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Merge pull request #858 from TickTock-/rc_merged

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Rc merged
This commit is contained in:
Lorenz Meier
2014-05-08 23:21:22 -07:00
parent fc54cc2d1f 9173b8bc76
commit e18bdfdf65
17 changed files with 270 additions and 113 deletions
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src/modules/commander/commander.cpp
+27 -26
View File
@@ -435,13 +435,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* MANUAL */
main_res = main_state_transition(status, MAIN_STATE_MANUAL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) {
/* SEATBELT */
main_res = main_state_transition(status, MAIN_STATE_SEATBELT);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) {
/* ALTCTRL */
main_res = main_state_transition(status, MAIN_STATE_ALTCTRL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) {
/* EASY */
main_res = main_state_transition(status, MAIN_STATE_EASY);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) {
/* POSCTRL */
main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
@@ -456,8 +456,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
/* EASY */
main_res = main_state_transition(status, MAIN_STATE_EASY);
/* POSCTRL */
main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
/* MANUAL */
@@ -634,8 +634,8 @@ int commander_thread_main(int argc, char *argv[])
char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL";
main_states_str[1] = "SEATBELT";
main_states_str[2] = "EASY";
main_states_str[1] = "ALTCTRL";
main_states_str[2] = "POSCTRL";
main_states_str[3] = "AUTO";
char *arming_states_str[ARMING_STATE_MAX];
@@ -1159,7 +1159,7 @@ int commander_thread_main(int argc, char *argv[])
/* arm/disarm by RC */
res = TRANSITION_NOT_CHANGED;
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
@@ -1242,7 +1242,8 @@ int commander_thread_main(int argc, char *argv[])
status.set_nav_state_timestamp = hrt_absolute_time();
} else {
/* MISSION switch */
/* LOITER switch */
if (sp_man.loiter_switch == SWITCH_POS_ON) {
/* stick is in LOITER position */
status.set_nav_state = NAV_STATE_LOITER;
@@ -1334,8 +1335,8 @@ int commander_thread_main(int argc, char *argv[])
}
// TODO remove this hack
/* flight termination in manual mode if assisted switch is on easy position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch == SWITCH_POS_ON) {
/* flight termination in manual mode if assist switch is on posctrl position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive(armed.armed);
}
@@ -1591,26 +1592,26 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
// TRANSITION_DENIED is not possible here
break;
case SWITCH_POS_MIDDLE: // ASSISTED
if (sp_man->assisted_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_EASY);
case SWITCH_POS_MIDDLE: // ASSIST
if (sp_man->posctrl_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_POSCTRL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// else fallback to SEATBELT
print_reject_mode(status, "EASY");
// else fallback to ALTCTRL
print_reject_mode(status, "POSCTRL");
}
res = main_state_transition(status, MAIN_STATE_SEATBELT);
res = main_state_transition(status, MAIN_STATE_ALTCTRL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this mode
}
if (sp_man->assisted_switch != SWITCH_POS_ON) {
print_reject_mode(status, "SEATBELT");
if (sp_man->posctrl_switch != SWITCH_POS_ON) {
print_reject_mode(status, "ALTCTRL");
}
// else fallback to MANUAL
@@ -1625,9 +1626,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; // changed successfully or already in this state
}
// else fallback to SEATBELT (EASY likely will not work too)
// else fallback to ALTCTRL (POSCTRL likely will not work too)
print_reject_mode(status, "AUTO");
res = main_state_transition(status, MAIN_STATE_SEATBELT);
res = main_state_transition(status, MAIN_STATE_ALTCTRL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
@@ -1673,7 +1674,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_SEATBELT:
case MAIN_STATE_ALTCTRL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
@@ -1684,7 +1685,7 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = false;
break;
case MAIN_STATE_EASY:
case MAIN_STATE_POSCTRL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+12 -12
View File
@@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to SEATBELT.
// MANUAL to ALTCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = true;
new_main_state = MAIN_STATE_SEATBELT;
ut_assert("tranisition: manual to seatbelt",
new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("tranisition: manual to altctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state);
// MANUAL to SEATBELT, invalid local altitude.
// MANUAL to ALTCTRL, invalid local altitude.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = false;
new_main_state = MAIN_STATE_SEATBELT;
new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("no transition: invalid local altitude",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to EASY.
// MANUAL to POSCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = true;
new_main_state = MAIN_STATE_EASY;
ut_assert("transition: manual to easy",
new_main_state = MAIN_STATE_POSCTRL;
ut_assert("transition: manual to posctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state);
// MANUAL to EASY, invalid local position.
// MANUAL to POSCTRL, invalid local position.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = false;
new_main_state = MAIN_STATE_EASY;
new_main_state = MAIN_STATE_POSCTRL;
ut_assert("no transition: invalid position",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
src/modules/commander/px4_custom_mode.h
+2 -2
View File
@@ -12,8 +12,8 @@
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_SEATBELT,
PX4_CUSTOM_MAIN_MODE_EASY,
PX4_CUSTOM_MAIN_MODE_ALTCTRL,
PX4_CUSTOM_MAIN_MODE_POSCTRL,
PX4_CUSTOM_MAIN_MODE_AUTO,
};
src/modules/commander/state_machine_helper.cpp
+2 -2
View File
@@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_SEATBELT:
case MAIN_STATE_ALTCTRL:
/* need at minimum altitude estimate */
if (!status->is_rotary_wing ||
@@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
break;
case MAIN_STATE_EASY:
case MAIN_STATE_POSCTRL:
/* need at minimum local position estimate */
if (status->condition_local_position_valid ||