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commander cleanup home position handling

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This commit is contained in:
Daniel Agar
2018-11-25 21:00:51 +00:00
committed by Nuno Marques
parent f387fe7e65
commit d4f713b286
3 changed files with 119 additions and 149 deletions
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src/modules/commander/Commander.hpp
+15 -7
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@@ -37,16 +37,16 @@
#include "state_machine_helper.h"
#include "failure_detector/FailureDetector.hpp"
#include <controllib/blocks.hpp>
#include <lib/controllib/blocks.hpp>
#include <lib/mathlib/mathlib.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <mathlib/mathlib.h>
#include <systemlib/hysteresis/hysteresis.h>
// publications
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
@@ -56,6 +56,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_command.h>
@@ -72,6 +73,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
{
public:
Commander();
~Commander();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
@@ -132,10 +134,11 @@ private:
FailureDetector _failure_detector;
bool _failure_detector_termination_printed{false};
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd,
actuator_armed_s *armed, home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
orb_advert_t *command_ack_pub, bool *changed);
bool set_home_position(orb_advert_t &homePub, home_position_s &home, bool set_alt_only_to_lpos_ref);
bool set_home_position();
bool set_home_position_alt_only();
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
@@ -146,7 +149,8 @@ private:
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out, bool *changed);
void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
bool *changed);
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
@@ -192,6 +196,10 @@ private:
Subscription<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
Subscription<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
Subscription<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
Publication<home_position_s> _home_pub{ORB_ID(home_position)};
orb_advert_t _status_pub{nullptr};
};
#endif /* COMMANDER_HPP_ */