navigator: add skeleton of FW engine failure mode

src/modules/navigator/datalinkloss.h

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 /**
- * @file datalinkloss.cpp
+ * @file datalinkloss.h
  * Helper class for Data Link Loss Mode acording to the OBC rules
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>

src/modules/navigator/enginefailure.cpp

@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 enginefailure.cpp
+ * Helper class for a fixedwing engine failure mode
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+
+#include "navigator.h"
+#include "enginefailure.h"
+
+#define DELAY_SIGMA	0.01f
+
+EngineFailure::EngineFailure(Navigator *navigator, const char *name) :
+	MissionBlock(navigator, name),
+	_ef_state(EF_STATE_NONE)
+{
+	/* load initial params */
+	updateParams();
+	/* initial reset */
+	on_inactive();
+}
+
+EngineFailure::~EngineFailure()
+{
+}
+
+void
+EngineFailure::on_inactive()
+{
+	_ef_state = EF_STATE_NONE;
+}
+
+void
+EngineFailure::on_activation()
+{
+	_ef_state = EF_STATE_LOITERDOWN;
+	set_ef_item();
+}
+
+void
+EngineFailure::on_active()
+{
+	if (is_mission_item_reached()) {
+		advance_ef();
+		set_ef_item();
+	}
+}
+
+void
+EngineFailure::set_ef_item()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	/* make sure we have the latest params */
+	updateParams();
+
+	set_previous_pos_setpoint();
+	_navigator->set_can_loiter_at_sp(false);
+
+	switch (_ef_state) {
+	case EF_STATE_LOITERDOWN: {
+		//XXX create mission item at ground (below?) here
+
+		//_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
+		//_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
+		//_mission_item.altitude_is_relative = false;
+		//_mission_item.altitude = _param_airfieldhomealt.get();
+		//_mission_item.yaw = NAN;
+		//_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		//_mission_item.loiter_direction = 1;
+		//_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+		//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		//_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
+		//_mission_item.pitch_min = 0.0f;
+		//_mission_item.autocontinue = true;
+		//_mission_item.origin = ORIGIN_ONBOARD;
+
+		//_navigator->set_can_loiter_at_sp(true);
+		break;
+	}
+	default:
+		break;
+	}
+
+	reset_mission_item_reached();
+
+	/* convert mission item to current position setpoint and make it valid */
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	pos_sp_triplet->next.valid = false;
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+void
+EngineFailure::advance_ef()
+{
+	switch (_ef_state) {
+	case EF_STATE_NONE:
+		_ef_state = EF_STATE_LOITERDOWN;
+		break;
+	default:
+		break;
+	}
+}

src/modules/navigator/enginefailure.h

@@ -0,0 +1,83 @@
+/***************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 enginefailure.h
+ * Helper class for a fixedwing engine failure mode
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef NAVIGATOR_ENGINEFAILURE_H
+#define NAVIGATOR_ENGINEFAILURE_H
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <uORB/Subscription.hpp>
+
+#include "navigator_mode.h"
+#include "mission_block.h"
+
+class Navigator;
+
+class EngineFailure : public MissionBlock
+{
+public:
+	EngineFailure(Navigator *navigator, const char *name);
+
+	~EngineFailure();
+
+	virtual void on_inactive();
+
+	virtual void on_activation();
+
+	virtual void on_active();
+
+private:
+	enum EFState {
+		EF_STATE_NONE = 0,
+		EF_STATE_LOITERDOWN = 1,
+	} _ef_state;
+
+	/**
+	 * Set the DLL item
+	 */
+	void		set_ef_item();
+
+	/**
+	 * Move to next EF item
+	 */
+	void		advance_ef();
+
+};
+#endif

src/modules/navigator/module.mk

@@ -51,6 +51,7 @@ SRCS		= navigator_main.cpp \
 		  geofence.cpp \
 		  geofence_params.c \
 		  datalinkloss.cpp \
+		  enginefailure.cpp \
 		  datalinkloss_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/navigator/navigator.h

@@ -60,6 +60,7 @@
 #include "rtl.h"
 #include "offboard.h"
 #include "datalinkloss.h"
+#include "enginefailure.h"
 #include "geofence.h"
 
 /**
@@ -179,6 +180,8 @@ private:
 	RTL 		_rtl;				/**< class that handles RTL */
 	Offboard	_offboard;			/**< class that handles offboard */
 	DataLinkLoss	_dataLinkLoss;			/**< class that handles the OBC datalink loss mode */
+	EngineFailure	_engineFailure;			/**< class that handles the engine failure mode
+							  (FW only!) */
 
 	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
 

src/modules/navigator/navigator_main.cpp

@@ -129,6 +129,7 @@ Navigator::Navigator() :
 	_rtl(this, "RTL"),
 	_offboard(this, "OFF"),
 	_dataLinkLoss(this, "DLL"),
+	_engineFailure(this, "EF"),
 	_can_loiter_at_sp(false),
 	_pos_sp_triplet_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),