fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 23:00:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: added some failsafe logic

Browse Source
This commit is contained in:
Julian Oes
2014-06-18 19:01:41 +02:00
parent 55e5f747de
commit e24925c743
6 changed files with 143 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+24 -15
View File
@@ -619,6 +619,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_component_id = param_find("MAV_COMP_ID");
param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
/* welcome user */
warnx("starting");
@@ -627,9 +628,9 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
main_states_str[MAIN_STATE_POSCTL] = "POSCTL";
main_states_str[MAIN_STATE_AUTO_MISSION] = "AUTO_MISSION";
main_states_str[MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER";
main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL";
main_states_str[MAIN_STATE_AUTO_MISSION] = "AUTO_MISSION";
main_states_str[MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER";
main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL";
main_states_str[MAIN_STATE_ACRO] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
@@ -637,21 +638,23 @@ int commander_thread_main(int argc, char *argv[])
arming_states_str[ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[ARMING_STATE_ARMED] = "ARMED";
arming_states_str[ARMING_STATE_ARMED_ERROR] = "ARMED_ERROR";
arming_states_str[ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR";
arming_states_str[ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR";
arming_states_str[ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
char *nav_states_str[NAVIGATION_STATE_MAX];
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[NAVIGATION_STATE_AUTO_FS_RC_LOSS] = "AUTO_FS_RC_LOSS";
nav_states_str[NAVIGATION_STATE_AUTO_FS_DL_LOSS] = "AUTO_FS_DL_LOSS";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION";
nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION";
/* pthread for slow low prio thread */
pthread_t commander_low_prio_thread;
@@ -853,6 +856,8 @@ int commander_thread_main(int argc, char *argv[])
transition_result_t arming_ret;
int32_t datalink_loss_enabled = false;
/* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false;
bool main_state_changed = false;
@@ -907,6 +912,7 @@ int commander_thread_main(int argc, char *argv[])
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
param_get(_param_enable_parachute, &parachute_enabled);
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
orb_check(sp_man_sub, &updated);
@@ -1309,8 +1315,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* data link check */
if (hrt_abstime() < telemetry.heartbeat_time + DL_TIMEOUT) {
/* handle the case where RC signal was regained */
if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
/* handle the case where data link was regained */
if (status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: data link regained");
status.data_link_lost = false;
@@ -1320,7 +1326,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
status.data_link_lost = false;
status.data_link_lost = true;
status_changed = true;
}
}
@@ -1378,7 +1384,8 @@ int commander_thread_main(int argc, char *argv[])
was_armed = armed.armed;
/* now set navigation state according to failsafe and main state */
bool nav_state_changed = set_nav_state(&status);
bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled,
mission_result.mission_finished);
// TODO handle mode changes by commands
if (main_state_changed) {
@@ -1727,6 +1734,8 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_FS_RC_LOSS:
case NAVIGATION_STATE_AUTO_FS_DL_LOSS:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;