SET_ALARM, 5);
} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
tune_confirm();
}
@@ -1062,7 +1112,7 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
struct subsystem_info_s info;
struct vehicle_status_s *vstatus = (struct vehicle_status_s*)arg;
struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg;
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
@@ -1078,6 +1128,7 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
/* mark / unmark as present */
if (info.present) {
vstatus->onboard_control_sensors_present |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
}
@@ -1085,6 +1136,7 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
/* mark / unmark as enabled */
if (info.enabled) {
vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
}
@@ -1092,6 +1144,7 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
/* mark / unmark as ok */
if (info.ok) {
vstatus->onboard_control_sensors_health |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
}
@@ -1142,6 +1195,7 @@ float battery_remaining_estimate_voltage(float voltage)
param_get(bat_volt_full, &chemistry_voltage_full);
param_get(bat_n_cells, &ncells);
}
counter++;
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
@@ -1157,6 +1211,7 @@ usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
@@ -1165,7 +1220,7 @@ usage(const char *reason)
* The daemon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
*
* The actual stack size should be set in the call
* to task_create().
*/
@@ -1201,9 +1256,11 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tcommander is running\n");
} else {
printf("\tcommander not started\n");
}
exit(0);
}
@@ -1360,23 +1417,28 @@ int commander_thread_main(int argc, char *argv[])
/* Get current values */
bool new_data;
orb_check(sp_man_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
}
orb_check(sp_offboard_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
}
orb_check(sensor_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
} else {
sensors.battery_voltage_valid = false;
}
orb_check(cmd_sub, &new_data);
if (new_data) {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
@@ -1384,8 +1446,10 @@ int commander_thread_main(int argc, char *argv[])
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
/* update parameters */
orb_check(param_changed_sub, &new_data);
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
@@ -1396,14 +1460,17 @@ int commander_thread_main(int argc, char *argv[])
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
}
} else {
printf("ARMED, rejecting sys type change\n");
}
@@ -1411,6 +1478,7 @@ int commander_thread_main(int argc, char *argv[])
/* update global position estimate */
orb_check(global_position_sub, &new_data);
if (new_data) {
/* position changed */
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
@@ -1419,6 +1487,7 @@ int commander_thread_main(int argc, char *argv[])
/* update local position estimate */
orb_check(local_position_sub, &new_data);
if (new_data) {
/* position changed */
orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
@@ -1426,6 +1495,7 @@ int commander_thread_main(int argc, char *argv[])
}
orb_check(battery_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
battery_voltage = battery.voltage_v;
@@ -1507,6 +1577,7 @@ int commander_thread_main(int argc, char *argv[])
/* write to sys_status */
if (battery_voltage_valid) {
current_status.voltage_battery = battery_voltage;
} else {
current_status.voltage_battery = 0.0f;
}
@@ -1560,13 +1631,15 @@ int commander_thread_main(int argc, char *argv[])
if (hrt_absolute_time() - last_global_position_time < 2000000) {
current_status.flag_global_position_valid = true;
// XXX check for controller status and home position as well
} else {
current_status.flag_global_position_valid = false;
}
if (hrt_absolute_time() - last_local_position_time < 2000000) {
current_status.flag_local_position_valid = true;
// XXX check for controller status and home position as well
} else {
current_status.flag_local_position_valid = false;
}
@@ -1576,8 +1649,9 @@ int commander_thread_main(int argc, char *argv[])
* for vector flight mode.
*/
if (current_status.flag_local_position_valid ||
current_status.flag_global_position_valid) {
current_status.flag_global_position_valid) {
current_status.flag_vector_flight_mode_ok = true;
} else {
current_status.flag_vector_flight_mode_ok = false;
}
@@ -1594,14 +1668,14 @@ int commander_thread_main(int argc, char *argv[])
* position. The MAV will return here on command or emergency.
*
* Conditions:
*
*
* 1) The system aquired position lock just now
* 2) The system has not aquired position lock before
* 3) The system is not armed (on the ground)
*/
if (!current_status.flag_valid_launch_position &&
!vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
!current_status.flag_system_armed) {
!vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
!current_status.flag_system_armed) {
/* first time a valid position, store it and emit it */
// XXX implement storage and publication of RTL position
@@ -1762,11 +1836,11 @@ int commander_thread_main(int argc, char *argv[])
* Do this only for multirotors, not for fixed wing aircraft.
*/
if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
) &&
((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
) &&
((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
stick_on_counter = 0;
@@ -1793,6 +1867,7 @@ int commander_thread_main(int argc, char *argv[])
if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
/* enable manual override */
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
/* check auto mode switch for correct mode */
if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
@@ -1803,6 +1878,7 @@ int commander_thread_main(int argc, char *argv[])
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
}
} else {
/* center stick position, set SAS for all vehicle types */
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
@@ -1812,6 +1888,7 @@ int commander_thread_main(int argc, char *argv[])
if (!current_status.rc_signal_found_once) {
current_status.rc_signal_found_once = true;
mavlink_log_critical(mavlink_fd, "[cmd] DETECTED RC SIGNAL FIRST TIME.");
} else {
if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
}
@@ -1822,6 +1899,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
static uint64_t last_print_time = 0;
/* print error message for first RC glitch and then every 5 s / 5000 ms) */
if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) {
/* only complain if the offboard control is NOT active */
@@ -1829,6 +1907,7 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL - NO REMOTE SIGNAL!");
last_print_time = hrt_absolute_time();
}
/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp;
@@ -1845,7 +1924,7 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* End mode switch */
@@ -1859,8 +1938,8 @@ int commander_thread_main(int argc, char *argv[])
/* decide about attitude control flag, enable in att/pos/vel */
bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
/* decide about rate control flag, enable it always XXX (for now) */
bool rates_ctrl_enabled = true;
@@ -1884,8 +1963,9 @@ int commander_thread_main(int argc, char *argv[])
current_status.flag_control_offboard_enabled = true;
state_changed = true;
tune_confirm();
mavlink_log_critical(mavlink_fd, "[cmd] DETECTED OFFBOARD CONTROL SIGNAL FIRST");
} else {
if (current_status.offboard_control_signal_lost) {
mavlink_log_critical(mavlink_fd, "[cmd] OK:RECOVERY OFFBOARD CONTROL");
@@ -1903,18 +1983,21 @@ int commander_thread_main(int argc, char *argv[])
update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
/* switch to stabilized mode = takeoff */
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
} else if (!sp_offboard.armed && current_status.flag_system_armed) {
update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
}
} else {
static uint64_t last_print_time = 0;
/* print error message for first RC glitch and then every 5 s / 5000 ms) */
if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) {
current_status.offboard_control_signal_weak = true;
mavlink_log_critical(mavlink_fd, "[cmd] CRIT:NO OFFBOARD CONTROL!");
last_print_time = hrt_absolute_time();
}
/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp;
@@ -1925,7 +2008,7 @@ int commander_thread_main(int argc, char *argv[])
tune_confirm();
/* kill motors after timeout */
if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms*1000) {
if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) {
current_status.failsave_lowlevel = true;
state_changed = true;
}
@@ -1943,7 +2026,7 @@ int commander_thread_main(int argc, char *argv[])
current_status.flag_preflight_gyro_calibration == false &&
current_status.flag_preflight_mag_calibration == false &&
current_status.flag_preflight_accel_calibration == false) {
/* All ok, no calibration going on, go to standby */
/* All ok, no calibration going on, go to standby */
do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
}