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Merge pull request #1657 from Zefz/commander-home-pos-cleanup

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Commander home pos cleanup
This commit is contained in:
Lorenz Meier
2015-01-17 18:39:45 +01:00
parent fb730bacd2 9ecadcd9b4
commit d27456b937
1 changed files with 84 additions and 74 deletions
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src/modules/commander/commander.cpp
+84 -74
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@@ -240,6 +240,13 @@ transition_result_t check_navigation_state_machine(struct vehicle_status_s *stat
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy);
/**
* @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each
* time the vehicle is armed with a good GPS fix.
**/
static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home,
const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition);
/**
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
*/
@@ -560,7 +567,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
/* Flight termination */
/* Flight termination */
case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 0.5f) {
//XXX update state machine?
@@ -716,6 +723,53 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
return true;
}
/**
* @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each
* time the vehicle is armed with a good GPS fix.
**/
static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home,
const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition)
{
//Need global position fix to be able to set home
if (!status.condition_global_position_valid) {
return;
}
//Ensure that the GPS accuracy is good enough for intializing home
if (globalPosition.eph > eph_threshold || globalPosition.epv > epv_threshold) {
return;
}
//Set home position
home.timestamp = hrt_absolute_time();
home.lat = globalPosition.lat;
home.lon = globalPosition.lon;
home.alt = globalPosition.alt;
home.x = localPosition.x;
home.y = localPosition.y;
home.z = localPosition.z;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (homePub > 0) {
orb_publish(ORB_ID(home_position), homePub, &home);
} else {
homePub = orb_advertise(ORB_ID(home_position), &home);
}
//Play tune first time we initialize HOME
if (!status.condition_home_position_valid) {
tune_positive(true);
}
/* mark home position as set */
status.condition_home_position_valid = true;
}
int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */
@@ -904,7 +958,6 @@ int commander_thread_main(int argc, char *argv[])
bool critical_battery_voltage_actions_done = false;
hrt_abstime last_idle_time = 0;
hrt_abstime start_time = 0;
bool status_changed = true;
bool param_init_forced = true;
@@ -1035,7 +1088,7 @@ int commander_thread_main(int argc, char *argv[])
commander_initialized = true;
thread_running = true;
start_time = hrt_absolute_time();
const hrt_abstime commander_boot_timestamp = hrt_absolute_time();
transition_result_t arming_ret;
@@ -1096,8 +1149,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* set vehicle_status.is_vtol flag */
status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
@@ -1259,12 +1312,12 @@ int commander_thread_main(int argc, char *argv[])
}
//Notify the user if the status of the safety switch changes
if(safety.safety_switch_available && previous_safety_off != safety.safety_off) {
if (safety.safety_switch_available && previous_safety_off != safety.safety_off) {
if(safety.safety_off) {
if (safety.safety_off) {
set_tune(TONE_NOTIFY_POSITIVE_TUNE);
}
else {
} else {
tune_neutral(true);
}
@@ -1279,6 +1332,7 @@ int commander_thread_main(int argc, char *argv[])
/* vtol status changed */
orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
/* Make sure that this is only adjusted if vehicle realy is of type vtol*/
if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) {
status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
@@ -1325,34 +1379,6 @@ int commander_thread_main(int argc, char *argv[])
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid),
&status_changed);
/* update home position */
if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
(global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
home.lat = global_position.lat;
home.lon = global_position.lon;
home.alt = global_position.alt;
home.x = local_position.x;
home.y = local_position.y;
home.z = local_position.z;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (home_pub > 0) {
orb_publish(ORB_ID(home_position), home_pub, &home);
} else {
home_pub = orb_advertise(ORB_ID(home_position), &home);
}
/* mark home position as set */
status.condition_home_position_valid = true;
tune_positive(true);
}
/* update condition_local_position_valid and condition_local_altitude_valid */
/* hysteresis for EPH */
bool local_eph_good;
@@ -1401,7 +1427,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
/* only consider battery voltage if system has been running 2s and battery voltage is valid */
if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
if (hrt_absolute_time() > commander_boot_timestamp + 2000000 && battery.voltage_filtered_v > 0.0f) {
status.battery_voltage = battery.voltage_filtered_v;
status.battery_current = battery.current_a;
status.condition_battery_voltage_valid = true;
@@ -1609,7 +1635,8 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000);
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",
(hrt_absolute_time() - status.rc_signal_lost_timestamp) / 1000);
status_changed = true;
}
}
@@ -1710,9 +1737,9 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000);
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)", hrt_absolute_time() / 1000);
status.rc_signal_lost = true;
status.rc_signal_lost_timestamp=sp_man.timestamp;
status.rc_signal_lost_timestamp = sp_man.timestamp;
status_changed = true;
}
}
@@ -1859,44 +1886,23 @@ int commander_thread_main(int argc, char *argv[])
}
}
//Get current timestamp
const hrt_abstime now = hrt_absolute_time();
//First time home position update
if (!status.condition_home_position_valid) {
commander_set_home_position(home_pub, home, local_position, global_position);
}
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
else if (arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) {
commander_set_home_position(home_pub, home, local_position, global_position);
}
/* print new state */
if (arming_state_changed) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]);
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
(global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
// TODO remove code duplication (setting home is also done somewhere else in this file)
home.timestamp = now;
home.lat = global_position.lat;
home.lon = global_position.lon;
home.alt = global_position.alt;
home.x = local_position.x;
home.y = local_position.y;
home.z = local_position.z;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (home_pub > 0) {
orb_publish(ORB_ID(home_position), home_pub, &home);
} else {
home_pub = orb_advertise(ORB_ID(home_position), &home);
}
/* mark home position as set */
status.condition_home_position_valid = true;
}
arming_state_changed = false;
}
@@ -1917,11 +1923,14 @@ int commander_thread_main(int argc, char *argv[])
if (status.failsafe != failsafe_old) {
status_changed = true;
if (status.failsafe) {
mavlink_log_critical(mavlink_fd, "failsafe mode on");
} else {
mavlink_log_critical(mavlink_fd, "failsafe mode off");
}
failsafe_old = status.failsafe;
}
@@ -1967,7 +1976,7 @@ int commander_thread_main(int argc, char *argv[])
if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
//Notify the user that it is safe to approach the vehicle
if(arm_tune_played) {
if (arm_tune_played) {
tune_neutral(true);
}
@@ -2434,6 +2443,7 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
break;
default:
@@ -2472,7 +2482,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
{
switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED:
tune_positive(true);
tune_positive(true);
break;
case VEHICLE_CMD_RESULT_DENIED: