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Dropped superseded safety topic, added warning tones before arming

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This commit is contained in:
Julian Oes
2013-06-25 13:15:38 +02:00
parent 2096da2d4d
commit a6ba7e4485
5 changed files with 53 additions and 91 deletions
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src/drivers/px4io/px4io.cpp
+9 -6
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@@ -81,7 +81,6 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/safety.h>
#include <debug.h>
#include <mavlink/mavlink_log.h>
@@ -990,20 +989,24 @@ PX4IO::io_handle_status(uint16_t status)
/**
* Get and handle the safety status
*/
struct safety_s safety;
struct actuator_safety_s safety;
safety.timestamp = hrt_absolute_time();
orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety);
if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
safety.status = SAFETY_STATUS_UNLOCKED;
safety.safety_off = true;
safety.safety_switch_available = true;
} else {
safety.status = SAFETY_STATUS_SAFE;
safety.safety_off = false;
safety.safety_switch_available = true;
}
/* lazily publish the safety status */
if (_to_safety > 0) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
orb_publish(ORB_ID(actuator_safety), _to_safety, &safety);
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
_to_safety = orb_advertise(ORB_ID(actuator_safety), &safety);
}
return ret;
src/modules/commander/commander.c
+43 -21
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
@@ -79,7 +79,6 @@
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
#include <mavlink/mavlink_log.h>
#include <drivers/drv_led.h>
@@ -1159,6 +1158,9 @@ int commander_thread_main(int argc, char *argv[])
commander_initialized = false;
bool home_position_set = false;
bool battery_tune_played = false;
bool arm_tune_played = false;
/* set parameters */
failsafe_lowlevel_timeout_ms = 0;
param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
@@ -1248,6 +1250,9 @@ int commander_thread_main(int argc, char *argv[])
safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety);
/* but also subscribe to it */
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);
/* home position */
@@ -1477,6 +1482,13 @@ int commander_thread_main(int argc, char *argv[])
}
}
/* update safety topic */
orb_check(safety_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
}
/* update global position estimate */
orb_check(global_position_sub, &new_data);
@@ -1573,25 +1585,6 @@ int commander_thread_main(int argc, char *argv[])
last_idle_time = system_load.tasks[0].total_runtime;
}
// // XXX Export patterns and threshold to parameters
/* Trigger audio event for low battery */
if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) {
/* For less than 10%, start be really annoying at 5 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, 3);
} else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) {
/* For less than 20%, start be slightly annoying at 1 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0);
tune_positive();
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
}
/* Check battery voltage */
/* write to sys_status */
if (battery_voltage_valid) {
@@ -2194,6 +2187,8 @@ int commander_thread_main(int argc, char *argv[])
}
current_status.counter++;
current_status.timestamp = hrt_absolute_time();
@@ -2219,6 +2214,33 @@ int commander_thread_main(int argc, char *argv[])
/* Store old modes to detect and act on state transitions */
voltage_previous = current_status.voltage_battery;
/* play tone according to evaluation result */
/* check if we recently armed */
if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
ioctl(buzzer, TONE_SET_ALARM, 12);
arm_tune_played = true;
// // XXX Export patterns and threshold to parameters
/* Trigger audio event for low battery */
} else if (bat_remain < 0.1f && battery_voltage_valid) {
ioctl(buzzer, TONE_SET_ALARM, 14);
battery_tune_played = true;
} else if (bat_remain < 0.2f && battery_voltage_valid) {
ioctl(buzzer, TONE_SET_ALARM, 13);
battery_tune_played = true;
} else if(battery_tune_played) {
ioctl(buzzer, TONE_SET_ALARM, 0);
battery_tune_played = false;
}
/* reset arm_tune_played when disarmed */
if (!(safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
arm_tune_played = false;
}
/* XXX use this voltage_previous */
fflush(stdout);
counter++;
src/modules/uORB/objects_common.cpp
-3
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@@ -169,6 +169,3 @@ ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
/* status of the system safety device */
#include "topics/safety.h"
ORB_DEFINE(safety, struct safety_s);
src/modules/uORB/topics/actuator_safety.h
+1 -1
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@@ -53,7 +53,7 @@
struct actuator_safety_s {
uint64_t timestamp;
bool safety_switch_available; /**< Set to true if a safety switch is connected */
bool safety_off; /**< Set to true if safety is off */
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
src/modules/uORB/topics/safety.h
-60
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@@ -1,60 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file safety.h
*
* Status of an attached safety device
*/
#ifndef TOPIC_SAFETY_H
#define TOPIC_SAFETY_H
#include <stdint.h>
#include "../uORB.h"
enum SAFETY_STATUS {
SAFETY_STATUS_NOT_PRESENT,
SAFETY_STATUS_SAFE,
SAFETY_STATUS_UNLOCKED
};
struct safety_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
enum SAFETY_STATUS status;
};
/* actuator output sets; this list can be expanded as more drivers emerge */
ORB_DECLARE(safety);
#endif /* TOPIC_SAFETY_H */