VTOL transition failsafe RTL

msg/vehicle_status.msg

@@ -150,6 +150,8 @@ bool data_link_lost_cmd				# datalink to GCS lost mode commanded
 uint8 data_link_lost_counter			# counts unique data link lost events
 bool engine_failure				# Set to true if an engine failure is detected
 bool engine_failure_cmd				# Set to true if an engine failure mode is commanded
+bool vtol_transition_failure		# Set to true if vtol transition failed
+bool vtol_transition_failure_cmd	# Set to true if vtol transition failure mode is commanded
 bool gps_failure				# Set to true if a gps failure is detected
 bool gps_failure_cmd				# Set to true if a gps failure mode is commanded
 

msg/vtol_vehicle_status.msg

@@ -1,5 +1,6 @@
-uint64 timestamp		# Microseconds since system boot
-bool vtol_in_rw_mode		# true: vtol vehicle is in rotating wing mode
+uint64 timestamp				# Microseconds since system boot
+bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
-bool fw_permanent_stab		# In fw mode stabilize attitude even if in manual mode
-float32 airspeed_tot		# Estimated airspeed over control surfaces
+bool vtol_transition_failsafe	# vtol in transition failsafe mode
+bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
+float32 airspeed_tot			# Estimated airspeed over control surfaces

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 0a9f7e58dbb5708fc894a865376ede6cbb675fd4
+Subproject commit b21a49b3f9b7267663fd79a92f50c2db78eae762

src/modules/commander/commander.cpp

@@ -35,11 +35,12 @@
  * @file commander.cpp
  * Main fail-safe handling.
  *
- * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- * @author Lorenz Meier <lorenz@px4.io>
- * @author Thomas Gubler <thomas@px4.io>
- * @author Julian Oes <julian@px4.io>
- * @author Anton Babushkin <anton@px4.io>
+ * @author Petri Tanskanen	<petri.tanskanen@inf.ethz.ch>
+ * @author Lorenz Meier		<lorenz@px4.io>
+ * @author Thomas Gubler	<thomas@px4.io>
+ * @author Julian Oes		<julian@px4.io>
+ * @author Anton Babushkin	<anton@px4.io>
+ * @author Sander Smeets	<sander@droneslab.com>
  */
 
 #include <px4_config.h>
@@ -796,6 +797,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 			status_local->data_link_lost_cmd = false;
 			status_local->gps_failure_cmd = false;
 			status_local->rc_signal_lost_cmd = false;
+			status_local->vtol_transition_failure_cmd = false;
 
 			if ((int)cmd->param2 <= 0) {
 				/* reset all commanded failure modes */
@@ -820,8 +822,15 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				/* trigger rc loss mode */
 				status_local->rc_signal_lost_cmd = true;
 				warnx("rc loss mode commanded");
+
+			} else if ((int)cmd->param2 == 5) {
+				/* trigger vtol transition failure mode */
+				status_local->vtol_transition_failure_cmd = true;
+				warnx("vtol transition failure mode commanded");
 			}
 
+
+
 			cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 		}
 		break;
@@ -1718,6 +1727,8 @@ int commander_thread_main(int argc, char *argv[])
 			if (is_vtol(&status)) {
 				status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
 				status.in_transition_mode = vtol_status.vtol_in_trans_mode;
+				status.vtol_transition_failure = vtol_status.vtol_transition_failsafe;
+				status.vtol_transition_failure_cmd = vtol_status.vtol_transition_failsafe;
 			}
 
 			status_changed = true;

src/modules/commander/state_machine_helper.cpp

@@ -35,8 +35,9 @@
  * @file state_machine_helper.cpp
  * State machine helper functions implementations
  *
- * @author Thomas Gubler <thomas@px4.io>
- * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler	<thomas@px4.io>
+ * @author Julian Oes		<julian@oes.ch>
+ * @author Sander Smeets	<sander@droneslab.com>
  */
 
 #include <stdio.h>
@@ -636,6 +637,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 		/* go into failsafe
 		 * - if commanded to do so
 		 * - if we have an engine failure
+		 * - if we have vtol transition failure
 		 * - depending on datalink, RC and if the mission is finished */
 
 		/* first look at the commands */
@@ -647,12 +649,16 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
 		} else if (status->rc_signal_lost_cmd) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
+		} else if (status->vtol_transition_failure_cmd) {
+			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
 		/* finished handling commands which have priority, now handle failures */
 		} else if (status->gps_failure) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
 		} else if (status->engine_failure) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
+		} else if (status->vtol_transition_failure) {
+			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
 		/* datalink loss enabled:
 		 * check for datalink lost: this should always trigger RTGS */

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -454,6 +454,7 @@ VtolAttitudeControl::abort_front_transition()
 	if(!_abort_front_transition) {
 		mavlink_log_critical(_mavlink_fd, "Front transition timeout occured, aborting");
 		_abort_front_transition = true;
+		_vtol_vehicle_status.vtol_transition_failsafe = true;
 	}
 }
 
@@ -739,8 +740,8 @@ void VtolAttitudeControl::task_main()
 
 		/* Only publish if the proper mode(s) are enabled */
 		if (_v_control_mode.flag_control_attitude_enabled ||
-		    _v_control_mode.flag_control_rates_enabled ||
-		    _v_control_mode.flag_control_manual_enabled) {
+			_v_control_mode.flag_control_rates_enabled ||
+			_v_control_mode.flag_control_manual_enabled) {
 			if (_actuators_0_pub != nullptr) {
 				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
 

src/modules/vtol_att_control/vtol_type.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
-* @file airframe.cpp
+* @file vtol_type.cpp
 *
 * @author Roman Bapst 		<bapstroman@gmail.com>
 *

src/modules/vtol_att_control/vtol_type.h

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
-* @file airframe.h
+* @file vtol_type.h
 *
 * @author Roman Bapst 		<bapstroman@gmail.com>
 *