add OBC RC loss mode to navigator

2026-07-02 09:00:36 +08:00 · 2014-08-22 23:06:14 +02:00
parent 6ae8800ad0
commit fd3746a233
7 changed files with 339 additions and 7 deletions
@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file rcloss.cpp
+ * Helper class for RC Loss Mode according to the OBC rules
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/home_position.h>
+
+#include "navigator.h"
+#include "datalinkloss.h"
+
+#define DELAY_SIGMA	0.01f
+
+RCLoss::RCLoss(Navigator *navigator, const char *name) :
+	MissionBlock(navigator, name),
+	_param_loitertime(this, "LT"),
+	_rcl_state(RCL_STATE_NONE)
+{
+	/* load initial params */
+	updateParams();
+	/* initial reset */
+	on_inactive();
+}
+
+RCLoss::~RCLoss()
+{
+}
+
+void
+RCLoss::on_inactive()
+{
+	/* reset RCL state only if setpoint moved */
+	if (!_navigator->get_can_loiter_at_sp()) {
+		_rcl_state = RCL_STATE_NONE;
+	}
+}
+
+void
+RCLoss::on_activation()
+{
+	_rcl_state = RCL_STATE_NONE;
+	updateParams();
+	advance_rcl();
+	set_rcl_item();
+}
+
+void
+RCLoss::on_active()
+{
+	if (is_mission_item_reached()) {
+		updateParams();
+		advance_rcl();
+		set_rcl_item();
+	}
+}
+
+void
+RCLoss::set_rcl_item()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	set_previous_pos_setpoint();
+	_navigator->set_can_loiter_at_sp(false);
+
+	switch (_rcl_state) {
+	case RCL_STATE_LOITER: {
+		_mission_item.lat = _navigator->get_global_position()->lat;
+		_mission_item.lon = _navigator->get_global_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_can_loiter_at_sp(true);
+		break;
+	}
+	case RCL_STATE_TERMINATE: {
+		/* Request flight termination from the commander */
+		pos_sp_triplet->flight_termination = true;
+		warnx("gps fail: request flight termination");
+		pos_sp_triplet->previous.valid = false;
+		pos_sp_triplet->current.valid = false;
+		pos_sp_triplet->next.valid = false;
+	}
+	default:
+		break;
+	}
+
+	reset_mission_item_reached();
+
+	/* convert mission item to current position setpoint and make it valid */
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	pos_sp_triplet->next.valid = false;
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+void
+RCLoss::advance_rcl()
+{
+	switch (_rcl_state) {
+	case RCL_STATE_NONE:
+		/* Check the number of data link losses. If above home fly home directly */
+		warnx("RC loss, OBC mode, loiter");
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc los, loitering");
+		_rcl_state = RCL_STATE_LOITER;
+		break;
+	case RCL_STATE_LOITER:
+		_rcl_state = RCL_STATE_TERMINATE;
+		warnx("time is up, no RC regain, terminating");
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
+		_navigator->get_mission_result()->stay_in_failsafe = true;
+		_navigator->publish_mission_result();
+		break;
+	case RCL_STATE_TERMINATE:
+		warnx("rcl end");
+		_rcl_state = RCL_STATE_END;
+		break;
+	default:
+		break;
+	}
+}