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cammander: state machine can now deny current state (e.g. when position lock lost during EASY mode), added FAILSAFE_STATE_LAND

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This commit is contained in:
Anton Babushkin
2014-01-26 11:50:34 +01:00
parent 062b64a1e2
commit c7f0553938
5 changed files with 148 additions and 52 deletions
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src/modules/navigator/navigator_main.cpp
+57 -1
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@@ -216,6 +216,7 @@ private:
EVENT_LOITER_REQUESTED,
EVENT_MISSION_REQUESTED,
EVENT_RTL_REQUESTED,
EVENT_LAND_REQUESTED,
EVENT_MISSION_CHANGED,
EVENT_HOME_POSITION_CHANGED,
MAX_EVENT
@@ -292,7 +293,7 @@ private:
void start_loiter();
void start_mission();
void start_rtl();
void finish_rtl();
void start_land();
/**
* Guards offboard mission
@@ -733,6 +734,12 @@ Navigator::task_main()
dispatch(EVENT_RTL_REQUESTED);
}
} else if (_vstatus.failsafe_state == FAILSAFE_STATE_LAND) {
/* LAND on failsafe */
if (myState != NAV_STATE_READY) {
dispatch(EVENT_LAND_REQUESTED);
}
} else {
/* shouldn't act */
dispatch(EVENT_NONE_REQUESTED);
@@ -892,6 +899,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
/* 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_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_NONE},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_NONE},
},
@@ -902,6 +910,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
/* EVENT_LOITER_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_REQUESTED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_RTL_REQUESTED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
/* EVENT_LAND_REQUESTED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_READY},
},
@@ -912,6 +921,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
/* 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_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_LOITER},
},
@@ -922,6 +932,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
/* 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_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
/* EVENT_HOME_POSITION_CHANGED */ {NO_ACTION, NAV_STATE_MISSION},
},
@@ -932,9 +943,21 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
/* 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_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL},
/* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL}, // TODO need to reset rtl_state
},
{
/* STATE_LAND */
/* EVENT_NONE_REQUESTED */ {ACTION(&Navigator::start_none), NAV_STATE_NONE},
/* EVENT_READY_REQUESTED */ {ACTION(&Navigator::start_ready), NAV_STATE_READY},
/* 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_LAND_REQUESTED */ {ACTION(&Navigator::start_land), NAV_STATE_LAND},
/* EVENT_MISSION_CHANGED */ {NO_ACTION, NAV_STATE_RTL},
/* EVENT_HOME_POSITION_CHANGED */ {ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
},
};
void
@@ -1142,6 +1165,27 @@ Navigator::start_rtl()
set_rtl_item();
}
void
Navigator::start_land()
{
_do_takeoff = false;
_reset_loiter_pos = true;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet.current.valid = true;
_pos_sp_triplet.current.type = SETPOINT_TYPE_LAND;
_pos_sp_triplet.current.lat = _global_pos.lat;
_pos_sp_triplet.current.lon = _global_pos.lon;
_pos_sp_triplet.current.alt = _global_pos.alt;
_pos_sp_triplet.current.loiter_direction = 1;
_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
_pos_sp_triplet.current.yaw = NAN;
mavlink_log_info(_mavlink_fd, "[navigator] LAND started");
}
void
Navigator::set_rtl_item()
{
@@ -1508,9 +1552,21 @@ Navigator::publish_control_mode()
navigator_enabled = true;
break;
case FAILSAFE_STATE_LAND:
/* land with or without position control */
_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 = _vstatus.condition_global_position_valid;
_control_mode.flag_control_velocity_enabled = _vstatus.condition_global_position_valid;
_control_mode.flag_control_altitude_enabled = true;
_control_mode.flag_control_climb_rate_enabled = true;
break;
case FAILSAFE_STATE_TERMINATION:
navigator_enabled = true;
/* disable all controllers on termination */
_control_mode.flag_control_manual_enabled = false;
_control_mode.flag_control_rates_enabled = false;
_control_mode.flag_control_attitude_enabled = false;
_control_mode.flag_control_position_enabled = false;