mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
217 lines
8.3 KiB
C++
217 lines
8.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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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#ifndef COMMANDER_HPP_
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#define COMMANDER_HPP_
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#include "state_machine_helper.h"
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#include "failure_detector/FailureDetector.hpp"
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#include <lib/controllib/blocks.hpp>
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#include <lib/mathlib/mathlib.h>
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#include <px4_module.h>
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#include <px4_module_params.h>
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#include <systemlib/hysteresis/hysteresis.h>
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// publications
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#include <uORB/Publication.hpp>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/vehicle_status.h>
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// subscriptions
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/iridiumsbd_status.h>
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#include <uORB/topics/mission_result.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/telemetry_status.h>
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using math::constrain;
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using uORB::Publication;
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using uORB::Subscription;
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using namespace time_literals;
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class Commander : public ModuleBase<Commander>, public ModuleParams
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{
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public:
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Commander();
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~Commander();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static Commander *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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void enable_hil();
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// TODO: only temporarily static until low priority thread is removed
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static bool preflight_check(bool report);
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private:
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::NAV_DLL_ACT>) _datalink_loss_action,
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(ParamInt<px4::params::COM_DL_LOSS_T>) _datalink_loss_threshold,
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(ParamInt<px4::params::COM_HLDL_LOSS_T>) _high_latency_datalink_loss_threshold,
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(ParamInt<px4::params::COM_HLDL_REG_T>) _high_latency_datalink_regain_threshold,
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(ParamInt<px4::params::NAV_RCL_ACT>) _rc_loss_action,
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(ParamFloat<px4::params::COM_RC_LOSS_T>) _rc_loss_threshold,
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(ParamFloat<px4::params::COM_HOME_H_T>) _home_eph_threshold,
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(ParamFloat<px4::params::COM_HOME_V_T>) _home_epv_threshold,
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(ParamFloat<px4::params::COM_POS_FS_EPH>) _eph_threshold,
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(ParamFloat<px4::params::COM_POS_FS_EPV>) _epv_threshold,
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(ParamFloat<px4::params::COM_VEL_FS_EVH>) _evh_threshold,
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(ParamInt<px4::params::COM_POS_FS_DELAY>) _failsafe_pos_delay,
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(ParamInt<px4::params::COM_POS_FS_PROB>) _failsafe_pos_probation,
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(ParamInt<px4::params::COM_POS_FS_GAIN>) _failsafe_pos_gain,
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(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
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(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
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(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid
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)
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const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
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const int64_t POSVEL_PROBATION_MAX = 100_s; /**< maximum probation duration (usec) */
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hrt_abstime _last_gpos_fail_time_us{0}; /**< Last time that the global position validity recovery check failed (usec) */
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hrt_abstime _last_lpos_fail_time_us{0}; /**< Last time that the local position validity recovery check failed (usec) */
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hrt_abstime _last_lvel_fail_time_us{0}; /**< Last time that the local velocity validity recovery check failed (usec) */
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// Probation times for position and velocity validity checks to pass if failed
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hrt_abstime _gpos_probation_time_us = POSVEL_PROBATION_MIN;
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hrt_abstime _lpos_probation_time_us = POSVEL_PROBATION_MIN;
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hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;
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/* class variables used to check for navigation failure after takeoff */
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hrt_abstime _time_at_takeoff{0}; /**< last time we were on the ground */
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hrt_abstime _time_last_innov_pass{0}; /**< last time velocity or position innovations passed */
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bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
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bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
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FailureDetector _failure_detector;
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bool _failure_detector_termination_printed{false};
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bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
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orb_advert_t *command_ack_pub, bool *changed);
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bool set_home_position();
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bool set_home_position_alt_only();
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// Set the main system state based on RC and override device inputs
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transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
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// Enable override (manual reversion mode) on the system
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transition_result_t set_main_state_override_on(const vehicle_status_s &status, bool *changed);
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// Set the system main state based on the current RC inputs
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transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
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void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
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bool *changed);
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bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
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const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
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bool *validity_changed);
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void reset_posvel_validity(bool *changed);
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void mission_init();
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void estimator_check(bool *status_changed);
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void battery_status_check();
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/**
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* Checks the status of all available data links and handles switching between different system telemetry states.
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*/
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void data_link_check(bool &status_changed);
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int _telemetry_status_sub{-1};
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hrt_abstime _datalink_last_heartbeat_gcs{0};
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hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
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bool _onboard_controller_lost{false};
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hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
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bool _avoidance_system_lost{false};
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hrt_abstime _avoidance_system_not_started{0};
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bool _avoidance_system_status_change{false};
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uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT};
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int _iridiumsbd_status_sub{-1};
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hrt_abstime _high_latency_datalink_heartbeat{0};
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hrt_abstime _high_latency_datalink_lost{0};
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int _battery_sub{-1};
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uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
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float _battery_current{0.0f};
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systemlib::Hysteresis _auto_disarm_landed{false};
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systemlib::Hysteresis _auto_disarm_killed{false};
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// Subscriptions
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Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
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Subscription<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
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Subscription<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
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Subscription<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
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Publication<home_position_s> _home_pub{ORB_ID(home_position)};
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orb_advert_t _status_pub{nullptr};
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};
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#endif /* COMMANDER_HPP_ */
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