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Correctly do position lock led signalling on IO and position lock measurement on FMU, tested with HIL.

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This commit is contained in:
Lorenz Meier
2012-12-19 14:20:40 +01:00
parent 4676b71d8a
commit fe6496a04d
2 changed files with 27 additions and 3 deletions
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apps/commander/commander.c
+26 -2
View File
@@ -1476,21 +1476,45 @@ int commander_thread_main(int argc, char *argv[])
/* End battery voltage check */ /* End battery voltage check */
/*
* Check for valid position information.
*
* If the system has a valid position source from an onboard
* position estimator, it is safe to operate it autonomously.
* The flag_vector_flight_mode_ok flag indicates that a minimum
* set of position measurements is available.
*/
/* store current state to reason later about a state change */
bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok;
bool global_pos_valid = current_status.flag_global_position_valid; bool global_pos_valid = current_status.flag_global_position_valid;
bool local_pos_valid = current_status.flag_local_position_valid; bool local_pos_valid = current_status.flag_local_position_valid;
/* check for global or local position updates, set a timeout of 2s */ /* check for global or local position updates, set a timeout of 2s */
if (hrt_absolute_time() - last_global_position_time < 2000000) { if (hrt_absolute_time() - last_global_position_time < 2000000) {
current_status.flag_vector_flight_mode_ok = true;
current_status.flag_global_position_valid = true; current_status.flag_global_position_valid = true;
// XXX check for controller status and home position as well // XXX check for controller status and home position as well
} else {
current_status.flag_global_position_valid = false;
} }
if (hrt_absolute_time() - last_local_position_time < 2000000) { if (hrt_absolute_time() - last_local_position_time < 2000000) {
current_status.flag_vector_flight_mode_ok = true;
current_status.flag_local_position_valid = true; current_status.flag_local_position_valid = true;
// XXX check for controller status and home position as well // XXX check for controller status and home position as well
} else {
current_status.flag_local_position_valid = false;
}
/*
* Consolidate global position and local position valid flags
* for vector flight mode.
*/
if (current_status.flag_local_position_valid ||
current_status.flag_global_position_valid) {
current_status.flag_vector_flight_mode_ok = true;
} else {
current_status.flag_vector_flight_mode_ok = false;
} }
/* consolidate state change, flag as changed if required */ /* consolidate state change, flag as changed if required */
apps/px4io/safety.c
+1 -1
View File
@@ -64,7 +64,7 @@ static unsigned counter = 0;
* Define the various LED flash sequences for each system state. * Define the various LED flash sequences for each system state.
*/ */
#define LED_PATTERN_SAFE 0xffff /**< always on */ #define LED_PATTERN_SAFE 0xffff /**< always on */
#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0x3000 /**< always on with short break */ #define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0xFFFE /**< always on with short break */
#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */ #define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */
#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */ #define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */ #define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */