mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 09:17:34 +08:00
Julien Lecoeur
151 lines
6.4 KiB
C
151 lines
6.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file state_machine_helper.h
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* State machine helper functions definitions
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <julian@oes.ch>
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*/
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#ifndef STATE_MACHINE_HELPER_H_
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#define STATE_MACHINE_HELPER_H_
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/safety.h>
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#include <uORB/topics/commander_state.h>
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#include <uORB/topics/vehicle_status_flags.h>
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typedef enum {
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TRANSITION_DENIED = -1,
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TRANSITION_NOT_CHANGED = 0,
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TRANSITION_CHANGED
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} transition_result_t;
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enum class link_loss_actions_t {
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DISABLED = 0,
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AUTO_LOITER = 1, // Hold mode
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AUTO_RTL = 2, // Return mode
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AUTO_LAND = 3, // Land mode
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AUTO_RECOVER = 4, // Data Link Auto Recovery (CASA Outback Challenge rules)
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TERMINATE = 5, // Terminate flight (set actuator outputs to failsafe values, and stop controllers)
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LOCKDOWN = 6, // Lock actuators (set actuator outputs to disarmed values)
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};
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enum class offboard_loss_actions_t {
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DISABLED = -1,
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AUTO_LAND = 0, // Land mode
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AUTO_LOITER = 1, // Hold mode
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AUTO_RTL = 2, // Return mode
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TERMINATE = 3, // Terminate flight (set actuator outputs to failsafe values, and stop controllers)
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LOCKDOWN = 4, // Lock actuators (set actuator outputs to disarmed values)
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};
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enum class offboard_loss_rc_actions_t {
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DISABLED = -1, // Disabled
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MANUAL_POSITION = 0, // Position mode
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MANUAL_ALTITUDE = 1, // Altitude mode
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MANUAL_ATTITUDE = 2, // Manual
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AUTO_RTL = 3, // Return mode
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AUTO_LAND = 4, // Land mode
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AUTO_LOITER = 5, // Hold mode
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TERMINATE = 6, // Terminate flight (set actuator outputs to failsafe values, and stop controllers)
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LOCKDOWN = 7, // Lock actuators (set actuator outputs to disarmed values)
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};
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enum class position_nav_loss_actions_t {
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ALTITUDE_MANUAL = 0, // Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
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LAND_TERMINATE = 1, // Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
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};
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typedef enum {
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ARM_REQ_NONE = 0,
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ARM_REQ_MISSION_BIT = (1 << 0),
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ARM_REQ_ARM_AUTH_BIT = (1 << 1),
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ARM_REQ_GPS_BIT = (1 << 2),
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ARM_REQ_ESCS_CHECK_BIT = (1 << 3)
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} arm_requirements_t;
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extern const char *const arming_state_names[];
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bool is_safe(const safety_s &safety, const actuator_armed_s &armed);
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transition_result_t
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arming_state_transition(vehicle_status_s *status, const safety_s &safety, const arming_state_t new_arming_state,
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actuator_armed_s *armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub,
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vehicle_status_flags_s *status_flags, const uint8_t arm_requirements, const hrt_abstime &time_since_boot);
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transition_result_t
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main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
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const vehicle_status_flags_s &status_flags, commander_state_s *internal_state);
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void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason);
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bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state,
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orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
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const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
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const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
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const offboard_loss_rc_actions_t offb_loss_rc_act,
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const position_nav_loss_actions_t posctl_nav_loss_act);
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/*
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* Checks the validty of position data aaainst the requirements of the current navigation
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* mode and switches mode if position data required is not available.
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*/
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bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
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const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos);
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bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags, const safety_s &safety,
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const uint8_t arm_requirements);
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// COM_LOW_BAT_ACT parameter values
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typedef enum LOW_BAT_ACTION {
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WARNING = 0, // Warning
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RETURN = 1, // Return mode
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LAND = 2, // Land mode
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RETURN_OR_LAND = 3 // Return mode at critically low level, Land mode at current position if reaching dangerously low levels
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} low_battery_action_t;
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void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
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const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const uint8_t battery_warning,
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const low_battery_action_t low_bat_action);
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#endif /* STATE_MACHINE_HELPER_H_ */
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