From 05ec96b0f74b5d6011b683e747aae3bc37cbfbb9 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 4 Nov 2013 14:05:52 +0100 Subject: [PATCH 01/24] Startup script for simple logging --- ROMFS/px4fmu_common/init.d/800_sdlogger | 60 +++++++++++++++++++++++++ ROMFS/px4fmu_common/init.d/rcS | 6 +++ 2 files changed, 66 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/800_sdlogger diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger new file mode 100644 index 0000000000..955fe0e2ad --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/800_sdlogger @@ -0,0 +1,60 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 init to log only + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param save +fi + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + commander start + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +sh /etc/init.d/rc.sensors + +gps start + +attitude_estimator_ekf start + +position_estimator_inav start + +if [ -d /fs/microsd ] +then + if [ $BOARD == fmuv1 ] + then + sdlog2 start -r 50 -e -b 16 + else + sdlog2 start -r 200 -e -b 16 + fi +fi + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f551c1aa8c..06102b707e 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -345,6 +345,12 @@ then set MODE custom fi + if param compare SYS_AUTOSTART 800 + then + sh /etc/init.d/800_sdlogger + set MODE custom + fi + # Start any custom extensions that might be missing if [ -f /fs/microsd/etc/rc.local ] then From db46672bc4bfc4956baeb3f4d15d2fccf0ef3377 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Dec 2013 12:02:57 +0100 Subject: [PATCH 02/24] Paranoid PPM shape checking --- src/drivers/stm32/drv_hrt.c | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 5bfbe04b8a..a6b005d274 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 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 @@ -336,17 +336,18 @@ static void hrt_call_invoke(void); /* * PPM decoder tuning parameters */ -# define PPM_MAX_PULSE_WIDTH 700 /* maximum width of a valid pulse */ +# define PPM_MIN_PULSE_WIDTH 200 /* minimum width of a valid first pulse */ +# define PPM_MAX_PULSE_WIDTH 600 /* maximum width of a valid first pulse */ # define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */ -# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */ -# define PPM_MIN_START 2400 /* shortest valid start gap (only 2nd part of pulse) */ +# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */ +# define PPM_MIN_START 2300 /* shortest valid start gap (only 2nd part of pulse) */ /* decoded PPM buffer */ #define PPM_MIN_CHANNELS 5 #define PPM_MAX_CHANNELS 20 /* Number of same-sized frames required to 'lock' */ -#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */ +#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */ __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS]; __EXPORT uint16_t ppm_frame_length = 0; @@ -518,8 +519,8 @@ hrt_ppm_decode(uint32_t status) case ARM: /* we expect a pulse giving us the first mark */ - if (width > PPM_MAX_PULSE_WIDTH) - goto error; /* pulse was too long */ + if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH) + goto error; /* pulse was too short or too long */ /* record the mark timing, expect an inactive edge */ ppm.last_mark = ppm.last_edge; @@ -533,8 +534,8 @@ hrt_ppm_decode(uint32_t status) case INACTIVE: /* we expect a short pulse */ - if (width > PPM_MAX_PULSE_WIDTH) - goto error; /* pulse was too long */ + if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH) + goto error; /* pulse was too short or too long */ /* this edge is not interesting, but now we are ready for the next mark */ ppm.phase = ACTIVE; From d5c857615b8714a49d09ae8410b0ae8d6be4a1be Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Dec 2013 12:14:15 +0100 Subject: [PATCH 03/24] Pure formatting cleanup of drv_hrt.c, no code / functionality changes --- src/drivers/stm32/drv_hrt.c | 76 +++++++++++++++++++------------------ 1 file changed, 39 insertions(+), 37 deletions(-) diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index a6b005d274..b7c9b89a45 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -168,7 +168,7 @@ # error HRT_TIMER_CLOCK must be greater than 1MHz #endif -/* +/** * Minimum/maximum deadlines. * * These are suitable for use with a 16-bit timer/counter clocked @@ -276,7 +276,7 @@ static void hrt_call_invoke(void); * Specific registers and bits used by PPM sub-functions */ #ifdef HRT_PPM_CHANNEL -/* +/* * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it. * * Note that we assume that M3 means STM32F1 (since we don't really care about the F2). @@ -336,18 +336,18 @@ static void hrt_call_invoke(void); /* * PPM decoder tuning parameters */ -# define PPM_MIN_PULSE_WIDTH 200 /* minimum width of a valid first pulse */ -# define PPM_MAX_PULSE_WIDTH 600 /* maximum width of a valid first pulse */ -# define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */ -# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */ -# define PPM_MIN_START 2300 /* shortest valid start gap (only 2nd part of pulse) */ +# define PPM_MIN_PULSE_WIDTH 200 /**< minimum width of a valid first pulse */ +# define PPM_MAX_PULSE_WIDTH 600 /**< maximum width of a valid first pulse */ +# define PPM_MIN_CHANNEL_VALUE 800 /**< shortest valid channel signal */ +# define PPM_MAX_CHANNEL_VALUE 2200 /**< longest valid channel signal */ +# define PPM_MIN_START 2300 /**< shortest valid start gap (only 2nd part of pulse) */ /* decoded PPM buffer */ #define PPM_MIN_CHANNELS 5 #define PPM_MAX_CHANNELS 20 -/* Number of same-sized frames required to 'lock' */ -#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */ +/** Number of same-sized frames required to 'lock' */ +#define PPM_CHANNEL_LOCK 4 /**< should be less than the input timeout */ __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS]; __EXPORT uint16_t ppm_frame_length = 0; @@ -364,12 +364,12 @@ unsigned ppm_pulse_next; static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS]; -/* PPM decoder state machine */ +/** PPM decoder state machine */ struct { - uint16_t last_edge; /* last capture time */ - uint16_t last_mark; /* last significant edge */ - uint16_t frame_start; /* the frame width */ - unsigned next_channel; /* next channel index */ + uint16_t last_edge; /**< last capture time */ + uint16_t last_mark; /**< last significant edge */ + uint16_t frame_start; /**< the frame width */ + unsigned next_channel; /**< next channel index */ enum { UNSYNCH = 0, ARM, @@ -391,7 +391,7 @@ static void hrt_ppm_decode(uint32_t status); # define CCER_PPM 0 #endif /* HRT_PPM_CHANNEL */ -/* +/** * Initialise the timer we are going to use. * * We expect that we'll own one of the reduced-function STM32 general @@ -437,7 +437,7 @@ hrt_tim_init(void) } #ifdef HRT_PPM_CHANNEL -/* +/** * Handle the PPM decoder state machine. */ static void @@ -577,7 +577,7 @@ error: } #endif /* HRT_PPM_CHANNEL */ -/* +/** * Handle the compare interupt by calling the callout dispatcher * and then re-scheduling the next deadline. */ @@ -606,6 +606,7 @@ hrt_tim_isr(int irq, void *context) hrt_ppm_decode(status); } + #endif /* was this a timer tick? */ @@ -624,7 +625,7 @@ hrt_tim_isr(int irq, void *context) return OK; } -/* +/** * Fetch a never-wrapping absolute time value in microseconds from * some arbitrary epoch shortly after system start. */ @@ -671,7 +672,7 @@ hrt_absolute_time(void) return abstime; } -/* +/** * Convert a timespec to absolute time */ hrt_abstime @@ -685,7 +686,7 @@ ts_to_abstime(struct timespec *ts) return result; } -/* +/** * Convert absolute time to a timespec. */ void @@ -696,7 +697,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime) ts->tv_nsec = abstime * 1000; } -/* +/** * Compare a time value with the current time. */ hrt_abstime @@ -711,7 +712,7 @@ hrt_elapsed_time(const volatile hrt_abstime *then) return delta; } -/* +/** * Store the absolute time in an interrupt-safe fashion */ hrt_abstime @@ -726,7 +727,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now) return ts; } -/* +/** * Initalise the high-resolution timing module. */ void @@ -741,7 +742,7 @@ hrt_init(void) #endif } -/* +/** * Call callout(arg) after interval has elapsed. */ void @@ -754,7 +755,7 @@ hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, v arg); } -/* +/** * Call callout(arg) at calltime. */ void @@ -763,7 +764,7 @@ hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, v hrt_call_internal(entry, calltime, 0, callout, arg); } -/* +/** * Call callout(arg) every period. */ void @@ -782,13 +783,13 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte irqstate_t flags = irqsave(); /* if the entry is currently queued, remove it */ - /* note that we are using a potentially uninitialised - entry->link here, but it is safe as sq_rem() doesn't - dereference the passed node unless it is found in the - list. So we potentially waste a bit of time searching the - queue for the uninitialised entry->link but we don't do - anything actually unsafe. - */ + /* note that we are using a potentially uninitialised + entry->link here, but it is safe as sq_rem() doesn't + dereference the passed node unless it is found in the + list. So we potentially waste a bit of time searching the + queue for the uninitialised entry->link but we don't do + anything actually unsafe. + */ if (entry->deadline != 0) sq_rem(&entry->link, &callout_queue); @@ -802,7 +803,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte irqrestore(flags); } -/* +/** * If this returns true, the call has been invoked and removed from the callout list. * * Always returns false for repeating callouts. @@ -813,7 +814,7 @@ hrt_called(struct hrt_call *entry) return (entry->deadline == 0); } -/* +/** * Remove the entry from the callout list. */ void @@ -896,17 +897,18 @@ hrt_call_invoke(void) /* if the callout has a non-zero period, it has to be re-entered */ if (call->period != 0) { // re-check call->deadline to allow for - // callouts to re-schedule themselves + // callouts to re-schedule themselves // using hrt_call_delay() if (call->deadline <= now) { call->deadline = deadline + call->period; } + hrt_call_enter(call); } } } -/* +/** * Reschedule the next timer interrupt. * * This routine must be called with interrupts disabled. From c5ef295f68fc475e053d9ab368881743c22f1667 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Dec 2013 15:46:50 +0100 Subject: [PATCH 04/24] Hotfix: Reduce mag influence on att estimate --- .../attitude_estimator_ekf_params.c | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 52dac652be..e1280445b5 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f); /* gyro measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f); -/* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f); +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f); +/* accel measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); +/* mag measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); +/* offset estimation - UNUSED */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f); /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); From dd5549da46eb2914b8e710cd656ec0f44c7ce892 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Dec 2013 15:50:28 +0100 Subject: [PATCH 05/24] Hotfix: Better dead zone defaults --- src/modules/sensors/sensor_params.c | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 78d4b410a8..f826470600 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC2_MIN, 1000); PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); PARAM_DEFINE_FLOAT(RC2_MAX, 2000); PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC3_MIN, 1000); PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); PARAM_DEFINE_FLOAT(RC3_MAX, 2000); PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC4_MIN, 1000); PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); PARAM_DEFINE_FLOAT(RC4_MAX, 2000); PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f); +PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC5_MIN, 1000); PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); PARAM_DEFINE_FLOAT(RC5_MAX, 2000); PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC6_MIN, 1000); PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); PARAM_DEFINE_FLOAT(RC6_MAX, 2000); PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC7_MIN, 1000); PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); PARAM_DEFINE_FLOAT(RC7_MAX, 2000); PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC8_MIN, 1000); PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); PARAM_DEFINE_FLOAT(RC8_MAX, 2000); PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC9_MIN, 1000); PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); From b98984e1ffa924d0888efa47af046d1127e9addf Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 27 Dec 2013 20:15:54 +0100 Subject: [PATCH 06/24] fw autoland: add parameter for heading hold distance, fix heading hold --- .../fw_pos_control_l1_main.cpp | 24 +++++++++++-------- .../fw_pos_control_l1_params.c | 1 + 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 3784337ac5..ee0aca69e3 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -49,6 +49,7 @@ * More details and acknowledgements in the referenced library headers. * * @author Lorenz Meier + * @author Thomas Gubler */ #include @@ -227,6 +228,7 @@ private: float land_H1_virt; float land_flare_alt_relative; float land_thrust_lim_horizontal_distance; + float land_heading_hold_horizontal_distance; } _parameters; /**< local copies of interesting parameters */ @@ -271,6 +273,7 @@ private: param_t land_H1_virt; param_t land_flare_alt_relative; param_t land_thrust_lim_horizontal_distance; + param_t land_heading_hold_horizontal_distance; } _parameter_handles; /**< handles for interesting parameters */ @@ -420,6 +423,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT"); _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); _parameter_handles.land_thrust_lim_horizontal_distance = param_find("FW_LND_TLDIST"); + _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN"); @@ -508,6 +512,7 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); param_get(_parameter_handles.land_thrust_lim_horizontal_distance, &(_parameters.land_thrust_lim_horizontal_distance)); + param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); @@ -822,19 +827,18 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* switch to heading hold for the last meters, continue heading hold after */ float wp_distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), curr_wp.getX(), curr_wp.getY()); //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO"); - const float heading_hold_distance = 15.0f; - if (wp_distance < heading_hold_distance || land_noreturn_horizontal) { + if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) { /* heading hold, along the line connecting this and the last waypoint */ - - // if (mission_item_triplet.previous_valid) { - // target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY()); - // } else { - - if (!land_noreturn_horizontal) //set target_bearing in first occurrence - target_bearing = _att.yaw; - //} + if (!land_noreturn_horizontal) {//set target_bearing in first occurrence + if (mission_item_triplet.previous_valid) { + target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()); + } else { + target_bearing = _att.yaw; + } + mavlink_log_info(_mavlink_fd, "#audio: Landing, heading hold"); + } // warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn_horizontal, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw)); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 10a0c00fc9..9f46b51706 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -120,3 +120,4 @@ PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); PARAM_DEFINE_FLOAT(FW_LND_TLDIST, 30.0f); +PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); From a9ea39054dbd6eb62fb3185465848a485c32a046 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Dec 2013 21:19:04 +0100 Subject: [PATCH 07/24] Working around creating an error condition with more than 8 raw RC channels --- src/drivers/px4io/px4io.cpp | 10 +++------- src/modules/px4iofirmware/registers.c | 2 +- 2 files changed, 4 insertions(+), 8 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 9812ea497d..22d7072330 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1095,8 +1095,10 @@ PX4IO::io_set_rc_config() * assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical * controls. */ + + /* fill the mapping with an error condition triggering value */ for (unsigned i = 0; i < _max_rc_input; i++) - input_map[i] = -1; + input_map[i] = UINT16_MAX; /* * NOTE: The indices for mapped channels are 1-based @@ -1128,12 +1130,6 @@ PX4IO::io_set_rc_config() if ((ichan >= 0) && (ichan < (int)_max_rc_input)) input_map[ichan - 1] = 4; - ichan = 5; - - for (unsigned i = 0; i < _max_rc_input; i++) - if (input_map[i] == -1) - input_map[i] = ichan++; - /* * Iterate all possible RC inputs. */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 7ef1aa3091..b0922f4d69 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -602,7 +602,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } From 965a7a4f0313ccfe67e6c0f84d76ff3350602fb0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Dec 2013 21:33:19 +0100 Subject: [PATCH 08/24] Allow to disable a channel --- src/drivers/px4io/px4io.cpp | 2 +- src/modules/px4iofirmware/registers.c | 8 ++++++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 22d7072330..cac7bf6085 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1098,7 +1098,7 @@ PX4IO::io_set_rc_config() /* fill the mapping with an error condition triggering value */ for (unsigned i = 0; i < _max_rc_input; i++) - input_map[i] = UINT16_MAX; + input_map[i] = UINT8_MAX; /* * NOTE: The indices for mapped channels are 1-based diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index b0922f4d69..0358725db3 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -584,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /* this option is normally set last */ if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { uint8_t count = 0; + bool disabled = false; /* assert min..center..max ordering */ if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) { @@ -602,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { + disabled = true; + } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } @@ -610,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (count) { isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1)); r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK; - } else { + } else if (!disabled) { conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; } } From f44f738f0ade4c5ba60a64aa92a2b4447c6f1d1d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Dec 2013 21:56:54 +0100 Subject: [PATCH 09/24] Fix return value --- src/drivers/px4io/px4io.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index cac7bf6085..0a979267db 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -850,7 +850,7 @@ PX4IO::task_main() /* we're not nice to the lower-priority control groups and only check them when the primary group updated (which is now). */ - io_set_control_groups(); + (void)io_set_control_groups(); } if (now >= poll_last + IO_POLL_INTERVAL) { @@ -962,14 +962,14 @@ out: int PX4IO::io_set_control_groups() { - bool attitude_ok = io_set_control_state(0); + ret = io_set_control_state(0); /* send auxiliary control groups */ (void)io_set_control_state(1); (void)io_set_control_state(2); (void)io_set_control_state(3); - return attitude_ok; + return ret; } int From a4a5eee08dc1ac1c2c68a4981a2299829aeceea0 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 27 Dec 2013 23:27:25 +0100 Subject: [PATCH 10/24] Attitude_estimator_ekf: Fix params, this bug caused the multirotor_att_control to stop --- .../attitude_estimator_ekf_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index e1280445b5..3cfddf28ed 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -74,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->q3 = param_find("EKF_ATT_V3_Q3"); h->q4 = param_find("EKF_ATT_V3_Q4"); - h->r0 = param_find("EKF_ATT_V3_R0"); - h->r1 = param_find("EKF_ATT_V3_R1"); - h->r2 = param_find("EKF_ATT_V3_R2"); - h->r3 = param_find("EKF_ATT_V3_R3"); + h->r0 = param_find("EKF_ATT_V4_R0"); + h->r1 = param_find("EKF_ATT_V4_R1"); + h->r2 = param_find("EKF_ATT_V4_R2"); + h->r3 = param_find("EKF_ATT_V4_R3"); h->roll_off = param_find("ATT_ROLL_OFF3"); h->pitch_off = param_find("ATT_PITCH_OFF3"); From 020c47b59ff92f03f3bd574af29f4b217a302626 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 27 Dec 2013 23:57:24 +0100 Subject: [PATCH 11/24] PX4IO driver: even compiling now --- src/drivers/px4io/px4io.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 0a979267db..cbdd5acc44 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -962,7 +962,7 @@ out: int PX4IO::io_set_control_groups() { - ret = io_set_control_state(0); + int ret = io_set_control_state(0); /* send auxiliary control groups */ (void)io_set_control_state(1); From d9f75a751b72c266ef68de4e1b7c56fafe1c8d5a Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 28 Dec 2013 08:56:58 +0100 Subject: [PATCH 12/24] Startup script for Wing Wing (Z-84) --- ROMFS/px4fmu_common/init.d/33_io_wingwing | 91 +++++++++++++++++++++++ ROMFS/px4fmu_common/init.d/rcS | 6 ++ 2 files changed, 97 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/33_io_wingwing diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing new file mode 100644 index 0000000000..fd709ec864 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing @@ -0,0 +1,91 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set FW_AIRSPD_MIN 7 + param set FW_AIRSPD_TRIM 9 + param set FW_AIRSPD_MAX 14 + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 30 + param set FW_P_LIM_MIN -20 + param set FW_P_P 30 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 2 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 60 + param set FW_R_RMAX 60 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 0.7 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 2.0 + param set FW_T_TIME_CONST 4 + param set FW_Y_ROLLFF 2.0 + param set FW_L1_PERIOD 25.0 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing + +if [ $EXIT_ON_END == yes ] +then + exit +fi \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 06102b707e..3408b4ad53 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -321,6 +321,12 @@ then set MODE custom fi + if param compare SYS_AUTOSTART 33 + then + sh /etc/init.d/32_io_wingwing + set MODE custom + fi + if param compare SYS_AUTOSTART 40 then sh /etc/init.d/40_io_segway From f17538a7f356b9db257ca6f36b8f76c47eafa328 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 28 Dec 2013 09:03:42 +0100 Subject: [PATCH 13/24] Updated parameters to latest flight tested values --- ROMFS/px4fmu_common/init.d/33_io_wingwing | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing index fd709ec864..538c69711d 100644 --- a/ROMFS/px4fmu_common/init.d/33_io_wingwing +++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing @@ -11,9 +11,10 @@ then param set FW_AIRSPD_MIN 7 param set FW_AIRSPD_TRIM 9 param set FW_AIRSPD_MAX 14 + param set FW_L1_PERIOD 10 param set FW_P_D 0 param set FW_P_I 0 - param set FW_P_IMAX 15 + param set FW_P_IMAX 20 param set FW_P_LIM_MAX 30 param set FW_P_LIM_MIN -20 param set FW_P_P 30 @@ -28,11 +29,10 @@ then param set FW_THR_CRUISE 0.65 param set FW_THR_MAX 0.7 param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 2.0 - param set FW_T_TIME_CONST 4 + param set FW_T_SINK_MAX 5 + param set FW_T_SINK_MIN 2 + param set FW_T_TIME_CONST 9 param set FW_Y_ROLLFF 2.0 - param set FW_L1_PERIOD 25.0 param set RC_SCALE_ROLL 1.0 param set RC_SCALE_PITCH 1.0 From 4e5f743e4184269b05bb037d4787665afe996ab8 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 28 Dec 2013 14:45:29 +0100 Subject: [PATCH 14/24] Added config for the FX-79 --- ROMFS/px4fmu_common/init.d/34_io_fx79 | 87 +++++++++++++++++++++++++ ROMFS/px4fmu_common/init.d/rcS | 6 ++ ROMFS/px4fmu_common/mixers/FMU_FX79.mix | 72 ++++++++++++++++++++ 3 files changed, 165 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/34_io_fx79 create mode 100755 ROMFS/px4fmu_common/mixers/FMU_FX79.mix diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79 new file mode 100644 index 0000000000..eb46ad8a7e --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/34_io_fx79 @@ -0,0 +1,87 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1.1 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 100 + param set FW_R_RMAX 100 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 4.0 + param set FW_Y_ROLLFF 1.1 + param set FW_L1_PERIOD 17 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_FX79.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix +else + echo "Using /etc/mixers/FMU_FX79.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 3408b4ad53..9a258e14d0 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -327,6 +327,12 @@ then set MODE custom fi + if param compare SYS_AUTOSTART 34 + then + sh /etc/init.d/34_io_fx79 + set MODE custom + fi + if param compare SYS_AUTOSTART 40 then sh /etc/init.d/40_io_segway diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix new file mode 100755 index 0000000000..0a1dca98d5 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix @@ -0,0 +1,72 @@ +FX-79 Delta-wing mixer for PX4FMU +================================= + +Designed for FX-79. + +TODO (sjwilks): Add mixers for flaps. + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 8000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 8000 5000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 From 3f84ad79c58bdc208a18b329580940a7c9438447 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 28 Dec 2013 14:46:55 +0100 Subject: [PATCH 15/24] Typo fix. --- ROMFS/px4fmu_common/init.d/rcS | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 3408b4ad53..0d814848c6 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -323,7 +323,7 @@ then if param compare SYS_AUTOSTART 33 then - sh /etc/init.d/32_io_wingwing + sh /etc/init.d/33_io_wingwing set MODE custom fi From 1637c62751dfed995f80c538d1c6d0af011c399a Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 28 Dec 2013 17:19:09 +0100 Subject: [PATCH 16/24] Set the tested defaults --- ROMFS/px4fmu_common/init.d/34_io_fx79 | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79 index eb46ad8a7e..827f3b1539 100644 --- a/ROMFS/px4fmu_common/init.d/34_io_fx79 +++ b/ROMFS/px4fmu_common/init.d/34_io_fx79 @@ -8,6 +8,10 @@ echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo" if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + param set FW_AIRSPD_MAX 20 + param set FW_AIRSPD_TRIM 12 + param set FW_AIRSPD_MIN 15 + param set FW_L1_PERIOD 12 param set FW_P_D 0 param set FW_P_I 0 param set FW_P_IMAX 15 @@ -20,15 +24,15 @@ then param set FW_R_D 0 param set FW_R_I 5 param set FW_R_IMAX 20 - param set FW_R_P 100 + param set FW_R_P 80 param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 + param set FW_THR_CRUISE 0.75 param set FW_THR_MAX 1 param set FW_THR_MIN 0 param set FW_T_SINK_MAX 5.0 param set FW_T_SINK_MIN 4.0 + param set FW_T_TIME_CONST 9 param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 17 param set RC_SCALE_ROLL 1.0 param set RC_SCALE_PITCH 1.0 From 1cca94defc2fb8d18dd2f558d0181279f701f077 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 28 Dec 2013 17:23:52 +0100 Subject: [PATCH 17/24] Whitespace fix --- ROMFS/px4fmu_common/init.d/34_io_fx79 | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79 index 827f3b1539..9892049526 100644 --- a/ROMFS/px4fmu_common/init.d/34_io_fx79 +++ b/ROMFS/px4fmu_common/init.d/34_io_fx79 @@ -31,8 +31,8 @@ then param set FW_THR_MIN 0 param set FW_T_SINK_MAX 5.0 param set FW_T_SINK_MIN 4.0 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 1.1 + param set FW_T_TIME_CONST 9 + param set FW_Y_ROLLFF 1.1 param set RC_SCALE_ROLL 1.0 param set RC_SCALE_PITCH 1.0 From b20e07a1c5866e8222065c7e8848b78a052d703c Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 28 Dec 2013 18:12:55 +0100 Subject: [PATCH 18/24] Updated defaults following recent test flight that included autostart and land --- ROMFS/px4fmu_common/init.d/31_io_phantom | 33 ++++++++++++++---------- 1 file changed, 19 insertions(+), 14 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom index 63cd7f9b2e..62cfe1a9c6 100644 --- a/ROMFS/px4fmu_common/init.d/31_io_phantom +++ b/ROMFS/px4fmu_common/init.d/31_io_phantom @@ -8,30 +8,35 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV" if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + param set FW_AIRSPD_MIN 11.4 + param set FW_AIRSPD_TRIM 14 + param set FW_AIRSPD_MAX 22 + param set FW_L1_PERIOD 15 param set FW_P_D 0 param set FW_P_I 0 param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 + param set FW_P_LIM_MAX 45 + param set FW_P_LIM_MIN -45 param set FW_P_P 60 param set FW_P_RMAX_NEG 0 param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 + param set FW_P_ROLLFF 2 param set FW_R_D 0 param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 + param set FW_R_IMAX 15 + param set FW_R_P 80 + param set FW_R_RMAX 60 + param set FW_THR_CRUISE 0.8 + param set FW_THR_LND_MAX 0 param set FW_THR_MAX 1 - param set FW_THR_MIN 0 + param set FW_THR_MIN 0.5 param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 17 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - + param set FW_T_SINK_MIN 2.0 + param set FW_Y_ROLLFF 1.0 + param set RC_SCALE_ROLL 0.6 + param set RC_SCALE_PITCH 0.6 + param set TRIM_PITCH 0.1 + param set SYS_AUTOCONFIG 0 param save fi From 7e29028429fce33b88dd1eeb6d3ac89aa5cb5891 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 29 Dec 2013 12:16:49 +0400 Subject: [PATCH 19/24] Moving nav state from commander to navigator, WIP --- src/modules/commander/commander.cpp | 278 +++-------------- .../commander/state_machine_helper.cpp | 189 +----------- src/modules/commander/state_machine_helper.h | 9 +- src/modules/mavlink/mavlink.c | 3 + src/modules/mavlink_onboard/mavlink.c | 3 +- .../multirotor_att_control_main.c | 2 +- .../multirotor_pos_control.c | 134 +-------- src/modules/navigator/navigator_main.cpp | 283 +++++++++++------- src/modules/sdlog2/sdlog2.c | 3 +- .../uORB/topics/vehicle_control_mode.h | 19 +- src/modules/uORB/topics/vehicle_status.h | 18 +- 11 files changed, 249 insertions(+), 692 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 28118b9904..199bfb0daf 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -69,7 +69,6 @@ #include #include #include -#include #include #include #include @@ -194,7 +193,7 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); +void handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); /** * Mainloop of commander. @@ -215,8 +214,6 @@ void print_reject_arm(const char *msg); void print_status(); -transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); - /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. */ @@ -346,13 +343,12 @@ void print_status() warnx("arming: %s", armed_str); } -static orb_advert_t control_mode_pub; static orb_advert_t status_pub; -void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) +void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) { /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; + enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED; /* only handle high-priority commands here */ @@ -365,12 +361,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* set HIL state */ hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF; - int hil_ret = hil_state_transition(new_hil_state, status_pub, status, control_mode_pub, control_mode, mavlink_fd); + int hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd); /* if HIL got enabled, reset battery status state */ - if (hil_ret == OK && control_mode->flag_system_hil_enabled) { + if (hil_ret == OK && status->hil_state == HIL_STATE_ON) { /* reset the arming mode to disarmed */ - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_STANDBY, armed); + arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed); if (arming_res != TRANSITION_DENIED) { mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby"); @@ -386,12 +382,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe arming_res = TRANSITION_NOT_CHANGED; if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - if ((safety->safety_switch_available && !safety->safety_off) && !control_mode->flag_system_hil_enabled) { + if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); arming_res = TRANSITION_DENIED; } else { - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); + arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); } if (arming_res == TRANSITION_CHANGED) { @@ -401,7 +397,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else { if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_res = arming_state_transition(status, safety, control_mode, new_arming_state, armed); + arming_res = arming_state_transition(status, safety, new_arming_state, armed); if (arming_res == TRANSITION_CHANGED) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command"); @@ -462,29 +458,6 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; } - case VEHICLE_CMD_NAV_TAKEOFF: { - if (armed->armed) { - transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); - - if (nav_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command"); - } - - if (nav_res != TRANSITION_DENIED) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - } - - } else { - /* reject TAKEOFF not armed */ - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - } - - break; - } - case VEHICLE_CMD_COMPONENT_ARM_DISARM: { transition_result_t arming_res = TRANSITION_NOT_CHANGED; @@ -494,7 +467,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe arming_res = TRANSITION_DENIED; } else { - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); + arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); } if (arming_res == TRANSITION_CHANGED) { @@ -513,7 +486,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO - transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON, control_mode); + transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { @@ -524,29 +497,22 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: + case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: + case VEHICLE_CMD_PREFLIGHT_STORAGE: + /* ignore commands that handled in low prio loop */ + break; + default: + /* warn about unsupported commands */ + answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); break; } - /* supported command handling stop */ - if (result == VEHICLE_CMD_RESULT_ACCEPTED) { - tune_positive(); - - } else if (result == VEHICLE_CMD_RESULT_UNSUPPORTED) { - /* we do not care in the high prio loop about commands we don't know */ - } else { - tune_negative(); - - if (result == VEHICLE_CMD_RESULT_DENIED) { - mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd->command); - - } else if (result == VEHICLE_CMD_RESULT_FAILED) { - mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd->command); - - } else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { - mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command); - - } + if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) { + /* already warned about unsupported commands in "default" case */ + answer_command(*cmd, result); } /* send any requested ACKs */ @@ -564,9 +530,6 @@ static struct actuator_armed_s armed; static struct safety_s safety; -/* flags for control apps */ -struct vehicle_control_mode_s control_mode; - int commander_thread_main(int argc, char *argv[]) { /* not yet initialized */ @@ -609,11 +572,9 @@ int commander_thread_main(int argc, char *argv[]) /* Initialize armed with all false */ memset(&armed, 0, sizeof(armed)); - /* Initialize all flags to false */ - memset(&control_mode, 0, sizeof(control_mode)); - status.main_state = MAIN_STATE_MANUAL; - status.navigation_state = NAVIGATION_STATE_DIRECT; + status.set_nav_state = NAV_STATE_INIT; + status.set_nav_state_timestamp = 0; status.arming_state = ARMING_STATE_INIT; status.hil_state = HIL_STATE_OFF; @@ -625,9 +586,6 @@ int commander_thread_main(int argc, char *argv[]) status.rc_signal_lost = true; status.offboard_control_signal_lost = true; - /* allow manual override initially */ - control_mode.flag_external_manual_override_ok = true; - /* set battery warning flag */ status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; status.condition_battery_voltage_valid = false; @@ -635,9 +593,6 @@ int commander_thread_main(int argc, char *argv[]) // XXX for now just set sensors as initialized status.condition_system_sensors_initialized = true; - // XXX just disable offboard control for now - control_mode.flag_control_offboard_enabled = false; - /* advertise to ORB */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); /* publish current state machine */ @@ -649,8 +604,6 @@ int commander_thread_main(int argc, char *argv[]) armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); - control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode); - /* home position */ orb_advert_t home_pub = -1; struct home_position_s home; @@ -803,11 +756,9 @@ int commander_thread_main(int argc, char *argv[]) status.system_type == VEHICLE_TYPE_QUADROTOR || status.system_type == VEHICLE_TYPE_HEXAROTOR || status.system_type == VEHICLE_TYPE_OCTOROTOR) { - control_mode.flag_external_manual_override_ok = false; status.is_rotary_wing = true; } else { - control_mode.flag_external_manual_override_ok = true; status.is_rotary_wing = false; } @@ -859,7 +810,7 @@ int commander_thread_main(int argc, char *argv[]) // XXX this would be the right approach to do it, but do we *WANT* this? // /* disarm if safety is now on and still armed */ // if (safety.safety_switch_available && !safety.safety_off) { - // (void)arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed); + // (void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); // } } @@ -990,10 +941,10 @@ int commander_thread_main(int argc, char *argv[]) battery_tune_played = false; if (armed.armed) { - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); } else { - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); } status_changed = true; @@ -1012,7 +963,7 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { // XXX check for sensors - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); } else { // XXX: Add emergency stuff if sensors are lost @@ -1102,15 +1053,13 @@ int commander_thread_main(int argc, char *argv[]) * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY || - (status.condition_landed && ( - status.navigation_state == NAVIGATION_STATE_ALTHOLD || - status.navigation_state == NAVIGATION_STATE_VECTOR - ))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - res = arming_state_transition(&status, &safety, &control_mode, new_arming_state, &armed); + res = arming_state_transition(&status, &safety, new_arming_state, &armed); stick_off_counter = 0; } else { @@ -1132,7 +1081,7 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); } else { - res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED, &armed); + res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); } stick_on_counter = 0; @@ -1185,12 +1134,12 @@ int commander_thread_main(int argc, char *argv[]) /* Flight termination in manual mode if assisted switch is on easy position //xxx hack! */ if (armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { - transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON, &control_mode); + transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON); if (flighttermination_res == TRANSITION_CHANGED) { tune_positive(); } } else { - flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF, &control_mode); + flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF); } @@ -1202,32 +1151,18 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - handle_command(&status, &safety, &control_mode, &cmd, &armed); - } - - /* evaluate the navigation state machine */ - transition_result_t res = check_navigation_state_machine(&status, &control_mode, &local_position); - - if (res == TRANSITION_DENIED) { - /* DENIED here indicates bug in the commander */ - warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); - mavlink_log_critical(mavlink_fd, "#audio: ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + handle_command(&status, &safety, &cmd, &armed); } /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = check_arming_state_changed(); bool main_state_changed = check_main_state_changed(); - bool navigation_state_changed = check_navigation_state_changed(); bool flighttermination_state_changed = check_flighttermination_state_changed(); hrt_abstime t1 = hrt_absolute_time(); - if (navigation_state_changed || arming_state_changed) { - control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic - } - - if (arming_state_changed || main_state_changed || navigation_state_changed) { - mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d, nav %d", status.arming_state, status.main_state, status.navigation_state); + if (arming_state_changed || main_state_changed) { + mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d", status.arming_state, status.main_state); status_changed = true; } @@ -1235,8 +1170,6 @@ int commander_thread_main(int argc, char *argv[]) if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { status.timestamp = t1; orb_publish(ORB_ID(vehicle_status), status_pub, &status); - control_mode.timestamp = t1; - orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); armed.timestamp = t1; orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); } @@ -1549,133 +1482,6 @@ print_reject_arm(const char *msg) } } -transition_result_t -check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos) -{ - transition_result_t res = TRANSITION_DENIED; - - if (status->main_state == MAIN_STATE_AUTO) { - if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { - // TODO AUTO_LAND handling - if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { - /* don't switch to other states until takeoff not completed */ - // XXX: only respect the condition_landed when the local position is actually valid - if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) { - return TRANSITION_NOT_CHANGED; - } - } - - if (status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF && - status->navigation_state != NAVIGATION_STATE_AUTO_LOITER && - status->navigation_state != NAVIGATION_STATE_AUTO_MISSION && - status->navigation_state != NAVIGATION_STATE_AUTO_RTL) { - /* possibly on ground, switch to TAKEOFF if needed */ - if (status->is_rotary_wing && status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) { - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); - return res; - } - } - - /* switch to AUTO mode */ - if (status->rc_signal_found_once && !status->rc_signal_lost) { - /* act depending on switches when manual control enabled */ - if (status->return_switch == RETURN_SWITCH_RETURN) { - /* RTL */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_RTL, control_mode); - - } else { - if (status->mission_switch == MISSION_SWITCH_MISSION) { - /* MISSION */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); - - } else { - /* LOITER */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_LOITER, control_mode); - } - } - - } else { - /* switch to MISSION when no RC control and first time in some AUTO mode */ - if (status->navigation_state == NAVIGATION_STATE_AUTO_LOITER || - status->navigation_state == NAVIGATION_STATE_AUTO_MISSION || - status->navigation_state == NAVIGATION_STATE_AUTO_RTL || - status->navigation_state == NAVIGATION_STATE_AUTO_LAND) { - res = TRANSITION_NOT_CHANGED; - - } else { - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); - } - } - - } else { - /* disarmed, always switch to AUTO_READY */ - res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_READY, control_mode); - } - - } else { - /* manual control modes */ - if (status->rc_signal_lost && (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR)) { - /* switch to failsafe mode */ - bool manual_control_old = control_mode->flag_control_manual_enabled; - - if (!status->condition_landed && status->condition_local_position_valid) { - /* in air: try to hold position if possible */ - res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); - - } else { - /* landed: don't try to hold position but land (if taking off) */ - res = TRANSITION_DENIED; - } - - if (res == TRANSITION_DENIED) { - res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); - } - - control_mode->flag_control_manual_enabled = false; - - if (res == TRANSITION_NOT_CHANGED && manual_control_old) { - /* mark navigation state as changed to force immediate flag publishing */ - set_navigation_state_changed(); - res = TRANSITION_CHANGED; - } - - if (res == TRANSITION_CHANGED) { - if (control_mode->flag_control_position_enabled) { - mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: POS HOLD"); - - } else { - if (status->condition_landed) { - mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD (LAND)"); - - } else { - mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD"); - } - } - } - - } else { - switch (status->main_state) { - case MAIN_STATE_MANUAL: - res = navigation_state_transition(status, status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode); - break; - - case MAIN_STATE_SEATBELT: - res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); - break; - - case MAIN_STATE_EASY: - res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); - break; - - default: - break; - } - } - } - - return res; -} - void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result) { switch (result) { @@ -1784,7 +1590,7 @@ void *commander_low_prio_loop(void *arg) /* try to go to INIT/PREFLIGHT arming state */ // XXX disable interrupts in arming_state_transition - if (TRANSITION_DENIED == arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_INIT, &armed)) { + if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) { answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); break; } @@ -1824,7 +1630,7 @@ void *commander_low_prio_loop(void *arg) else tune_negative(); - arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); break; } @@ -1876,7 +1682,7 @@ void *commander_low_prio_loop(void *arg) } default: - answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); + /* don't answer on unsupported commands, it will be done in main loop */ break; } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index ca3ec94b88..731e0e3ffc 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -46,7 +46,6 @@ #include #include #include -#include #include #include #include @@ -64,12 +63,10 @@ static const int ERROR = -1; static bool arming_state_changed = true; static bool main_state_changed = true; -static bool navigation_state_changed = true; static bool flighttermination_state_changed = true; transition_result_t arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, - const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed) { /* @@ -86,7 +83,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * } else { /* enforce lockdown in HIL */ - if (control_mode->flag_system_hil_enabled) { + if (status->hil_state == HIL_STATE_ON) { armed->lockdown = true; } else { armed->lockdown = false; @@ -109,7 +106,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * /* allow coming from INIT and disarming from ARMED */ if (status->arming_state == ARMING_STATE_INIT || status->arming_state == ARMING_STATE_ARMED - || control_mode->flag_system_hil_enabled) { + || status->hil_state == HIL_STATE_ON) { /* sensors need to be initialized for STANDBY state */ if (status->condition_system_sensors_initialized) { @@ -126,7 +123,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * /* allow arming from STANDBY and IN-AIR-RESTORE */ if ((status->arming_state == ARMING_STATE_STANDBY || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) - && (!safety->safety_switch_available || safety->safety_off || control_mode->flag_system_hil_enabled)) { /* only allow arming if safety is off */ + && (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */ ret = TRANSITION_CHANGED; armed->armed = true; armed->ready_to_arm = true; @@ -289,169 +286,6 @@ check_main_state_changed() } } -transition_result_t -navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode) -{ - transition_result_t ret = TRANSITION_DENIED; - - /* only check transition if the new state is actually different from the current one */ - if (new_navigation_state == status->navigation_state) { - ret = TRANSITION_NOT_CHANGED; - - } else { - - switch (new_navigation_state) { - case NAVIGATION_STATE_DIRECT: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = false; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = false; - control_mode->flag_control_climb_rate_enabled = false; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_STABILIZE: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = false; - control_mode->flag_control_climb_rate_enabled = false; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_ALTHOLD: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_VECTOR: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = true; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_AUTO_READY: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = false; - control_mode->flag_control_attitude_enabled = false; - control_mode->flag_control_velocity_enabled = false; - control_mode->flag_control_position_enabled = false; - control_mode->flag_control_altitude_enabled = false; - control_mode->flag_control_climb_rate_enabled = false; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_TAKEOFF: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_LOITER: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = false; - break; - - case NAVIGATION_STATE_AUTO_MISSION: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_RTL: - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - break; - - case NAVIGATION_STATE_AUTO_LAND: - - /* deny transitions from landed state */ - if (status->navigation_state != NAVIGATION_STATE_AUTO_READY) { - ret = TRANSITION_CHANGED; - control_mode->flag_control_rates_enabled = true; - control_mode->flag_control_attitude_enabled = true; - control_mode->flag_control_velocity_enabled = true; - control_mode->flag_control_position_enabled = true; - control_mode->flag_control_altitude_enabled = true; - control_mode->flag_control_climb_rate_enabled = true; - control_mode->flag_control_manual_enabled = false; - control_mode->flag_control_auto_enabled = true; - } - - break; - - default: - break; - } - - if (ret == TRANSITION_CHANGED) { - status->navigation_state = new_navigation_state; - control_mode->auto_state = status->navigation_state; - navigation_state_changed = true; - } - } - - return ret; -} - -bool -check_navigation_state_changed() -{ - if (navigation_state_changed) { - navigation_state_changed = false; - return true; - - } else { - return false; - } -} - bool check_flighttermination_state_changed() { @@ -464,16 +298,10 @@ check_flighttermination_state_changed() } } -void -set_navigation_state_changed() -{ - navigation_state_changed = true; -} - /** * Transition from one hil state to another */ -int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd) +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) { bool valid_transition = false; int ret = ERROR; @@ -502,7 +330,6 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s || current_status->arming_state == ARMING_STATE_STANDBY || current_status->arming_state == ARMING_STATE_STANDBY_ERROR) { - current_control_mode->flag_system_hil_enabled = true; mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); valid_transition = true; } @@ -521,9 +348,6 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s current_status->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - current_control_mode->timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode); - // XXX also set lockdown here ret = OK; @@ -539,7 +363,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s /** * Transition from one flightermination state to another */ -transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode) +transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state) { transition_result_t ret = TRANSITION_DENIED; @@ -566,7 +390,8 @@ transition_result_t flighttermination_state_transition(struct vehicle_status_s * if (ret == TRANSITION_CHANGED) { flighttermination_state_changed = true; - control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON; + // TODO + //control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON; } } diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index e1ec9d4adf..e569fb4f37 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -48,7 +48,6 @@ #include #include #include -#include typedef enum { TRANSITION_DENIED = -1, @@ -58,7 +57,7 @@ typedef enum { } transition_result_t; transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, - const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed); + arming_state_t new_arming_state, struct actuator_armed_s *armed); bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); @@ -68,9 +67,7 @@ transition_result_t main_state_transition(struct vehicle_status_s *current_state bool check_main_state_changed(); -transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode); - -transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state, struct vehicle_control_mode_s *control_mode); +transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state); bool check_navigation_state_changed(); @@ -78,6 +75,6 @@ bool check_flighttermination_state_changed(); void set_navigation_state_changed(); -int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd); +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd); #endif /* STATE_MACHINE_HELPER_H_ */ diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 2ec00a9bc6..eec6c567c4 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -221,6 +221,8 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (v_status.main_state == MAIN_STATE_AUTO) { *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + // TODO use control_mode topic + /* if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { @@ -234,6 +236,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; } + */ } *mavlink_custom_mode = custom_mode.data; diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 0edb53a3e0..ab9ce45f3e 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -441,7 +441,8 @@ int mavlink_thread_main(int argc, char *argv[]) get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode); /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state); + // TODO fix navigation state, use control_mode topic + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, 0, mavlink_state); /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 60a211817c..111e9197f6 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -316,7 +316,7 @@ mc_thread_main(int argc, char *argv[]) } } else { - if (!control_mode.flag_control_auto_enabled) { + if (!control_mode.flag_control_attitude_enabled) { /* no control, try to stay on place */ if (!control_mode.flag_control_velocity_enabled) { /* no velocity control, reset attitude setpoint */ diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 5af7e2a829..2ca6504208 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -415,140 +415,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* force reprojection of global setpoint after manual mode */ reset_mission_sp = true; - - } else if (control_mode.flag_control_auto_enabled) { - /* AUTO mode, use global setpoint */ - if (control_mode.auto_state == NAVIGATION_STATE_AUTO_READY) { - reset_auto_sp_xy = true; - reset_auto_sp_z = true; - - } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_TAKEOFF) { - if (reset_takeoff_sp) { - reset_takeoff_sp = false; - local_pos_sp.x = local_pos.x; - local_pos_sp.y = local_pos.y; - local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap; - att_sp.yaw_body = att.yaw; - mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z); - } - - reset_auto_sp_xy = false; - reset_auto_sp_z = true; - - } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) { - // TODO - reset_auto_sp_xy = true; - reset_auto_sp_z = true; - - } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_MISSION) { - /* init local projection using local position ref */ - if (local_pos.ref_timestamp != local_ref_timestamp) { - reset_mission_sp = true; - local_ref_timestamp = local_pos.ref_timestamp; - double lat_home = local_pos.ref_lat * 1e-7; - double lon_home = local_pos.ref_lon * 1e-7; - map_projection_init(lat_home, lon_home); - mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home); - } - - if (reset_mission_sp) { - reset_mission_sp = false; - /* update global setpoint projection */ - - if (global_pos_sp_valid) { - - /* project global setpoint to local setpoint */ - map_projection_project(triplet.current.lat, triplet.current.lon, &(local_pos_sp.x), &(local_pos_sp.y)); - - if (triplet.current.altitude_is_relative) { - local_pos_sp.z = -triplet.current.altitude; - - } else { - local_pos_sp.z = local_pos.ref_alt - triplet.current.lat; - } - /* update yaw setpoint only if value is valid */ - if (isfinite(triplet.current.yaw) && fabsf(triplet.current.yaw) < M_TWOPI) { - att_sp.yaw_body = triplet.current.yaw; - } - - mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", triplet.current.lat, triplet.current.lon, (double)local_pos_sp.x, (double)local_pos_sp.y); - - } else { - if (reset_auto_sp_xy) { - reset_auto_sp_xy = false; - /* local position setpoint is invalid, - * use current position as setpoint for loiter */ - local_pos_sp.x = local_pos.x; - local_pos_sp.y = local_pos.y; - local_pos_sp.yaw = att.yaw; - } - - if (reset_auto_sp_z) { - reset_auto_sp_z = false; - local_pos_sp.z = local_pos.z; - } - - mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); - } - } - - reset_auto_sp_xy = true; - reset_auto_sp_z = true; - } - - if (control_mode.auto_state != NAVIGATION_STATE_AUTO_TAKEOFF) { - reset_takeoff_sp = true; - } - - if (control_mode.auto_state != NAVIGATION_STATE_AUTO_MISSION) { - reset_mission_sp = true; - } - - /* copy yaw setpoint to vehicle_local_position_setpoint topic */ - local_pos_sp.yaw = att_sp.yaw_body; - - /* reset setpoints after AUTO mode */ - reset_man_sp_xy = true; - reset_man_sp_z = true; - - } else { - /* no control (failsafe), loiter or stay on ground */ - if (local_pos.landed) { - /* landed: move setpoint down */ - /* in air: hold altitude */ - if (local_pos_sp.z < 5.0f) { - /* set altitude setpoint to 5m under ground, - * don't set it too deep to avoid unexpected landing in case of false "landed" signal */ - local_pos_sp.z = 5.0f; - mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z); - } - - reset_man_sp_z = true; - - } else { - /* in air: hold altitude */ - if (reset_man_sp_z) { - reset_man_sp_z = false; - local_pos_sp.z = local_pos.z; - mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z); - } - - reset_auto_sp_z = false; - } - - if (control_mode.flag_control_position_enabled) { - if (reset_man_sp_xy) { - reset_man_sp_xy = false; - local_pos_sp.x = local_pos.x; - local_pos_sp.y = local_pos.y; - local_pos_sp.yaw = att.yaw; - att_sp.yaw_body = att.yaw; - mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); - } - - reset_auto_sp_xy = false; - } } + /* AUTO not implemented */ /* publish local position setpoint */ orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp); diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 7be9229c9b..37c2a0389f 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -61,6 +61,7 @@ #include #include #include +#include #include #include #include @@ -145,8 +146,10 @@ private: orb_advert_t _triplet_pub; /**< publish position setpoint triplet */ orb_advert_t _fence_pub; /**< publish fence topic */ orb_advert_t _mission_result_pub; /**< publish mission result topic */ + orb_advert_t _control_mode_pub; /**< publish vehicle control mode topic */ struct vehicle_status_s _vstatus; /**< vehicle status */ + struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct home_position_s _home_pos; /**< home position for RTL */ struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */ @@ -168,6 +171,8 @@ private: MissionFeasibilityChecker missionFeasiblityChecker; + uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */ + struct { float min_altitude; float loiter_radius; @@ -192,21 +197,10 @@ private: MAX_EVENT }; - enum State { - STATE_INIT, - STATE_NONE, - STATE_LOITER, - STATE_MISSION, - STATE_MISSION_LOITER, - STATE_RTL, - STATE_RTL_LOITER, - MAX_STATE - }; - /** * State machine transition table */ - static StateTable::Tran const myTable[MAX_STATE][MAX_EVENT]; + static StateTable::Tran const myTable[NAV_STATE_MAX][MAX_EVENT]; /** * Update our local parameter cache. @@ -300,6 +294,10 @@ private: */ void publish_mission_item_triplet(); + /** + * Publish vehicle_control_mode topic for controllers + */ + void publish_control_mode(); /** @@ -328,7 +326,7 @@ Navigator *g_navigator; Navigator::Navigator() : /* state machine transition table */ - StateTable(&myTable[0][0], MAX_STATE, MAX_EVENT), + StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT), _task_should_exit(false), _navigator_task(-1), @@ -347,6 +345,7 @@ Navigator::Navigator() : _triplet_pub(-1), _fence_pub(-1), _mission_result_pub(-1), + _control_mode_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), @@ -357,7 +356,8 @@ Navigator::Navigator() : _mission(), _waypoint_position_reached(false), _waypoint_yaw_reached(false), - _time_first_inside_orbit(0) + _time_first_inside_orbit(0), + _set_nav_state_timestamp(0) { memset(&_fence, 0, sizeof(_fence)); @@ -375,7 +375,7 @@ Navigator::Navigator() : memset(&_mission_result, 0, sizeof(struct mission_result_s)); /* Initialize state machine */ - myState = STATE_INIT; + myState = NAV_STATE_INIT; } Navigator::~Navigator() @@ -513,7 +513,6 @@ Navigator::task_main() _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _home_pos_sub = orb_subscribe(ORB_ID(home_position)); - /* copy all topics first time */ vehicle_status_update(); @@ -524,9 +523,6 @@ Navigator::task_main() offboard_mission_update(_vstatus.is_rotary_wing); onboard_mission_update(); - - /* rate limit vehicle status updates to 5Hz */ - orb_set_interval(_vstatus_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); @@ -575,49 +571,41 @@ Navigator::task_main() /* Evaluate state machine from commander and set the navigator mode accordingly */ if (_vstatus.main_state == MAIN_STATE_AUTO) { + if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { + /* commander requested new navigation mode, try to set it */ + _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; - switch (_vstatus.navigation_state) { - case NAVIGATION_STATE_DIRECT: - case NAVIGATION_STATE_STABILIZE: - case NAVIGATION_STATE_ALTHOLD: - case NAVIGATION_STATE_VECTOR: - - /* don't publish a mission item triplet */ - dispatch(EVENT_NONE_REQUESTED); + switch (_vstatus.set_nav_state) { + case NAV_STATE_INIT: + case NAV_STATE_NONE: + /* nothing to do */ break; - case NAVIGATION_STATE_AUTO_READY: - case NAVIGATION_STATE_AUTO_TAKEOFF: - case NAVIGATION_STATE_AUTO_MISSION: - - /* try mission if none is available, fallback to loiter instead */ - if (_mission.current_mission_available()) { - dispatch(EVENT_MISSION_REQUESTED); - } else { - dispatch(EVENT_LOITER_REQUESTED); - } - break; - - case NAVIGATION_STATE_AUTO_LOITER: - + case NAV_STATE_LOITER: dispatch(EVENT_LOITER_REQUESTED); break; + case NAV_STATE_MISSION: + dispatch(EVENT_MISSION_REQUESTED); + break; - case NAVIGATION_STATE_AUTO_RTL: - + case NAV_STATE_RTL: dispatch(EVENT_RTL_REQUESTED); break; - case NAVIGATION_STATE_AUTO_LAND: - - /* TODO add this */ - - break; - default: - warnx("ERROR: Navigation state not supported"); + warnx("ERROR: Requested navigation state not supported"); break; + } + + } else { + /* try mission, if none is available fallback to loiter instead */ + if (_mission.current_mission_available()) { + dispatch(EVENT_MISSION_REQUESTED); + } else { + dispatch(EVENT_LOITER_REQUESTED); + } + break; } } else { @@ -632,10 +620,8 @@ Navigator::task_main() } } - /* only update parameters if it changed */ if (fds[0].revents & POLLIN) { - parameters_update(); /* note that these new parameters won't be in effect until a mission triplet is published again */ } @@ -670,9 +656,7 @@ Navigator::task_main() if (mission_item_reached()) { if (_vstatus.main_state == MAIN_STATE_AUTO && - (_vstatus.navigation_state == NAVIGATION_STATE_AUTO_READY || - _vstatus.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF || - _vstatus.navigation_state == NAVIGATION_STATE_AUTO_MISSION)) { + (myState == NAV_STATE_MISSION)) { /* advance by one mission item */ _mission.move_to_next(); @@ -688,6 +672,9 @@ Navigator::task_main() } } } + + publish_control_mode(); + perf_end(_loop_perf); } @@ -740,25 +727,25 @@ Navigator::status() } switch (myState) { - case STATE_INIT: + case NAV_STATE_INIT: warnx("State: Init"); break; - case STATE_NONE: + case NAV_STATE_NONE: warnx("State: None"); break; - case STATE_LOITER: + case NAV_STATE_LOITER: warnx("State: Loiter"); break; - case STATE_MISSION: + case NAV_STATE_MISSION: warnx("State: Mission"); break; - case STATE_MISSION_LOITER: + case NAV_STATE_MISSION_LOITER: warnx("State: Loiter after Mission"); break; - case STATE_RTL: + case NAV_STATE_RTL: warnx("State: RTL"); break; - case STATE_RTL_LOITER: + case NAV_STATE_RTL_LOITER: warnx("State: Loiter after RTL"); break; default: @@ -857,76 +844,76 @@ Navigator::fence_point(int argc, char *argv[]) -StateTable::Tran const Navigator::myTable[MAX_STATE][MAX_EVENT] = { +StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { { /* STATE_INIT */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_INIT}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_INIT}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_INIT}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_INIT}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_INIT}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_INIT}, }, { /* STATE_NONE */ - /* EVENT_NONE_REQUESTED */ {NO_ACTION, STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_NONE}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_NONE}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_NONE}, + /* EVENT_NONE_REQUESTED */ {NO_ACTION, NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_NONE}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE}, }, { /* STATE_LOITER */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_LOITER}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_LOITER}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_LOITER}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER}, }, { /* STATE_MISSION */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {NO_ACTION, STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_mission_loiter), STATE_MISSION_LOITER}, - /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_MISSION}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, + /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_mission_loiter), NAV_STATE_MISSION_LOITER}, + /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION}, }, { /* STATE_MISSION_LOITER */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_MISSION_LOITER}, - /* EVENT_MISSION_REQUESTED */ {NO_ACTION, STATE_MISSION_LOITER}, - /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_MISSION_LOITER}, - /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, STATE_MISSION_LOITER}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, + /* EVENT_MISSION_REQUESTED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, + /* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, + /* EVENT_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, + /* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION_LOITER}, }, { /* STATE_RTL */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {NO_ACTION, STATE_RTL}, - /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_rtl_loiter), STATE_RTL_LOITER}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_RTL}, - /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), STATE_RTL}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_RTL}, + /* EVENT_MISSION_FINISHED */ {ACTION(&Navigator::start_rtl_loiter), NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL}, + /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), NAV_STATE_RTL}, }, { /* STATE_RTL_LOITER */ - /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), STATE_NONE}, - /* EVENT_LOITER_REQUESTED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), STATE_MISSION}, - /* EVENT_RTL_REQUESTED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_MISSION_FINISHED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_MISSION_CHANGED */ {NO_ACTION, STATE_RTL_LOITER}, - /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), STATE_LOITER}, + /* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE}, + /* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION}, + /* EVENT_RTL_REQUESTED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_FINISHED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL_LOITER}, + /* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_loiter), NAV_STATE_LOITER}, }, }; @@ -949,7 +936,7 @@ Navigator::start_loiter() _mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d; _mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d; - _mission_item_triplet.current.yaw = 0.0f; + _mission_item_triplet.current.yaw = 0.0f; // TODO use current yaw sp here or set to undefined? get_loiter_item(&_mission_item_triplet.current); @@ -1239,6 +1226,76 @@ Navigator::publish_mission_item_triplet() } } +void +Navigator::publish_control_mode() +{ + /* update vehicle_control_mode topic*/ + _control_mode.main_state = _vstatus.main_state; + _control_mode.nav_state = static_cast(myState); + _control_mode.flag_armed = _vstatus.arming_state == ARMING_STATE_ARMED || _vstatus.arming_state == ARMING_STATE_ARMED_ERROR; + _control_mode.flag_external_manual_override_ok = !_vstatus.is_rotary_wing; + _control_mode.flag_system_hil_enabled = _vstatus.hil_state == HIL_STATE_ON; + + _control_mode.flag_control_offboard_enabled = false; + _control_mode.flag_control_flighttermination_enabled = false; + + switch (_vstatus.main_state) { + case MAIN_STATE_MANUAL: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = _vstatus.is_rotary_wing; + _control_mode.flag_control_attitude_enabled = _vstatus.is_rotary_wing; + _control_mode.flag_control_altitude_enabled = false; + _control_mode.flag_control_climb_rate_enabled = false; + _control_mode.flag_control_position_enabled = false; + _control_mode.flag_control_velocity_enabled = false; + break; + + case MAIN_STATE_SEATBELT: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + _control_mode.flag_control_position_enabled = false; + _control_mode.flag_control_velocity_enabled = false; + break; + + case MAIN_STATE_EASY: + _control_mode.flag_control_manual_enabled = true; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + _control_mode.flag_control_position_enabled = true; + _control_mode.flag_control_velocity_enabled = true; + break; + + case MAIN_STATE_AUTO: + _control_mode.flag_control_manual_enabled = false; + _control_mode.flag_control_rates_enabled = true; + _control_mode.flag_control_attitude_enabled = true; + _control_mode.flag_control_position_enabled = true; + _control_mode.flag_control_velocity_enabled = true; + _control_mode.flag_control_altitude_enabled = true; + _control_mode.flag_control_climb_rate_enabled = true; + break; + + default: + break; + } + + _control_mode.timestamp = hrt_absolute_time(); + + /* lazily publish the mission triplet only once available */ + if (_control_mode_pub > 0) { + /* publish the mission triplet */ + orb_publish(ORB_ID(vehicle_control_mode), _control_mode_pub, &_control_mode); + + } else { + /* advertise and publish */ + _control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &_control_mode); + } +} bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b) { if (fabsf(a.altitude_is_relative - b.altitude_is_relative) < FLT_EPSILON && diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 9f634d9e4e..78322aff34 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -969,7 +969,8 @@ int sdlog2_thread_main(int argc, char *argv[]) // Don't orb_copy, it's already done few lines above log_msg.msg_type = LOG_STAT_MSG; log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; - log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state; + // TODO use control_mode topic + //log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state; log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage; log_msg.body.log_STAT.battery_current = buf_status.battery_current; diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index e26fb97c8a..5ce968f675 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -48,6 +48,7 @@ #include #include #include "../uORB.h" +#include "vehicle_status.h" /** * @addtogroup topics @{ @@ -59,10 +60,25 @@ * * Encodes the complete system state and is set by the commander app. */ + +typedef enum { + NAV_STATE_INIT = 0, + NAV_STATE_NONE, + NAV_STATE_LOITER, + NAV_STATE_MISSION, + NAV_STATE_MISSION_LOITER, + NAV_STATE_RTL, + NAV_STATE_RTL_LOITER, + NAV_STATE_MAX +} nav_state_t; + struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + main_state_t main_state; + nav_state_t nav_state; + bool flag_armed; bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ @@ -79,9 +95,6 @@ struct vehicle_control_mode_s bool flag_control_altitude_enabled; /**< true if altitude is controlled */ bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ bool flag_control_flighttermination_enabled; /**< true if flighttermination is enabled */ - - bool flag_control_auto_enabled; // TEMP - uint8_t auto_state; // TEMP navigation state for AUTO modes }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1c3763924c..ae3a24a1b7 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -66,20 +66,6 @@ typedef enum { MAIN_STATE_AUTO, } main_state_t; -/* navigation state machine */ -typedef enum { - NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization - NAVIGATION_STATE_STABILIZE, // attitude stabilization - NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization - NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization - NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff - NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode - NAVIGATION_STATE_AUTO_LOITER, // pause mission - NAVIGATION_STATE_AUTO_MISSION, // fly mission - NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND - NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector) -} navigation_state_t; - typedef enum { ARMING_STATE_INIT = 0, ARMING_STATE_STANDBY, @@ -95,7 +81,6 @@ typedef enum { HIL_STATE_ON } hil_state_t; - typedef enum { FLIGHTTERMINATION_STATE_OFF = 0, FLIGHTTERMINATION_STATE_ON @@ -182,7 +167,8 @@ struct vehicle_status_s uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ main_state_t main_state; /**< main state machine */ - navigation_state_t navigation_state; /**< navigation state machine */ + unsigned int set_nav_state; /**< set navigation state machine to specified value */ + uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */ arming_state_t arming_state; /**< current arming state */ hil_state_t hil_state; /**< current hil state */ From ea55527bbb2a0a14b099e9c4d8c69faf7a623196 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sun, 29 Dec 2013 14:50:26 +0100 Subject: [PATCH 20/24] Waypoints and missionlib: lot's of cleanup --- src/modules/mavlink/mavlink.c | 9 +- src/modules/mavlink/mavlink_receiver.cpp | 3 +- src/modules/mavlink/missionlib.c | 399 --------- src/modules/mavlink/missionlib.h | 52 -- src/modules/mavlink/module.mk | 1 - src/modules/mavlink/orb_listener.c | 1 - src/modules/mavlink/orb_topics.h | 1 + src/modules/mavlink/waypoints.c | 1029 ++++++---------------- src/modules/mavlink/waypoints.h | 44 +- src/modules/uORB/topics/mission.h | 1 - 10 files changed, 304 insertions(+), 1236 deletions(-) delete mode 100644 src/modules/mavlink/missionlib.c delete mode 100644 src/modules/mavlink/missionlib.h diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index eec6c567c4..4c38cf35a1 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -68,7 +68,6 @@ #include "waypoints.h" #include "orb_topics.h" -#include "missionlib.h" #include "mavlink_hil.h" #include "util.h" #include "waypoints.h" @@ -710,25 +709,25 @@ int mavlink_thread_main(int argc, char *argv[]) } } - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); /* check if waypoint has been reached against the last positions */ - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); /* send parameters at 20 Hz (if queued for sending) */ mavlink_pm_queued_send(); - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); if (baudrate > 57600) { mavlink_pm_queued_send(); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7b6fad6589..771989430a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -79,7 +79,6 @@ __BEGIN_DECLS #include "mavlink_bridge_header.h" #include "waypoints.h" #include "orb_topics.h" -#include "missionlib.h" #include "mavlink_hil.h" #include "mavlink_parameters.h" #include "util.h" @@ -844,7 +843,7 @@ receive_thread(void *arg) handle_message(&msg); /* handle packet with waypoint component */ - mavlink_wpm_message_handler(&msg, &global_pos, &local_pos); + mavlink_wpm_message_handler(&msg); /* handle packet with parameter component */ mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c deleted file mode 100644 index 318dcf08c4..0000000000 --- a/src/modules/mavlink/missionlib.c +++ /dev/null @@ -1,399 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * 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 missionlib.h - * MAVLink missionlib components - */ - -// XXX trim includes -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "geo/geo.h" -#include "waypoints.h" -#include "orb_topics.h" -#include "missionlib.h" -#include "mavlink_hil.h" -#include "util.h" -#include "waypoints.h" -#include "mavlink_parameters.h" - - - -static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; -static uint64_t loiter_start_time; - -#if 0 -static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command, - struct vehicle_global_position_setpoint_s *sp); -#endif - -int -mavlink_missionlib_send_message(mavlink_message_t *msg) -{ - uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); - - mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); - return 0; -} - - - -int -mavlink_missionlib_send_gcs_string(const char *string) -{ - const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; - mavlink_statustext_t statustext; - int i = 0; - - while (i < len - 1) { - statustext.text[i] = string[i]; - - if (string[i] == '\0') - break; - - i++; - } - - if (i > 1) { - /* Enforce null termination */ - statustext.text[i] = '\0'; - mavlink_message_t msg; - - mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); - return mavlink_missionlib_send_message(&msg); - - } else { - return 1; - } -} - -/** - * Get system time since boot in microseconds - * - * @return the system time since boot in microseconds - */ -uint64_t mavlink_missionlib_get_system_timestamp() -{ - return hrt_absolute_time(); -} - -#if 0 -/** - * Set special vehicle setpoint fields based on current mission item. - * - * @return true if the mission item could be interpreted - * successfully, it return false on failure. - */ -bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command, - struct vehicle_global_position_setpoint_s *sp) -{ - switch (command) { - case MAV_CMD_NAV_LOITER_UNLIM: - sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED; - break; - case MAV_CMD_NAV_LOITER_TIME: - sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; - loiter_start_time = hrt_absolute_time(); - break; - // case MAV_CMD_NAV_LOITER_TURNS: - // sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT; - // break; - case MAV_CMD_NAV_WAYPOINT: - sp->nav_cmd = NAV_CMD_WAYPOINT; - break; - case MAV_CMD_NAV_RETURN_TO_LAUNCH: - sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH; - break; - case MAV_CMD_NAV_LAND: - sp->nav_cmd = NAV_CMD_LAND; - break; - case MAV_CMD_NAV_TAKEOFF: - sp->nav_cmd = NAV_CMD_TAKEOFF; - break; - default: - /* abort */ - return false; - } - - sp->loiter_radius = param3; - sp->loiter_direction = (param3 >= 0) ? 1 : -1; - - sp->param1 = param1; - sp->param2 = param2; - sp->param3 = param3; - sp->param4 = param4; - - - /* define the turn distance */ - float orbit = 15.0f; - - if (command == (int)MAV_CMD_NAV_WAYPOINT) { - - orbit = param2; - - } else if (command == (int)MAV_CMD_NAV_LOITER_TURNS || - command == (int)MAV_CMD_NAV_LOITER_TIME || - command == (int)MAV_CMD_NAV_LOITER_UNLIM) { - - orbit = param3; - } else { - - // XXX set default orbit via param - // 15 initialized above - } - - sp->turn_distance_xy = orbit; - sp->turn_distance_z = orbit; -} - -/** - * This callback is executed each time a waypoint changes. - * - * It publishes the vehicle_global_position_setpoint_s or the - * vehicle_local_position_setpoint_s topic, depending on the type of waypoint - */ -void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command) -{ - static orb_advert_t global_position_setpoint_pub = -1; - // static orb_advert_t global_position_set_triplet_pub = -1; - static orb_advert_t local_position_setpoint_pub = -1; - static unsigned last_waypoint_index = -1; - char buf[50] = {0}; - - // XXX include check if WP is supported, jump to next if not - - /* Update controller setpoints */ - if (frame == (int)MAV_FRAME_GLOBAL) { - /* global, absolute waypoint */ - struct vehicle_global_position_setpoint_s sp; - sp.lat = param5_lat_x * 1e7f; - sp.lon = param6_lon_y * 1e7f; - sp.altitude = param7_alt_z; - sp.altitude_is_relative = false; - sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); - set_special_fields(param1, param2, param3, param4, command, &sp); - - /* Initialize setpoint publication if necessary */ - if (global_position_setpoint_pub < 0) { - global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); - } - - - /* fill triplet: previous, current, next waypoint */ - // struct vehicle_global_position_set_triplet_s triplet; - - /* current waypoint is same as sp */ - // memcpy(&(triplet.current), &sp, sizeof(sp)); - - /* - * Check if previous WP (in mission, not in execution order) - * is available and identify correct index - */ - int last_setpoint_index = -1; - bool last_setpoint_valid = false; - - if (index > 0) { - last_setpoint_index = index - 1; - } - - while (last_setpoint_index >= 0) { - - if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && - (wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT || - wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS || - wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME || - wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) { - last_setpoint_valid = true; - break; - } - - last_setpoint_index--; - } - - /* - * Check if next WP (in mission, not in execution order) - * is available and identify correct index - */ - int next_setpoint_index = -1; - bool next_setpoint_valid = false; - - /* next waypoint */ - if (wpm->size > 1) { - next_setpoint_index = index + 1; - } - - while (next_setpoint_index < wpm->size) { - - if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT || - wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS || - wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME || - wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) { - next_setpoint_valid = true; - break; - } - - next_setpoint_index++; - } - - /* populate last and next */ - - // triplet.previous_valid = false; - // triplet.next_valid = false; - - // if (last_setpoint_valid) { - // triplet.previous_valid = true; - // struct vehicle_global_position_setpoint_s sp; - // sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f; - // sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f; - // sp.altitude = wpm->waypoints[last_setpoint_index].z; - // sp.altitude_is_relative = false; - // sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F); - // set_special_fields(wpm->waypoints[last_setpoint_index].param1, - // wpm->waypoints[last_setpoint_index].param2, - // wpm->waypoints[last_setpoint_index].param3, - // wpm->waypoints[last_setpoint_index].param4, - // wpm->waypoints[last_setpoint_index].command, &sp); - // memcpy(&(triplet.previous), &sp, sizeof(sp)); - // } - - // if (next_setpoint_valid) { - // triplet.next_valid = true; - // struct vehicle_global_position_setpoint_s sp; - // sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f; - // sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f; - // sp.altitude = wpm->waypoints[next_setpoint_index].z; - // sp.altitude_is_relative = false; - // sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F); - // set_special_fields(wpm->waypoints[next_setpoint_index].param1, - // wpm->waypoints[next_setpoint_index].param2, - // wpm->waypoints[next_setpoint_index].param3, - // wpm->waypoints[next_setpoint_index].param4, - // wpm->waypoints[next_setpoint_index].command, &sp); - // memcpy(&(triplet.next), &sp, sizeof(sp)); - // } - - /* Initialize triplet publication if necessary */ - // if (global_position_set_triplet_pub < 0) { - // global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet); - - // } else { - // orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet); - // } - - sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - - } else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { - /* global, relative alt (in relation to HOME) waypoint */ - struct vehicle_global_position_setpoint_s sp; - sp.lat = param5_lat_x * 1e7f; - sp.lon = param6_lon_y * 1e7f; - sp.altitude = param7_alt_z; - sp.altitude_is_relative = true; - sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); - set_special_fields(param1, param2, param3, param4, command, &sp); - - /* Initialize publication if necessary */ - if (global_position_setpoint_pub < 0) { - global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); - } - - - - sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - - } else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) { - /* local, absolute waypoint */ - struct vehicle_local_position_setpoint_s sp; - sp.x = param5_lat_x; - sp.y = param6_lon_y; - sp.z = param7_alt_z; - sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); - - /* Initialize publication if necessary */ - if (local_position_setpoint_pub < 0) { - local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp); - } - - sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - } else { - warnx("non-navigation WP, ignoring"); - mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring."); - return; - } - - /* only set this for known waypoint types (non-navigation types would have returned earlier) */ - last_waypoint_index = index; - - mavlink_missionlib_send_gcs_string(buf); - printf("%s\n", buf); - //printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000); -} - -#endif \ No newline at end of file diff --git a/src/modules/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h deleted file mode 100644 index c7d8f90c53..0000000000 --- a/src/modules/mavlink/missionlib.h +++ /dev/null @@ -1,52 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * 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 missionlib.h - * MAVLink mission helper library - */ - -#pragma once - -#include "mavlink_bridge_header.h" - -//extern void mavlink_wpm_send_message(mavlink_message_t *msg); -//extern void mavlink_wpm_send_gcs_string(const char *string); -//extern uint64_t mavlink_wpm_get_system_timestamp(void); -extern int mavlink_missionlib_send_message(mavlink_message_t *msg); -extern int mavlink_missionlib_send_gcs_string(const char *string); -extern uint64_t mavlink_missionlib_get_system_timestamp(void); -extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 5d3d6a73c1..89a097c245 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -37,7 +37,6 @@ MODULE_COMMAND = mavlink SRCS += mavlink.c \ - missionlib.c \ mavlink_parameters.c \ mavlink_receiver.cpp \ orb_listener.c \ diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 17978615f0..28478a8030 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -60,7 +60,6 @@ #include "waypoints.h" #include "orb_topics.h" -#include "missionlib.h" #include "mavlink_hil.h" #include "util.h" diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h index 7d24b8f932..9000728cbc 100644 --- a/src/modules/mavlink/orb_topics.h +++ b/src/modules/mavlink/orb_topics.h @@ -45,6 +45,7 @@ #include #include #include +#include #include #include #include diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 59db898b96..2ff11e813e 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -44,28 +44,63 @@ #include #include #include - #include "mavlink_bridge_header.h" -#include "missionlib.h" #include "waypoints.h" #include "util.h" #include #include - #include #include +#include +#include -bool debug = false; -bool verbose = false; +bool verbose = true; orb_advert_t mission_pub = -1; struct mission_s mission; -//#define MAVLINK_WPM_NO_PRINTF -#define MAVLINK_WPM_VERBOSE 0 - uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; +void +mavlink_missionlib_send_message(mavlink_message_t *msg) +{ + uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); + + mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); +} + + + +int +mavlink_missionlib_send_gcs_string(const char *string) +{ + const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; + mavlink_statustext_t statustext; + int i = 0; + + while (i < len - 1) { + statustext.text[i] = string[i]; + + if (string[i] == '\0') + break; + + i++; + } + + if (i > 1) { + /* Enforce null termination */ + statustext.text[i] = '\0'; + mavlink_message_t msg; + + mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); + mavlink_missionlib_send_message(&msg); + return OK; + + } else { + return 1; + } +} + void publish_mission() { /* Initialize mission publication if necessary */ @@ -119,7 +154,7 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli mission_item->time_inside = mavlink_mission_item->param1 / 1e3f; /* from milliseconds to seconds */ mission_item->autocontinue = mavlink_mission_item->autocontinue; - mission_item->index = mavlink_mission_item->seq; + // mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; return OK; @@ -151,33 +186,22 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->param1 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ mavlink_mission_item->autocontinue = mission_item->autocontinue; - mavlink_mission_item->seq = mission_item->index; + // mavlink_mission_item->seq = mission_item->index; return OK; } void mavlink_wpm_init(mavlink_wpm_storage *state) { - // Set all waypoints to zero - - // Set count to zero state->size = 0; state->max_size = MAVLINK_WPM_MAX_WP_COUNT; state->current_state = MAVLINK_WPM_STATE_IDLE; state->current_partner_sysid = 0; state->current_partner_compid = 0; state->timestamp_lastaction = 0; - // state->timestamp_last_send_setpoint = 0; + state->timestamp_last_send_setpoint = 0; state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->current_dataman_id = 0; - // state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT; - // state->idle = false; ///< indicates if the system is following the waypoints or is waiting - // state->current_active_wp_id = -1; ///< id of current waypoint - // state->yaw_reached = false; ///< boolean for yaw attitude reached - // state->pos_reached = false; ///< boolean for position reached - // state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value - // state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value } /* @@ -188,24 +212,14 @@ void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) mavlink_message_t msg; mavlink_mission_ack_t wpa; - wpa.target_system = wpm->current_partner_sysid; - wpa.target_component = wpm->current_partner_compid; + wpa.target_system = sysid; + wpa.target_component = compid; wpa.type = type; mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); mavlink_missionlib_send_message(&msg); - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - -// if (MAVLINK_WPM_TEXT_FEEDBACK) { -// #ifdef MAVLINK_WPM_NO_PRINTF -// mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); -// #else - -// if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); - -// #endif -// } + if (verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } /* @@ -220,45 +234,19 @@ void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) void mavlink_wpm_send_waypoint_current(uint16_t seq) { if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - mavlink_message_t msg; mavlink_mission_current_t wpc; - wpc.seq = cur->seq; + wpc.seq = seq; mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); mavlink_missionlib_send_message(&msg); - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); + if (verbose) warnx("Broadcasted new current waypoint %u", wpc.seq); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n"); - } -} - -/* - * @brief Directs the MAV to fly to a position - * - * Sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_setpoint(uint16_t seq) -{ - if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1, - cur->param2, cur->param3, cur->param4, cur->x, - cur->y, cur->z, cur->frame, cur->command); - - // wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); - - } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); + mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); + if (verbose) warnx("ERROR: index out of bounds"); } } @@ -267,36 +255,48 @@ void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t cou mavlink_message_t msg; mavlink_mission_count_t wpc; - wpc.target_system = wpm->current_partner_sysid; - wpc.target_component = wpm->current_partner_compid; + wpc.target_system = sysid; + wpc.target_component = compid; wpc.count = mission.count; mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + if (verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } -void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, mavlink_mission_item_t *wp) +void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) { - // if (seq < wpm->size) { + struct mission_item_s mission_item; + ssize_t len = sizeof(struct mission_item_s); + + dm_item_t dm_current; + + if (wpm->current_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + + if (dm_read(dm_current, seq, &mission_item, len) == len) { + + /* create mission_item_s from mavlink_mission_item_t */ + mavlink_mission_item_t wp; + map_mission_item_to_mavlink_mission_item(&mission_item, &wp); + mavlink_message_t msg; - // mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); - wp->target_system = wpm->current_partner_sysid; - wp->target_component = wpm->current_partner_compid; - mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); + wp.target_system = sysid; + wp.target_component = compid; + wp.seq = seq; + mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp); mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - // } else { - // if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); - // } + if (verbose) warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + if (verbose) warnx("ERROR: could not read WP%u", seq); + } } void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) @@ -304,18 +304,17 @@ void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t s if (seq < wpm->max_size) { mavlink_message_t msg; mavlink_mission_request_t wpr; - wpr.target_system = wpm->current_partner_sysid; - wpr.target_component = wpm->current_partner_compid; + wpr.target_system = sysid; + wpr.target_component = compid; wpr.seq = seq; mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + if (verbose) warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); + mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); + if (verbose) warnx("ERROR: Waypoint index exceeds list capacity"); } } @@ -336,234 +335,33 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + if (verbose) warnx("Sent waypoint %u reached message", wp_reached.seq); } -// void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos, float turn_distance) -// { -// static uint16_t counter; - -// if ((!global_pos->valid && !local_pos->xy_valid) || -// /* no waypoint */ -// wpm->size == 0) { -// /* nothing to check here, return */ -// return; -// } - -// if (wpm->current_active_wp_id < wpm->size) { - -// float orbit; -// if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT) { - -// orbit = wpm->waypoints[wpm->current_active_wp_id].param2; - -// } else if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) { - -// orbit = wpm->waypoints[wpm->current_active_wp_id].param3; -// } else { - -// // XXX set default orbit via param -// orbit = 15.0f; -// } - -// /* keep vertical orbit */ -// float vertical_switch_distance = orbit; - -// /* Take the larger turn distance - orbit or turn_distance */ -// if (orbit < turn_distance) -// orbit = turn_distance; - -// int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; -// float dist = -1.0f; - -// float dist_xy = -1.0f; -// float dist_z = -1.0f; - -// if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { -// dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt, &dist_xy, &dist_z); - -// } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { -// dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt, &dist_xy, &dist_z); - -// } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { -// dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z, &dist_xy, &dist_z); - -// } else if (coordinate_frame == (int)MAV_FRAME_MISSION) { -// /* Check if conditions of mission item are satisfied */ -// // XXX TODO -// } - -// if (dist >= 0.f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) { -// wpm->pos_reached = true; -// } - -// // check if required yaw reached -// float yaw_sp = _wrap_pi(wpm->waypoints[wpm->current_active_wp_id].param4 / 180.0f * FM_PI); -// float yaw_err = _wrap_pi(yaw_sp - local_pos->yaw); -// if (fabsf(yaw_err) < 0.05f) { -// wpm->yaw_reached = true; -// } -// } - -// //check if the current waypoint was reached -// if (wpm->pos_reached && /*wpm->yaw_reached &&*/ !wpm->idle) { -// if (wpm->current_active_wp_id < wpm->size) { -// mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]); - -// if (wpm->timestamp_firstinside_orbit == 0) { -// // Announce that last waypoint was reached -// mavlink_wpm_send_waypoint_reached(cur_wp->seq); -// wpm->timestamp_firstinside_orbit = now; -// } - -// // check if the MAV was long enough inside the waypoint orbit -// //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) - -// bool time_elapsed = false; - -// if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) { -// time_elapsed = true; -// } else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) { -// time_elapsed = true; -// } - -// if (time_elapsed) { - -// /* safeguard against invalid missions with last wp autocontinue on */ -// if (wpm->current_active_wp_id == wpm->size - 1) { -// /* stop handling missions here */ -// cur_wp->autocontinue = false; -// } - -// if (cur_wp->autocontinue) { - -// cur_wp->current = 0; - -// float navigation_lat = -1.0f; -// float navigation_lon = -1.0f; -// float navigation_alt = -1.0f; -// int navigation_frame = -1; - -// /* initialize to current position in case we don't find a suitable navigation waypoint */ -// if (global_pos->valid) { -// navigation_lat = global_pos->lat/1e7; -// navigation_lon = global_pos->lon/1e7; -// navigation_alt = global_pos->alt; -// navigation_frame = MAV_FRAME_GLOBAL; -// } else if (local_pos->xy_valid && local_pos->z_valid) { -// navigation_lat = local_pos->x; -// navigation_lon = local_pos->y; -// navigation_alt = local_pos->z; -// navigation_frame = MAV_FRAME_LOCAL_NED; -// } - -// /* guard against missions without final land waypoint */ -// /* only accept supported navigation waypoints, skip unknown ones */ -// do { - -// /* pick up the last valid navigation waypoint, this will be one we hold on to after the mission */ -// if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_TAKEOFF) { - -// /* this is a navigation waypoint */ -// navigation_frame = cur_wp->frame; -// navigation_lat = cur_wp->x; -// navigation_lon = cur_wp->y; -// navigation_alt = cur_wp->z; -// } - -// if (wpm->current_active_wp_id == wpm->size - 1) { - -// /* if we're not landing at the last nav waypoint, we're falling back to loiter */ -// if (wpm->waypoints[wpm->current_active_wp_id].command != (int)MAV_CMD_NAV_LAND) { -// /* the last waypoint was reached, if auto continue is -// * activated AND it is NOT a land waypoint, keep the system loitering there. -// */ -// cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM; -// cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius -// cur_wp->frame = navigation_frame; -// cur_wp->x = navigation_lat; -// cur_wp->y = navigation_lon; -// cur_wp->z = navigation_alt; -// } - -// /* we risk an endless loop for missions without navigation waypoints, abort. */ -// break; - -// } else { -// if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size) -// wpm->current_active_wp_id++; -// } - -// } while (!(wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM)); - -// // Fly to next waypoint -// wpm->timestamp_firstinside_orbit = 0; -// mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); -// mavlink_wpm_send_setpoint(wpm->current_active_wp_id); -// wpm->waypoints[wpm->current_active_wp_id].current = true; -// wpm->pos_reached = false; -// wpm->yaw_reached = false; -// printf("Set new waypoint (%u)\n", wpm->current_active_wp_id); -// } -// } -// } - -// } else { -// wpm->timestamp_lastoutside_orbit = now; -// } - -// counter++; -// } - - -int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position, struct navigation_capabilities_s *nav_cap) +void mavlink_waypoint_eventloop(uint64_t now) { /* check for timed-out operations */ if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); -#else + mavlink_missionlib_send_gcs_string("Operation timeout"); - if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_state); + if (verbose) warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_state); -#endif wpm->current_state = MAVLINK_WPM_STATE_IDLE; - // wpm->current_count = 0; wpm->current_partner_sysid = 0; wpm->current_partner_compid = 0; - // wpm->current_wp_id = -1; - - // if (wpm->size == 0) { - // wpm->current_active_wp_id = -1; - // } } - - // check_waypoints_reached(now, global_position, local_position, nav_cap->turn_distance); - - return OK; } -void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos) +void mavlink_wpm_message_handler(const mavlink_message_t *msg) { - uint64_t now = mavlink_missionlib_get_system_timestamp(); + uint64_t now = hrt_absolute_time(); switch (msg->msgid) { - case MAVLINK_MSG_ID_MISSION_ACK: { + case MAVLINK_MSG_ID_MISSION_ACK: { mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); @@ -573,8 +371,6 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { if (wpm->current_wp_id == wpm->size - 1) { - // mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; wpm->current_wp_id = 0; } @@ -582,12 +378,13 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); + if (verbose) warnx("REJ. WP CMD: curr partner id mismatch"); } break; } - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { mavlink_mission_set_current_t wpc; mavlink_msg_mission_set_current_decode(msg, &wpc); @@ -596,52 +393,32 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { if (wpc.seq < wpm->size) { - // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); - // wpm->current_active_wp_id = wpc.seq; - // uint32_t i; - - // for (i = 0; i < wpm->size; i++) { - // if (i == wpm->current_active_wp_id) { - // wpm->waypoints[i].current = true; - - // } else { - // wpm->waypoints[i].current = false; - // } - // } - - // mavlink_missionlib_send_gcs_string("NEW WP SET"); - - // wpm->yaw_reached = false; - // wpm->pos_reached = false; - mission.current_index = wpc.seq; - publish_mission(); - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - - //mavlink_wpm_send_waypoint_current(wpc.seq); - // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - // wpm->timestamp_firstinside_orbit = 0; + mavlink_wpm_send_waypoint_current(wpc.seq); } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); + if (verbose) warnx("IGN WP CURR CMD: Not in list"); } } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); + if (verbose) warnx("IGN WP CURR CMD: Busy"); } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("REJ. WP CMD: target id mismatch"); } break; } - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { mavlink_mission_request_list_t wprl; mavlink_msg_mission_request_list_decode(msg, &wprl); @@ -650,532 +427,304 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { if (wpm->size > 0) { - //if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; wpm->current_wp_id = 0; wpm->current_partner_sysid = msg->sysid; wpm->current_partner_compid = msg->compid; } else { - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); + if (verbose) warnx("No waypoints send"); } wpm->current_count = wpm->size; mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); } else { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state); + mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); + if (verbose) warnx("IGN REQUEST LIST: Busy"); } } else { - // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); + mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); + if (verbose) warnx("REJ. REQUEST LIST: target id mismatch"); } break; } - case MAVLINK_MSG_ID_MISSION_REQUEST: { + case MAVLINK_MSG_ID_MISSION_REQUEST: { mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { wpm->timestamp_lastaction = now; - //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - if ((wpm->current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) { - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); -#else + if (wpr.seq >= wpm->size) { - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); + break; + } -#endif - } + /* + * Ensure that we are in the correct state and that the first request has id 0 + * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) + */ + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - -#endif - } - - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - -#endif - } - - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - wpm->current_wp_id = wpr.seq; - - mavlink_mission_item_t wp; - - struct mission_item_s mission_item; - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_current; - - if (wpm->current_dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + if (wpr.seq == 0) { + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); + if (verbose) warnx("REJ. WP CMD: First id != 0"); + break; } - if (dm_read(dm_current, wpr.seq, &mission_item, len) == len) { + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + + if (wpr.seq == wpm->current_wp_id) { + + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + + } else if (wpr.seq == wpm->current_wp_id + 1) { + + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - if (mission.current_index == wpr.seq) { - wp.current = true; - } else { - wp.current = false; - } - - map_mission_item_to_mavlink_mission_item(&mission_item, &wp); - mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, &wp); } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); + break; } } else { - // if (verbose) - { - if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state); - -#endif - break; - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (wpr.seq != 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); - -#endif - } - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); - -#endif - - } else if (wpr.seq >= wpm->size) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); - -#endif - } - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); - -#endif - } - } + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state); + break; } + wpm->current_wp_id = wpr.seq; + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + + if (wpr.seq < wpm->size) { + + mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id); + + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + if (verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq); + } + + } else { //we we're target but already communicating with someone else if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) { -#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid); - -#endif + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, wpm->current_partner_sysid); } else { -#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif + if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } - } - break; } - case MAVLINK_MSG_ID_MISSION_COUNT: { + case MAVLINK_MSG_ID_MISSION_COUNT: { mavlink_mission_count_t wpc; mavlink_msg_mission_count_decode(msg, &wpc); if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { wpm->timestamp_lastaction = now; - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) { -// printf("wpc count in: %d\n",wpc.count); -// printf("Comp id: %d\n",msg->compid); -// printf("Current partner sysid: %d\n",wpm->current_partner_sysid); + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - if (wpc.count > 0) { - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); - -#endif - } - - if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); - -#endif - } - - wpm->current_state = MAVLINK_WPM_STATE_GETLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - wpm->current_count = wpc.count; - - if (wpc.count > NUM_MISSIONS_SUPPORTED) { - warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); - } - -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); - -#endif - wpm->rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints_receive_buffer->back(); -// waypoints_receive_buffer->pop_back(); -// } - - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - - } else if (wpc.count == 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("COUNT 0"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); - -#endif - wpm->rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints->back(); -// waypoints->pop_back(); -// } - // wpm->current_active_wp_id = -1; - // wpm->yaw_reached = false; - // wpm->pos_reached = false; + if (wpc.count > NUM_MISSIONS_SUPPORTED) { + if (verbose) warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_NO_SPACE); break; - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CMD"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); - -#endif } + if (wpc.count == 0) { + mavlink_missionlib_send_gcs_string("COUNT 0"); + if (verbose) warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); + break; + } + + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); + + wpm->current_state = MAVLINK_WPM_STATE_GETLIST; + wpm->current_wp_id = 0; + wpm->current_partner_sysid = msg->sysid; + wpm->current_partner_compid = msg->compid; + wpm->current_count = wpc.count; + + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + + if (wpm->current_wp_id == 0) { + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id); + } } else { - if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state); - -#endif - - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id); - -#endif - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); - -#endif - } + mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); + if (verbose) warnx("IGN MISSION_COUNT CMD: Busy"); } - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif + mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } - } break; - case MAVLINK_MSG_ID_MISSION_ITEM: { + case MAVLINK_MSG_ID_MISSION_ITEM: { mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); - // mavlink_missionlib_send_gcs_string("GOT WP"); -// printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); -// printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); - -// if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { wpm->timestamp_lastaction = now; -// printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id); + /* + * ensure that we are in the correct state and that the first waypoint has id 0 + * and the following waypoints have the correct ids + */ -// wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO + if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids - if ((wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || - (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && - wp.seq < wpm->current_count)) { - //mavlink_missionlib_send_gcs_string("DEBUG 2"); + if (wp.seq != 0) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); + break; + } + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); -// - wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - // mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); - // memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); - - struct mission_item_s mission_item; - - int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); - - if (ret != OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; + if (wp.seq >= wpm->current_count) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); break; } - size_t len = sizeof(struct mission_item_s); - - dm_item_t dm_next; - - if (wpm->current_dataman_id == 0) { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; - mission.dataman_id = 1; - } else { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.dataman_id = 0; - } - - if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - - if (wp.current) { - mission.current_index = wp.seq; - } - - wpm->current_wp_id = wp.seq + 1; - - // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); -// printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); - -// printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); - if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - // mavlink_missionlib_send_gcs_string("GOT ALL WPS"); - // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); - - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); - - // if (wpm->current_active_wp_id > wpm->rcv_size - 1) { - // wpm->current_active_wp_id = wpm->rcv_size - 1; - // } - - // bool copy_error = false; - - // // switch the waypoints list - // // FIXME CHECK!!! - // uint32_t i; - - // for (i = 0; i < wpm->current_count; ++i) { - // wpm->waypoints[i] = wpm->rcv_waypoints[i]; - // if (map_mavlink_mission_item_to_mission_item(&wpm->rcv_waypoints[i], &mission.items[i]) != OK) { - // copy_error = true; - // } - - // } - // TODO: update count? - - - mission.count = wpm->current_count; - - publish_mission(); - - wpm->current_dataman_id = mission.dataman_id; - wpm->size = wpm->current_count; - - //get the new current waypoint - - // for (i = 0; i < wpm->size; i++) { - // if (wpm->waypoints[i].current == 1) { - // wpm->current_active_wp_id = i; - // //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); - // // wpm->yaw_reached = false; - // // wpm->pos_reached = false; - // mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); - // // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - // // wpm->timestamp_firstinside_orbit = 0; - // break; - // } - // } - - // if (i == wpm->size) { - // wpm->current_active_wp_id = -1; - // wpm->yaw_reached = false; - // wpm->pos_reached = false; - // wpm->timestamp_firstinside_orbit = 0; - // } - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - - } else { + if (wp.seq != wpm->current_wp_id) { + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, wpm->current_wp_id); mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + break; } + } + + wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; + + struct mission_item_s mission_item; + + int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); + + if (ret != OK) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret); + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } + + ssize_t len = sizeof(struct mission_item_s); + + dm_item_t dm_next; + + if (wpm->current_dataman_id == 0) { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; + mission.dataman_id = 1; + } else { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; + mission.dataman_id = 0; + } + + if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } + + if (wp.current) { + mission.current_index = wp.seq; + } + + wpm->current_wp_id = wp.seq + 1; + + if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + + if (verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count); + + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + + mission.count = wpm->current_count; + + publish_mission(); + + wpm->current_dataman_id = mission.dataman_id; + wpm->size = wpm->current_count; + + wpm->current_state = MAVLINK_WPM_STATE_IDLE; } else { - - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_INVALID_SEQUENCE); - - // if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - // //we're done receiving waypoints, answer with ack. - // mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); - // printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); - // } - -// // if (verbose) -// { -// if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state); -// break; - -// } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { -// if (!(wp.seq == 0)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); -// } else { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); -// } -// } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { -// if (!(wp.seq == wpm->current_wp_id)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id); -// mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - -// } else if (!(wp.seq < wpm->current_count)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); -// } else { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); -// } -// } else { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); -// } -// } + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); } + } else { - //we we're target but already communicating with someone else - if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid); - } else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); - } + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } break; } - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { mavlink_mission_clear_all_t wpca; mavlink_msg_mission_clear_all_decode(msg, &wpca); - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - wpm->timestamp_lastaction = now; + if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); - // Delete all waypoints - wpm->size = 0; - // wpm->current_active_wp_id = -1; - // wpm->yaw_reached = false; - // wpm->pos_reached = false; + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + wpm->timestamp_lastaction = now; - /* prepare mission topic */ - mission.dataman_id = -1; - mission.count = 0; - mission.current_index = -1; + wpm->size = 0; - if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + /* prepare mission topic */ + mission.dataman_id = -1; + mission.count = 0; + mission.current_index = -1; + publish_mission(); + + if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + } + + } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); + if (verbose) warnx("IGN WP CLEAR CMD: Busy"); } - publish_mission(); - } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state); - warnx("not cleared"); + + mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } break; } default: { - // if (debug) // printf("Waypoint: received message of unknown type"); + /* other messages might should get caught by mavlink and others */ break; } } - - // check_waypoints_reached(now, global_pos, local_pos); } diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index 801bc0bcf1..f8b58c7d92 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -46,19 +46,10 @@ or in the same folder as this source file */ #include - -// #ifndef MAVLINK_SEND_UART_BYTES -// #define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) -// #endif -//extern mavlink_system_t mavlink_system; #include "mavlink_bridge_header.h" #include -#include -#include -#include #include -// FIXME XXX - TO BE MOVED TO XML enum MAVLINK_WPM_STATES { MAVLINK_WPM_STATE_IDLE = 0, MAVLINK_WPM_STATE_SENDLIST, @@ -79,44 +70,24 @@ enum MAVLINK_WPM_CODES { }; -/* WAYPOINT MANAGER - MISSION LIB */ - -#define MAVLINK_WPM_MAX_WP_COUNT 15 -// #define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates -#ifndef MAVLINK_WPM_TEXT_FEEDBACK -#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text -#endif +#define MAVLINK_WPM_MAX_WP_COUNT 255 #define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds #define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint #define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 struct mavlink_wpm_storage { - mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints -// #ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE - // mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints -// #endif uint16_t size; uint16_t max_size; - uint16_t rcv_size; enum MAVLINK_WPM_STATES current_state; int16_t current_wp_id; ///< Waypoint in current transmission - // int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards uint16_t current_count; uint8_t current_partner_sysid; uint8_t current_partner_compid; uint64_t timestamp_lastaction; - // uint64_t timestamp_last_send_setpoint; - // uint64_t timestamp_firstinside_orbit; - // uint64_t timestamp_lastoutside_orbit; + uint64_t timestamp_last_send_setpoint; uint32_t timeout; int current_dataman_id; - // uint32_t delay_setpoint; - // float accept_range_yaw; - // float accept_range_distance; - // bool yaw_reached; - // bool pos_reached; - // bool idle; }; typedef struct mavlink_wpm_storage mavlink_wpm_storage; @@ -126,13 +97,16 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio void mavlink_wpm_init(mavlink_wpm_storage *state); -int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, - struct vehicle_local_position_s *local_pos, struct navigation_capabilities_s *nav_cap); -void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , - struct vehicle_local_position_s *local_pos); +void mavlink_waypoint_eventloop(uint64_t now); +void mavlink_wpm_message_handler(const mavlink_message_t *msg); extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, float param2, float param3, float param4, float param5_lat_x, float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); +static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; + +void mavlink_missionlib_send_message(mavlink_message_t *msg); +int mavlink_missionlib_send_gcs_string(const char *string); + #endif /* WAYPOINTS_H_ */ diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index dcdb234fa4..9b4250115d 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -91,7 +91,6 @@ struct mission_item_s float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ bool autocontinue; /**< true if next waypoint should follow after this one */ - int index; /**< index matching the mavlink waypoint */ enum ORIGIN origin; /**< where the waypoint has been generated */ }; From ea9efd75dd688c42a16667d199be08bdb1aacddf Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sun, 29 Dec 2013 14:50:49 +0100 Subject: [PATCH 21/24] Navigator: Small error message fix --- src/modules/navigator/navigator_main.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 37c2a0389f..0a0ee25414 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -977,9 +977,8 @@ Navigator::start_mission() mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index); } } else { - /* since a mission is not started without WPs available, this is not supposed to happen */ + /* since a mission is started without knowledge if there are more mission items available, this can fail */ _mission_item_triplet.current_valid = false; - warnx("ERROR: current WP can't be set"); } ret = _mission.get_next_mission_item(&_mission_item_triplet.next); @@ -1308,11 +1307,9 @@ bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const fabsf(a.nav_cmd - b.nav_cmd) < FLT_EPSILON && fabsf(a.radius - b.radius) < FLT_EPSILON && fabsf(a.time_inside - b.time_inside) < FLT_EPSILON && - fabsf(a.autocontinue - b.autocontinue) < FLT_EPSILON && - fabsf(a.index - b.index) < FLT_EPSILON) { + fabsf(a.autocontinue - b.autocontinue) < FLT_EPSILON) { return true; } else { - warnx("a.index %d, b.index %d", a.index, b.index); return false; } } From 70cc5413b43eaebc20ca5bda87dc8f66147b7501 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 29 Dec 2013 16:17:09 +0100 Subject: [PATCH 22/24] fw att controller: update parameter descriptions and default values --- .../fw_att_control/fw_att_control_params.c | 125 ++++++++++++------ 1 file changed, 87 insertions(+), 38 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 0b37f48bad..e129568bbe 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -38,68 +38,67 @@ f * Copyright (c) 2013 PX4 Development Team. All rights reserved. * Parameters defined by the fixed-wing attitude control task * * @author Lorenz Meier + * @author Thomas Gubler */ #include #include -//XXX resolve unclear naming of paramters: FW_P_P --> FW_PR_P /* * Controller parameters, accessible via MAVLink * */ -//xxx: update descriptions // @DisplayName Attitude Time Constant -// @Description This defines the latency between a step input and the achieved setpoint. Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. +// @Description This defines the latency between a step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. // @Range 0.4 to 1.0 seconds, in tens of seconds PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); -// @DisplayName Proportional gain. -// @Description This defines how much the elevator input will be commanded dependend on the current pitch error. +// @DisplayName Pitch rate proportional gain. +// @Description This defines how much the elevator input will be commanded depending on the current body angular rate error. // @Range 10 to 200, 1 increments -PARAM_DEFINE_FLOAT(FW_PR_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); // @DisplayName Damping gain. // @Description This gain damps the airframe pitch rate. In particular relevant for flying wings. // @Range 0.0 to 10.0, 0.1 increments PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove -// @DisplayName Integrator gain. +// @DisplayName Pitch rate integrator gain. // @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. // @Range 0 to 50.0 -PARAM_DEFINE_FLOAT(FW_PR_I, 0.05f); +PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f); // @DisplayName Maximum positive / up pitch rate. // @Description This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. // @Range 0 to 90.0 degrees per seconds, in 1 increments -PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f); +PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f); // @DisplayName Maximum negative / down pitch rate. // @Description This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. // @Range 0 to 90.0 degrees per seconds, in 1 increments -PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f); +PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f); -// @DisplayName Pitch Integrator Anti-Windup -// @Description This limits the range in degrees the integrator can wind up to. -// @Range 0.0 to 45.0 -// @Increment 1.0 +// @DisplayName Pitch rate integrator limit +// @Description The portion of the integrator part in the control surface deflection is limited to this value +// @Range 0.0 to 1 +// @Increment 0.1 PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); -// @DisplayName Roll feedforward gain. +// @DisplayName Roll to Pitch feedforward gain. // @Description This compensates during turns and ensures the nose stays level. // @Range 0.5 2.0 // @Increment 0.05 // @User User -PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 1.0f); +PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); -// @DisplayName Proportional Gain. -// @Description This gain controls the roll angle to roll actuator output. +// @DisplayName Roll rate proportional Gain. +// @Description This defines how much the aileron input will be commanded depending on the current body angular rate error. // @Range 10.0 200.0 // @Increment 10.0 // @User User -PARAM_DEFINE_FLOAT(FW_RR_P, 0.5f); +PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); // @DisplayName Damping Gain // @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence. @@ -108,37 +107,87 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.5f); // @User User PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove -// @DisplayName Integrator Gain -// @Description This gain controls the contribution of the integral to roll actuator outputs. It trims out steady state errors. +// @DisplayName Roll rate integrator Gain +// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. // @Range 0.0 100.0 // @Increment 5.0 // @User User -PARAM_DEFINE_FLOAT(FW_RR_I, 0.05f); +PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f); // @DisplayName Roll Integrator Anti-Windup -// @Description This limits the range in degrees the integrator can wind up to. -// @Range 0.0 to 45.0 -// @Increment 1.0 +// @Description The portion of the integrator part in the control surface deflection is limited to this value. +// @Range 0.0 to 1.0 +// @Increment 0.1 PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); // @DisplayName Maximum Roll Rate // @Description This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. // @Range 0 to 90.0 degrees per seconds // @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_R_RMAX, 60); +PARAM_DEFINE_FLOAT(FW_R_RMAX, 0); +// @DisplayName Yaw rate proportional gain. +// @Description This defines how much the rudder input will be commanded depending on the current body angular rate error. +// @Range 10 to 200, 1 increments +PARAM_DEFINE_FLOAT(FW_YR_P, 0.05); -PARAM_DEFINE_FLOAT(FW_YR_P, 0.5); -PARAM_DEFINE_FLOAT(FW_YR_I, 0.05); +// @DisplayName Yaw rate integrator gain. +// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. +// @Range 0 to 50.0 +PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); + +// @DisplayName Yaw rate integrator limit +// @Description The portion of the integrator part in the control surface deflection is limited to this value +// @Range 0.0 to 1 +// @Increment 0.1 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); -PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove -PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); -PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f); -PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f); -PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f); -PARAM_DEFINE_FLOAT(FW_Y_RMAX, 60); -PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1.0f); -PARAM_DEFINE_FLOAT(FW_RR_FF, 0.0f); -PARAM_DEFINE_FLOAT(FW_PR_FF, 0.0f); -PARAM_DEFINE_FLOAT(FW_YR_FF, 0.0f); +PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove +PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove + +// @DisplayName Maximum Yaw Rate +// @Description This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. +// @Range 0 to 90.0 degrees per seconds +// @Increment 1.0 +PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0); + +// @DisplayName Roll rate feed forward +// @Description Direct feed forward from rate setpoint to control surface output +// @Range 0 to 10 +// @Increment 0.1 +PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f); + +// @DisplayName Pitch rate feed forward +// @Description Direct feed forward from rate setpoint to control surface output +// @Range 0 to 10 +// @Increment 0.1 +PARAM_DEFINE_FLOAT(FW_PR_FF, 0.4f); + +// @DisplayName Yaw rate feed forward +// @Description Direct feed forward from rate setpoint to control surface output +// @Range 0 to 10 +// @Increment 0.1 +PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); + +// @DisplayName Minimal speed for yaw coordination +// @Description For airspeeds above this value the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. +// @Range 0 to 90.0 degrees per seconds +// @Increment 1.0 +PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f); + +/* Airspeed parameters: the following parameters about airspeed are used by the attitude and the positon controller */ + +// @DisplayName Minimum Airspeed +// @Description If the airspeed falls below this value the TECS controller will try to increase airspeed more aggressively +// @Range 0.0 to 30 +PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f); + +// @DisplayName Trim Airspeed +// @Description The TECS controller tries to fly at this airspeed +// @Range 0.0 to 30 +PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f); + +// @DisplayName Maximum Airspeed +// @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively +// @Range 0.0 to 30 +PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f); From 6a9423b428c78e4c2ea295544df50f5b1f0cd49d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 29 Dec 2013 16:35:52 +0100 Subject: [PATCH 23/24] fw att ctrl: remove renamed parameters --- src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 1 - src/lib/ecl/attitude_fw/ecl_pitch_controller.h | 4 ---- src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 1 - src/lib/ecl/attitude_fw/ecl_roll_controller.h | 5 ----- src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 1 - src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 5 ----- src/modules/fw_att_control/fw_att_control_main.cpp | 9 --------- src/modules/fw_att_control/fw_att_control_params.c | 13 ------------- 8 files changed, 39 deletions(-) diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index d7dbbebd42..882fac02b1 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -52,7 +52,6 @@ ECL_PitchController::ECL_PitchController() : _tc(0.1f), _k_p(0.0f), _k_i(0.0f), - _k_d(0.0f), _k_ff(0.0f), _integrator_max(0.0f), _max_rate_pos(0.0f), diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h index 2ca0490fdc..30a82a86a1 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h @@ -77,9 +77,6 @@ public: void set_k_i(float k_i) { _k_i = k_i; } - void set_k_d(float k_d) { - _k_d = k_d; - } void set_k_ff(float k_ff) { _k_ff = k_ff; @@ -119,7 +116,6 @@ private: float _tc; float _k_p; float _k_i; - float _k_d; float _k_ff; float _integrator_max; float _max_rate_pos; diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index bd6c9da712..9e7d35f680 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -52,7 +52,6 @@ ECL_RollController::ECL_RollController() : _tc(0.1f), _k_p(0.0f), _k_i(0.0f), - _k_d(0.0f), _k_ff(0.0f), _integrator_max(0.0f), _max_rate(0.0f), diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h index efc7b89441..92c64b95f5 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -80,10 +80,6 @@ public: _k_i = k_i; } - void set_k_d(float k_d) { - _k_d = k_d; - } - void set_k_ff(float k_ff) { _k_ff = k_ff; } @@ -113,7 +109,6 @@ private: float _tc; float _k_p; float _k_i; - float _k_d; float _k_ff; float _integrator_max; float _max_rate; diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 7c366aaf2d..15e2b0f71b 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -50,7 +50,6 @@ ECL_YawController::ECL_YawController() : _last_run(0), _k_p(0.0f), _k_i(0.0f), - _k_d(0.0f), _k_ff(0.0f), _integrator_max(0.0f), _max_rate(0.0f), diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index f15645fcf6..f61698c364 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -75,10 +75,6 @@ public: _k_i = k_i; } - void set_k_d(float k_d) { - _k_d = k_d; - } - void set_k_ff(float k_ff) { _k_ff = k_ff; } @@ -116,7 +112,6 @@ private: uint64_t _last_run; float _k_p; float _k_i; - float _k_d; float _k_ff; float _integrator_max; float _max_rate; diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 26777f737c..9d8b420acb 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -310,7 +310,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.tconst = param_find("FW_ATT_TC"); _parameter_handles.p_p = param_find("FW_PR_P"); - _parameter_handles.p_d = param_find("FW_PR_D"); _parameter_handles.p_i = param_find("FW_PR_I"); _parameter_handles.p_ff = param_find("FW_PR_FF"); _parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS"); @@ -319,7 +318,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF"); _parameter_handles.r_p = param_find("FW_RR_P"); - _parameter_handles.r_d = param_find("FW_RR_D"); _parameter_handles.r_i = param_find("FW_RR_I"); _parameter_handles.r_ff = param_find("FW_RR_FF"); _parameter_handles.r_integrator_max = param_find("FW_RR_IMAX"); @@ -327,7 +325,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.y_p = param_find("FW_YR_P"); _parameter_handles.y_i = param_find("FW_YR_I"); - _parameter_handles.y_d = param_find("FW_YR_D"); _parameter_handles.y_ff = param_find("FW_YR_FF"); _parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF"); _parameter_handles.y_integrator_max = param_find("FW_YR_IMAX"); @@ -374,7 +371,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.tconst, &(_parameters.tconst)); param_get(_parameter_handles.p_p, &(_parameters.p_p)); - param_get(_parameter_handles.p_d, &(_parameters.p_d)); param_get(_parameter_handles.p_i, &(_parameters.p_i)); param_get(_parameter_handles.p_ff, &(_parameters.p_ff)); param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos)); @@ -383,7 +379,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward)); param_get(_parameter_handles.r_p, &(_parameters.r_p)); - param_get(_parameter_handles.r_d, &(_parameters.r_d)); param_get(_parameter_handles.r_i, &(_parameters.r_i)); param_get(_parameter_handles.r_ff, &(_parameters.r_ff)); @@ -392,7 +387,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.y_p, &(_parameters.y_p)); param_get(_parameter_handles.y_i, &(_parameters.y_i)); - param_get(_parameter_handles.y_d, &(_parameters.y_d)); param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward)); param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max)); @@ -407,7 +401,6 @@ FixedwingAttitudeControl::parameters_update() _pitch_ctrl.set_time_constant(_parameters.tconst); _pitch_ctrl.set_k_p(_parameters.p_p); _pitch_ctrl.set_k_i(_parameters.p_i); - _pitch_ctrl.set_k_d(_parameters.p_d); _pitch_ctrl.set_k_ff(_parameters.p_ff); _pitch_ctrl.set_integrator_max(_parameters.p_integrator_max); _pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos)); @@ -418,7 +411,6 @@ FixedwingAttitudeControl::parameters_update() _roll_ctrl.set_time_constant(_parameters.tconst); _roll_ctrl.set_k_p(_parameters.r_p); _roll_ctrl.set_k_i(_parameters.r_i); - _roll_ctrl.set_k_d(_parameters.r_d); _roll_ctrl.set_k_ff(_parameters.r_ff); _roll_ctrl.set_integrator_max(_parameters.r_integrator_max); _roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax)); @@ -426,7 +418,6 @@ FixedwingAttitudeControl::parameters_update() /* yaw control parameters */ _yaw_ctrl.set_k_p(_parameters.y_p); _yaw_ctrl.set_k_i(_parameters.y_i); - _yaw_ctrl.set_k_d(_parameters.y_d); _yaw_ctrl.set_k_ff(_parameters.y_ff); _yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward); _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max); diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index e129568bbe..16227b62f4 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -60,11 +60,6 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); // @Range 10 to 200, 1 increments PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); -// @DisplayName Damping gain. -// @Description This gain damps the airframe pitch rate. In particular relevant for flying wings. -// @Range 0.0 to 10.0, 0.1 increments -PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove - // @DisplayName Pitch rate integrator gain. // @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. // @Range 0 to 50.0 @@ -100,13 +95,6 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); // @User User PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); -// @DisplayName Damping Gain -// @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence. -// @Range 0.0 10.0 -// @Increment 1.0 -// @User User -PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove - // @DisplayName Roll rate integrator Gain // @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. // @Range 0.0 100.0 @@ -142,7 +130,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); // @Increment 0.1 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); -PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove // @DisplayName Maximum Yaw Rate From 95bdc1a9bd364ce95abe06b097579cc8a9162e33 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 29 Dec 2013 16:42:31 +0100 Subject: [PATCH 24/24] fw att ctrl: removed unused parameter --- src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 1 + src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 1 - src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 4 ---- src/modules/fw_att_control/fw_att_control_main.cpp | 3 --- src/modules/fw_att_control/fw_att_control_params.c | 4 +--- 5 files changed, 2 insertions(+), 11 deletions(-) diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index 882fac02b1..b66d1dba53 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -90,6 +90,7 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl } /* calculate the offset in the rate resulting from rolling */ + //xxx needs explanation and conversion to body angular rates or should be removed float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) * tanf(roll) * sinf(roll)) * _roll_ff; if (inverted) diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 15e2b0f71b..5e22007277 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -53,7 +53,6 @@ ECL_YawController::ECL_YawController() : _k_ff(0.0f), _integrator_max(0.0f), _max_rate(0.0f), - _roll_ff(0.0f), _last_output(0.0f), _integrator(0.0f), _rate_error(0.0f), diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index f61698c364..03f3202d03 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -87,10 +87,6 @@ public: _max_rate = max_rate; } - void set_k_roll_ff(float roll_ff) { - _roll_ff = roll_ff; - } - void set_coordinated_min_speed(float coordinated_min_speed) { _coordinated_min_speed = coordinated_min_speed; } diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 9d8b420acb..df9d325b35 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -326,7 +326,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.y_p = param_find("FW_YR_P"); _parameter_handles.y_i = param_find("FW_YR_I"); _parameter_handles.y_ff = param_find("FW_YR_FF"); - _parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF"); _parameter_handles.y_integrator_max = param_find("FW_YR_IMAX"); _parameter_handles.y_rmax = param_find("FW_Y_RMAX"); @@ -388,7 +387,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.y_p, &(_parameters.y_p)); param_get(_parameter_handles.y_i, &(_parameters.y_i)); param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); - param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward)); param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max)); param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed)); param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax)); @@ -419,7 +417,6 @@ FixedwingAttitudeControl::parameters_update() _yaw_ctrl.set_k_p(_parameters.y_p); _yaw_ctrl.set_k_i(_parameters.y_i); _yaw_ctrl.set_k_ff(_parameters.y_ff); - _yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward); _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max); _yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed); _yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax)); diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 16227b62f4..1c615094c7 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -86,7 +86,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); // @Range 0.5 2.0 // @Increment 0.05 // @User User -PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...) // @DisplayName Roll rate proportional Gain. // @Description This defines how much the aileron input will be commanded depending on the current body angular rate error. @@ -130,8 +130,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); // @Increment 0.1 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); -PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove - // @DisplayName Maximum Yaw Rate // @Description This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. // @Range 0 to 90.0 degrees per seconds