mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 07:03:35 +08:00
Merge commit '95bdc1a9bd364ce95abe06b097579cc8a9162e33' into navigator_new_vector
This commit is contained in:
Anton Babushkin
@@ -69,7 +69,6 @@
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_armed.h>
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@@ -194,7 +193,7 @@ void usage(const char *reason);
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/**
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* React to commands that are sent e.g. from the mavlink module.
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*/
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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);
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void handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed);
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/**
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* Mainloop of commander.
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@@ -215,8 +214,6 @@ void print_reject_arm(const char *msg);
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void print_status();
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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);
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/**
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* Loop that runs at a lower rate and priority for calibration and parameter tasks.
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*/
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@@ -346,13 +343,12 @@ void print_status()
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warnx("arming: %s", armed_str);
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}
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static orb_advert_t control_mode_pub;
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static orb_advert_t status_pub;
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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)
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void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
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{
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/* result of the command */
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uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
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enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED;
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/* only handle high-priority commands here */
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@@ -365,12 +361,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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/* set HIL state */
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hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF;
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int hil_ret = hil_state_transition(new_hil_state, status_pub, status, control_mode_pub, control_mode, mavlink_fd);
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int hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd);
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/* if HIL got enabled, reset battery status state */
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if (hil_ret == OK && control_mode->flag_system_hil_enabled) {
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if (hil_ret == OK && status->hil_state == HIL_STATE_ON) {
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/* reset the arming mode to disarmed */
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arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_STANDBY, armed);
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arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed);
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if (arming_res != TRANSITION_DENIED) {
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mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby");
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@@ -386,12 +382,12 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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arming_res = TRANSITION_NOT_CHANGED;
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if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
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if ((safety->safety_switch_available && !safety->safety_off) && !control_mode->flag_system_hil_enabled) {
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if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) {
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print_reject_arm("NOT ARMING: Press safety switch first.");
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arming_res = TRANSITION_DENIED;
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} else {
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arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed);
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arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
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}
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if (arming_res == TRANSITION_CHANGED) {
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@@ -401,7 +397,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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} else {
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if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) {
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arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
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arming_res = arming_state_transition(status, safety, control_mode, new_arming_state, armed);
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arming_res = arming_state_transition(status, safety, new_arming_state, armed);
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if (arming_res == TRANSITION_CHANGED) {
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mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command");
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@@ -462,29 +458,6 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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break;
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}
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case VEHICLE_CMD_NAV_TAKEOFF: {
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if (armed->armed) {
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transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
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if (nav_res == TRANSITION_CHANGED) {
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mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command");
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}
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if (nav_res != TRANSITION_DENIED) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
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}
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} else {
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/* reject TAKEOFF not armed */
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result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
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}
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break;
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}
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case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
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transition_result_t arming_res = TRANSITION_NOT_CHANGED;
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@@ -494,7 +467,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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arming_res = TRANSITION_DENIED;
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} else {
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arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed);
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arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
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}
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if (arming_res == TRANSITION_CHANGED) {
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@@ -513,7 +486,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
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if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
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transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON, control_mode);
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transition_result_t flighttermination_res = flighttermination_state_transition(status, FLIGHTTERMINATION_STATE_ON);
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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@@ -524,29 +497,22 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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}
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break;
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case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
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case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
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case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
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case VEHICLE_CMD_PREFLIGHT_STORAGE:
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/* ignore commands that handled in low prio loop */
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break;
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default:
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/* warn about unsupported commands */
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answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
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break;
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}
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/* supported command handling stop */
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if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
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tune_positive();
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} else if (result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
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/* we do not care in the high prio loop about commands we don't know */
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} else {
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tune_negative();
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if (result == VEHICLE_CMD_RESULT_DENIED) {
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mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd->command);
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} else if (result == VEHICLE_CMD_RESULT_FAILED) {
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mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd->command);
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} else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) {
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mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command);
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}
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if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
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/* already warned about unsupported commands in "default" case */
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answer_command(*cmd, result);
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}
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/* send any requested ACKs */
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@@ -564,9 +530,6 @@ static struct actuator_armed_s armed;
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static struct safety_s safety;
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/* flags for control apps */
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struct vehicle_control_mode_s control_mode;
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int commander_thread_main(int argc, char *argv[])
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{
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/* not yet initialized */
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@@ -609,11 +572,9 @@ int commander_thread_main(int argc, char *argv[])
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/* Initialize armed with all false */
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memset(&armed, 0, sizeof(armed));
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/* Initialize all flags to false */
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memset(&control_mode, 0, sizeof(control_mode));
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status.main_state = MAIN_STATE_MANUAL;
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status.navigation_state = NAVIGATION_STATE_DIRECT;
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status.set_nav_state = NAV_STATE_INIT;
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status.set_nav_state_timestamp = 0;
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status.arming_state = ARMING_STATE_INIT;
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status.hil_state = HIL_STATE_OFF;
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@@ -625,9 +586,6 @@ int commander_thread_main(int argc, char *argv[])
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status.rc_signal_lost = true;
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status.offboard_control_signal_lost = true;
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/* allow manual override initially */
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control_mode.flag_external_manual_override_ok = true;
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/* set battery warning flag */
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status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
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status.condition_battery_voltage_valid = false;
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@@ -635,9 +593,6 @@ int commander_thread_main(int argc, char *argv[])
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// XXX for now just set sensors as initialized
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status.condition_system_sensors_initialized = true;
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// XXX just disable offboard control for now
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control_mode.flag_control_offboard_enabled = false;
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/* advertise to ORB */
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status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
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/* publish current state machine */
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@@ -649,8 +604,6 @@ int commander_thread_main(int argc, char *argv[])
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armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
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control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);
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/* home position */
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orb_advert_t home_pub = -1;
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struct home_position_s home;
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@@ -803,11 +756,9 @@ int commander_thread_main(int argc, char *argv[])
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status.system_type == VEHICLE_TYPE_QUADROTOR ||
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status.system_type == VEHICLE_TYPE_HEXAROTOR ||
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status.system_type == VEHICLE_TYPE_OCTOROTOR) {
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control_mode.flag_external_manual_override_ok = false;
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status.is_rotary_wing = true;
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} else {
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control_mode.flag_external_manual_override_ok = true;
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status.is_rotary_wing = false;
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}
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@@ -859,7 +810,7 @@ int commander_thread_main(int argc, char *argv[])
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// XXX this would be the right approach to do it, but do we *WANT* this?
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// /* disarm if safety is now on and still armed */
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// if (safety.safety_switch_available && !safety.safety_off) {
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// (void)arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
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// (void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
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// }
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}
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@@ -990,10 +941,10 @@ int commander_thread_main(int argc, char *argv[])
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battery_tune_played = false;
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if (armed.armed) {
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arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed);
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arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
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} else {
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arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed);
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arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
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}
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status_changed = true;
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@@ -1012,7 +963,7 @@ int commander_thread_main(int argc, char *argv[])
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/* If in INIT state, try to proceed to STANDBY state */
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if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
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// XXX check for sensors
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arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
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arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
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} else {
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// XXX: Add emergency stuff if sensors are lost
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@@ -1102,15 +1053,13 @@ int commander_thread_main(int argc, char *argv[])
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* do it only for rotary wings */
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if (status.is_rotary_wing &&
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(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
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(status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY ||
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(status.condition_landed && (
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status.navigation_state == NAVIGATION_STATE_ALTHOLD ||
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status.navigation_state == NAVIGATION_STATE_VECTOR
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))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
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(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
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sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
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if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
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/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
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arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
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res = arming_state_transition(&status, &safety, &control_mode, new_arming_state, &armed);
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res = arming_state_transition(&status, &safety, new_arming_state, &armed);
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stick_off_counter = 0;
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} else {
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@@ -1132,7 +1081,7 @@ int commander_thread_main(int argc, char *argv[])
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print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
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} else {
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res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED, &armed);
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res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
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}
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stick_on_counter = 0;
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@@ -1185,12 +1134,12 @@ int commander_thread_main(int argc, char *argv[])
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/* Flight termination in manual mode if assisted switch is on easy position //xxx hack! */
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if (armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
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transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON, &control_mode);
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transition_result_t flighttermination_res = flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_ON);
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if (flighttermination_res == TRANSITION_CHANGED) {
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tune_positive();
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}
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} else {
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flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF, &control_mode);
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flighttermination_state_transition(&status, FLIGHTTERMINATION_STATE_OFF);
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}
|
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@@ -1202,32 +1151,18 @@ int commander_thread_main(int argc, char *argv[])
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orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
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/* handle it */
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handle_command(&status, &safety, &control_mode, &cmd, &armed);
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}
|
||||
|
||||
/* evaluate the navigation state machine */
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transition_result_t res = check_navigation_state_machine(&status, &control_mode, &local_position);
|
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|
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if (res == TRANSITION_DENIED) {
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/* DENIED here indicates bug in the commander */
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warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state);
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mavlink_log_critical(mavlink_fd, "#audio: ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state);
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handle_command(&status, &safety, &cmd, &armed);
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}
|
||||
|
||||
/* check which state machines for changes, clear "changed" flag */
|
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bool arming_state_changed = check_arming_state_changed();
|
||||
bool main_state_changed = check_main_state_changed();
|
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bool navigation_state_changed = check_navigation_state_changed();
|
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bool flighttermination_state_changed = check_flighttermination_state_changed();
|
||||
|
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hrt_abstime t1 = hrt_absolute_time();
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|
||||
if (navigation_state_changed || arming_state_changed) {
|
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control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic
|
||||
}
|
||||
|
||||
if (arming_state_changed || main_state_changed || navigation_state_changed) {
|
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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;
|
||||
}
|
||||
|
||||
|
||||
@@ -46,7 +46,6 @@
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
@@ -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;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -48,7 +48,6 @@
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <uORB/topics/safety.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
|
||||
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_ */
|
||||
|
||||
Reference in New Issue
Block a user