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331cb21dee
In review it was requested to have a different name for manual_control_setpoint.z because of the adjusted range. I started to investigate what naming is most intuitive and found that most people recognize the stick axes as roll, pitch, yaw, throttle. It comes at no surprise because other autopilots and APIs seem to share this convention. While changing the code I realized that even within the code base the axes are usually assigned to a variable with that name or have comments next to the assignment clarifying the axes using these names.
2838 lines
96 KiB
C++
2838 lines
96 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2022 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 commander.cpp
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*
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* Main state machine / business logic
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*
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*/
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#include "Commander.hpp"
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/* commander module headers */
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#include "Arming/ArmAuthorization/ArmAuthorization.h"
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#include "commander_helper.h"
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#include "esc_calibration.h"
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#define DEFINE_GET_PX4_CUSTOM_MODE
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#include "px4_custom_mode.h"
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#include "ModeUtil/control_mode.hpp"
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#include "ModeUtil/conversions.hpp"
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/* PX4 headers */
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_tone_alarm.h>
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#include <lib/geo/geo.h>
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#include <mathlib/mathlib.h>
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#include <px4_platform_common/events.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/external_reset_lockout.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/shutdown.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/time.h>
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#include <systemlib/mavlink_log.h>
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#include <math.h>
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#include <float.h>
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#include <cstring>
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#include <matrix/math.hpp>
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#include <uORB/topics/mavlink_log.h>
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#include <uORB/topics/tune_control.h>
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typedef enum VEHICLE_MODE_FLAG {
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VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
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VEHICLE_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
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VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
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VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
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VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
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VEHICLE_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
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VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */
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VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. | */
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VEHICLE_MODE_FLAG_ENUM_END = 129, /* | */
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} VEHICLE_MODE_FLAG;
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// TODO: generate
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static constexpr bool operator ==(const actuator_armed_s &a, const actuator_armed_s &b)
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{
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return (a.armed == b.armed &&
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a.prearmed == b.prearmed &&
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a.ready_to_arm == b.ready_to_arm &&
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a.lockdown == b.lockdown &&
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a.manual_lockdown == b.manual_lockdown &&
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a.force_failsafe == b.force_failsafe &&
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a.in_esc_calibration_mode == b.in_esc_calibration_mode);
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}
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static_assert(sizeof(actuator_armed_s) == 16, "actuator_armed equality operator review");
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#if defined(BOARD_HAS_POWER_CONTROL)
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static orb_advert_t tune_control_pub = nullptr;
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static void play_power_button_down_tune()
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{
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// Override any other tunes because power-off sound should have the priority
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set_tune_override(tune_control_s::TUNE_ID_POWER_OFF);
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}
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static void stop_tune()
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{
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tune_control_s tune_control{};
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tune_control.tune_override = true;
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tune_control.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
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}
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static orb_advert_t power_button_state_pub = nullptr;
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static int power_button_state_notification_cb(board_power_button_state_notification_e request)
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{
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// Note: this can be called from IRQ handlers, so we publish a message that will be handled
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// on the main thread of commander.
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power_button_state_s button_state{};
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button_state.timestamp = hrt_absolute_time();
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const int ret = PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING;
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switch (request) {
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case PWR_BUTTON_IDEL:
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button_state.event = power_button_state_s::PWR_BUTTON_STATE_IDEL;
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break;
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case PWR_BUTTON_DOWN:
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button_state.event = power_button_state_s::PWR_BUTTON_STATE_DOWN;
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play_power_button_down_tune();
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break;
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case PWR_BUTTON_UP:
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button_state.event = power_button_state_s::PWR_BUTTON_STATE_UP;
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stop_tune();
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break;
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case PWR_BUTTON_REQUEST_SHUT_DOWN:
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button_state.event = power_button_state_s::PWR_BUTTON_STATE_REQUEST_SHUTDOWN;
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break;
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default:
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PX4_ERR("unhandled power button state: %i", (int)request);
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return ret;
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}
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if (power_button_state_pub != nullptr) {
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orb_publish(ORB_ID(power_button_state), power_button_state_pub, &button_state);
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} else {
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PX4_ERR("power_button_state_pub not properly initialized");
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}
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return ret;
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}
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#endif // BOARD_HAS_POWER_CONTROL
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#ifndef CONSTRAINED_FLASH
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static bool send_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN,
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const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast<double>(NAN),
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const double param6 = static_cast<double>(NAN), const float param7 = NAN)
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{
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vehicle_command_s vcmd{};
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vcmd.command = cmd;
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vcmd.param1 = param1;
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vcmd.param2 = param2;
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vcmd.param3 = param3;
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vcmd.param4 = param4;
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vcmd.param5 = param5;
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vcmd.param6 = param6;
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vcmd.param7 = param7;
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uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
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vcmd.source_system = vehicle_status_sub.get().system_id;
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vcmd.target_system = vehicle_status_sub.get().system_id;
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vcmd.source_component = vehicle_status_sub.get().component_id;
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vcmd.target_component = vehicle_status_sub.get().component_id;
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uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
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vcmd.timestamp = hrt_absolute_time();
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return vcmd_pub.publish(vcmd);
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}
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static bool wait_for_vehicle_command_reply(const uint32_t cmd,
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uORB::SubscriptionData<vehicle_command_ack_s> &vehicle_command_ack_sub)
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{
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hrt_abstime start = hrt_absolute_time();
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while (hrt_absolute_time() - start < 100_ms) {
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if (vehicle_command_ack_sub.update()) {
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if (vehicle_command_ack_sub.get().command == cmd) {
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return vehicle_command_ack_sub.get().result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
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}
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}
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px4_usleep(10000);
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}
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return false;
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}
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static bool broadcast_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN,
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const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast<double>(NAN),
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const double param6 = static_cast<double>(NAN), const float param7 = NAN)
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{
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vehicle_command_s vcmd{};
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vcmd.command = cmd;
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vcmd.param1 = param1;
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vcmd.param2 = param2;
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vcmd.param3 = param3;
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vcmd.param4 = param4;
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vcmd.param5 = param5;
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vcmd.param6 = param6;
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vcmd.param7 = param7;
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uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
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vcmd.source_system = vehicle_status_sub.get().system_id;
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vcmd.target_system = 0;
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vcmd.source_component = vehicle_status_sub.get().component_id;
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vcmd.target_component = 0;
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uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
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vcmd.timestamp = hrt_absolute_time();
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return vcmd_pub.publish(vcmd);
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}
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#endif
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int Commander::custom_command(int argc, char *argv[])
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{
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if (!is_running()) {
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print_usage("not running");
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return 1;
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}
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#ifndef CONSTRAINED_FLASH
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if (!strcmp(argv[0], "calibrate")) {
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if (argc > 1) {
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if (!strcmp(argv[1], "gyro")) {
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// gyro calibration: param1 = 1
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.0, 0.0, 0.f);
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} else if (!strcmp(argv[1], "mag")) {
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if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
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// magnetometer quick calibration: VEHICLE_CMD_FIXED_MAG_CAL_YAW
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_FIXED_MAG_CAL_YAW);
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} else {
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// magnetometer calibration: param2 = 1
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.0, 0.0, 0.f);
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}
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} else if (!strcmp(argv[1], "baro")) {
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// baro calibration: param3 = 1
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 1.f, 0.f, 0.0, 0.0, 0.f);
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} else if (!strcmp(argv[1], "accel")) {
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if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
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// accelerometer quick calibration: param5 = 3
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 4.0, 0.0, 0.f);
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} else {
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// accelerometer calibration: param5 = 1
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.0, 0.0, 0.f);
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}
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} else if (!strcmp(argv[1], "level")) {
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// board level calibration: param5 = 2
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.0, 0.0, 0.f);
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} else if (!strcmp(argv[1], "airspeed")) {
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// airspeed calibration: param6 = 2
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 2.0, 0.f);
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} else if (!strcmp(argv[1], "esc")) {
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// ESC calibration: param7 = 1
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 0.0, 1.f);
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} else {
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PX4_ERR("argument %s unsupported.", argv[1]);
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return 1;
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}
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return 0;
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} else {
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PX4_ERR("missing argument");
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}
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}
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if (!strcmp(argv[0], "check")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_RUN_PREARM_CHECKS);
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uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
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PX4_INFO("Preflight check: %s", vehicle_status_sub.get().pre_flight_checks_pass ? "OK" : "FAILED");
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return 0;
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}
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if (!strcmp(argv[0], "arm")) {
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float param2 = 0.f;
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// 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
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if (argc > 1 && !strcmp(argv[1], "-f")) {
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param2 = 21196.f;
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}
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
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static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM),
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param2);
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return 0;
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}
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if (!strcmp(argv[0], "disarm")) {
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float param2 = 0.f;
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// 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
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if (argc > 1 && !strcmp(argv[1], "-f")) {
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param2 = 21196.f;
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}
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
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static_cast<float>(vehicle_command_s::ARMING_ACTION_DISARM),
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param2);
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return 0;
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}
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if (!strcmp(argv[0], "takeoff")) {
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// switch to takeoff mode and arm
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uORB::SubscriptionData<vehicle_command_ack_s> vehicle_command_ack_sub{ORB_ID(vehicle_command_ack)};
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
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if (wait_for_vehicle_command_reply(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF, vehicle_command_ack_sub)) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
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static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM),
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0.f);
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}
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return 0;
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}
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if (!strcmp(argv[0], "land")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_LAND);
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return 0;
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}
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if (!strcmp(argv[0], "transition")) {
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uORB::Subscription vehicle_status_sub{ORB_ID(vehicle_status)};
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vehicle_status_s vehicle_status{};
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vehicle_status_sub.copy(&vehicle_status);
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
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(float)(vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ?
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vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
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vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC), 0.0f);
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return 0;
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}
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if (!strcmp(argv[0], "mode")) {
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if (argc > 1) {
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if (!strcmp(argv[1], "manual")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_MANUAL);
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} else if (!strcmp(argv[1], "altctl")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ALTCTL);
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} else if (!strcmp(argv[1], "posctl")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL);
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} else if (!strcmp(argv[1], "auto:mission")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
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PX4_CUSTOM_SUB_MODE_AUTO_MISSION);
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} else if (!strcmp(argv[1], "auto:loiter")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
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PX4_CUSTOM_SUB_MODE_AUTO_LOITER);
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} else if (!strcmp(argv[1], "auto:rtl")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
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PX4_CUSTOM_SUB_MODE_AUTO_RTL);
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} else if (!strcmp(argv[1], "acro")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ACRO);
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} else if (!strcmp(argv[1], "offboard")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_OFFBOARD);
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} else if (!strcmp(argv[1], "stabilized")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_STABILIZED);
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} else if (!strcmp(argv[1], "auto:takeoff")) {
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
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PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF);
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} else if (!strcmp(argv[1], "auto:land")) {
|
|
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_LAND);
|
|
|
|
} else if (!strcmp(argv[1], "auto:precland")) {
|
|
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND);
|
|
|
|
} else {
|
|
PX4_ERR("argument %s unsupported.", argv[1]);
|
|
}
|
|
|
|
return 0;
|
|
|
|
} else {
|
|
PX4_ERR("missing argument");
|
|
}
|
|
}
|
|
|
|
if (!strcmp(argv[0], "lockdown")) {
|
|
|
|
if (argc < 2) {
|
|
Commander::print_usage("not enough arguments, missing [on, off]");
|
|
return 1;
|
|
}
|
|
|
|
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
|
|
strcmp(argv[1], "off") ? 2.0f : 0.0f /* lockdown */, 0.0f);
|
|
|
|
return (ret ? 0 : 1);
|
|
}
|
|
|
|
if (!strcmp(argv[0], "pair")) {
|
|
|
|
// GCS pairing request handled by a companion
|
|
bool ret = broadcast_vehicle_command(vehicle_command_s::VEHICLE_CMD_START_RX_PAIR, 10.f);
|
|
|
|
return (ret ? 0 : 1);
|
|
}
|
|
|
|
if (!strcmp(argv[0], "set_ekf_origin")) {
|
|
if (argc > 3) {
|
|
|
|
double latitude = atof(argv[1]);
|
|
double longitude = atof(argv[2]);
|
|
float altitude = atof(argv[3]);
|
|
|
|
// Set the ekf NED origin global coordinates.
|
|
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN,
|
|
0.f, 0.f, 0.0, 0.0, latitude, longitude, altitude);
|
|
return (ret ? 0 : 1);
|
|
|
|
} else {
|
|
PX4_ERR("missing argument");
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
if (!strcmp(argv[0], "poweroff")) {
|
|
|
|
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
|
|
2.0f);
|
|
|
|
return (ret ? 0 : 1);
|
|
}
|
|
|
|
|
|
#endif
|
|
|
|
return print_usage("unknown command");
|
|
}
|
|
|
|
int Commander::print_status()
|
|
{
|
|
PX4_INFO("Arm state: %s", _arm_state_machine.getArmStateName());
|
|
PX4_INFO("navigation mode: %s", mode_util::nav_state_names[_vehicle_status.nav_state]);
|
|
PX4_INFO("user intended navigation mode: %s", mode_util::nav_state_names[_user_mode_intention.get()]);
|
|
PX4_INFO("in failsafe: %s", _failsafe.inFailsafe() ? "yes" : "no");
|
|
perf_print_counter(_loop_perf);
|
|
perf_print_counter(_preflight_check_perf);
|
|
return 0;
|
|
}
|
|
|
|
extern "C" __EXPORT int commander_main(int argc, char *argv[])
|
|
{
|
|
return Commander::main(argc, argv);
|
|
}
|
|
|
|
bool Commander::shutdownIfAllowed()
|
|
{
|
|
return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_vehicle_status,
|
|
vehicle_status_s::ARMING_STATE_SHUTDOWN, _actuator_armed, _health_and_arming_checks,
|
|
false /* fRunPreArmChecks */, &_mavlink_log_pub, arm_disarm_reason_t::shutdown);
|
|
}
|
|
|
|
static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
|
|
{
|
|
switch (calling_reason) {
|
|
case arm_disarm_reason_t::transition_to_standby: return "";
|
|
|
|
case arm_disarm_reason_t::rc_stick: return "RC";
|
|
|
|
case arm_disarm_reason_t::rc_switch: return "RC (switch)";
|
|
|
|
case arm_disarm_reason_t::command_internal: return "internal command";
|
|
|
|
case arm_disarm_reason_t::command_external: return "external command";
|
|
|
|
case arm_disarm_reason_t::mission_start: return "mission start";
|
|
|
|
case arm_disarm_reason_t::auto_disarm_land: return "landing";
|
|
|
|
case arm_disarm_reason_t::auto_disarm_preflight: return "auto preflight disarming";
|
|
|
|
case arm_disarm_reason_t::kill_switch: return "kill-switch";
|
|
|
|
case arm_disarm_reason_t::lockdown: return "lockdown";
|
|
|
|
case arm_disarm_reason_t::failure_detector: return "failure detector";
|
|
|
|
case arm_disarm_reason_t::shutdown: return "shutdown request";
|
|
|
|
case arm_disarm_reason_t::unit_test: return "unit tests";
|
|
|
|
case arm_disarm_reason_t::rc_button: return "RC (button)";
|
|
|
|
case arm_disarm_reason_t::failsafe: return "failsafe";
|
|
}
|
|
|
|
return "";
|
|
};
|
|
|
|
transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks)
|
|
{
|
|
// allow a grace period for re-arming: preflight checks don't need to pass during that time, for example for accidential in-air disarming
|
|
if (calling_reason == arm_disarm_reason_t::rc_switch
|
|
&& (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s)) {
|
|
run_preflight_checks = false;
|
|
}
|
|
|
|
if (run_preflight_checks && !_arm_state_machine.isArmed()) {
|
|
if (_vehicle_control_mode.flag_control_manual_enabled) {
|
|
if (_vehicle_control_mode.flag_control_climb_rate_enabled &&
|
|
!_failsafe_flags.manual_control_signal_lost && _is_throttle_above_center) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center\t");
|
|
events::send(events::ID("commander_arm_denied_throttle_center"),
|
|
{events::Log::Critical, events::LogInternal::Info},
|
|
"Arming denied: throttle above center");
|
|
tune_negative(true);
|
|
return TRANSITION_DENIED;
|
|
}
|
|
|
|
if (!_vehicle_control_mode.flag_control_climb_rate_enabled &&
|
|
!_failsafe_flags.manual_control_signal_lost && !_is_throttle_low
|
|
&& _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROVER) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t");
|
|
events::send(events::ID("commander_arm_denied_throttle_high"),
|
|
{events::Log::Critical, events::LogInternal::Info},
|
|
"Arming denied: high throttle");
|
|
tune_negative(true);
|
|
return TRANSITION_DENIED;
|
|
}
|
|
|
|
} else if (calling_reason == arm_disarm_reason_t::rc_stick
|
|
|| calling_reason == arm_disarm_reason_t::rc_switch
|
|
|| calling_reason == arm_disarm_reason_t::rc_button) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: switch to manual mode first\t");
|
|
events::send(events::ID("commander_arm_denied_not_manual"),
|
|
{events::Log::Critical, events::LogInternal::Info},
|
|
"Arming denied: switch to manual mode first");
|
|
tune_negative(true);
|
|
return TRANSITION_DENIED;
|
|
}
|
|
}
|
|
|
|
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status,
|
|
vehicle_status_s::ARMING_STATE_ARMED, _actuator_armed, _health_and_arming_checks, run_preflight_checks,
|
|
&_mavlink_log_pub, calling_reason);
|
|
|
|
if (arming_res == TRANSITION_CHANGED) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Armed by %s\t", arm_disarm_reason_str(calling_reason));
|
|
events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_armed_by"), events::Log::Info,
|
|
"Armed by {1}", calling_reason);
|
|
|
|
_status_changed = true;
|
|
|
|
} else if (arming_res == TRANSITION_DENIED) {
|
|
tune_negative(true);
|
|
}
|
|
|
|
return arming_res;
|
|
}
|
|
|
|
transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool forced)
|
|
{
|
|
if (!forced) {
|
|
const bool landed = (_vehicle_land_detected.landed || _vehicle_land_detected.maybe_landed
|
|
|| is_ground_vehicle(_vehicle_status));
|
|
const bool mc_manual_thrust_mode = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
|
|
&& _vehicle_control_mode.flag_control_manual_enabled
|
|
&& !_vehicle_control_mode.flag_control_climb_rate_enabled;
|
|
const bool commanded_by_rc = (calling_reason == arm_disarm_reason_t::rc_stick)
|
|
|| (calling_reason == arm_disarm_reason_t::rc_switch)
|
|
|| (calling_reason == arm_disarm_reason_t::rc_button);
|
|
|
|
if (!landed && !(mc_manual_thrust_mode && commanded_by_rc)) {
|
|
if (calling_reason != arm_disarm_reason_t::rc_stick) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Disarming denied! Not landed\t");
|
|
events::send(events::ID("commander_disarming_denied_not_landed"),
|
|
{events::Log::Critical, events::LogInternal::Info},
|
|
"Disarming denied, not landed");
|
|
}
|
|
|
|
return TRANSITION_DENIED;
|
|
}
|
|
}
|
|
|
|
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status,
|
|
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed, _health_and_arming_checks, false,
|
|
&_mavlink_log_pub, calling_reason);
|
|
|
|
if (arming_res == TRANSITION_CHANGED) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Disarmed by %s\t", arm_disarm_reason_str(calling_reason));
|
|
events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_disarmed_by"), events::Log::Info,
|
|
"Disarmed by {1}", calling_reason);
|
|
|
|
if (_param_com_force_safety.get()) {
|
|
_safety.activateSafety();
|
|
}
|
|
|
|
_status_changed = true;
|
|
|
|
} else if (arming_res == TRANSITION_DENIED) {
|
|
tune_negative(true);
|
|
}
|
|
|
|
return arming_res;
|
|
}
|
|
|
|
Commander::Commander() :
|
|
ModuleParams(nullptr)
|
|
{
|
|
_vehicle_land_detected.landed = true;
|
|
|
|
_vehicle_status.system_id = 1;
|
|
_vehicle_status.component_id = 1;
|
|
|
|
_vehicle_status.system_type = 0;
|
|
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
|
|
|
|
_vehicle_status.nav_state = _user_mode_intention.get();
|
|
_vehicle_status.nav_state_user_intention = _user_mode_intention.get();
|
|
_vehicle_status.nav_state_timestamp = hrt_absolute_time();
|
|
|
|
/* mark all signals lost as long as they haven't been found */
|
|
_vehicle_status.gcs_connection_lost = true;
|
|
|
|
_vehicle_status.power_input_valid = true;
|
|
|
|
// default for vtol is rotary wing
|
|
_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
|
|
|
|
_param_mav_comp_id = param_find("MAV_COMP_ID");
|
|
_param_mav_sys_id = param_find("MAV_SYS_ID");
|
|
_param_mav_type = param_find("MAV_TYPE");
|
|
_param_rc_map_fltmode = param_find("RC_MAP_FLTMODE");
|
|
|
|
updateParameters();
|
|
}
|
|
|
|
Commander::~Commander()
|
|
{
|
|
perf_free(_loop_perf);
|
|
perf_free(_preflight_check_perf);
|
|
}
|
|
|
|
bool
|
|
Commander::handle_command(const vehicle_command_s &cmd)
|
|
{
|
|
/* only handle commands that are meant to be handled by this system and component, or broadcast */
|
|
if (((cmd.target_system != _vehicle_status.system_id) && (cmd.target_system != 0))
|
|
|| ((cmd.target_component != _vehicle_status.component_id) && (cmd.target_component != 0))) {
|
|
return false;
|
|
}
|
|
|
|
/* result of the command */
|
|
unsigned cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
|
|
|
|
/* request to set different system mode */
|
|
switch (cmd.command) {
|
|
case vehicle_command_s::VEHICLE_CMD_DO_REPOSITION: {
|
|
|
|
// Just switch the flight mode here, the navigator takes care of
|
|
// doing something sensible with the coordinates. Its designed
|
|
// to not require navigator and command to receive / process
|
|
// the data at the exact same time.
|
|
|
|
// Check if a mode switch had been requested
|
|
if ((((uint32_t)cmd.param2) & 1) > 0) {
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
mavlink_log_critical(&_mavlink_log_pub, "Reposition command rejected\t");
|
|
/* EVENT
|
|
* @description Check for a valid position estimate
|
|
*/
|
|
events::send(events::ID("commander_reposition_rejected"),
|
|
{events::Log::Error, events::LogInternal::Info},
|
|
"Reposition command rejected");
|
|
}
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
|
|
uint8_t base_mode = (uint8_t)cmd.param1;
|
|
uint8_t custom_main_mode = (uint8_t)cmd.param2;
|
|
uint8_t custom_sub_mode = (uint8_t)cmd.param3;
|
|
|
|
uint8_t desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MAX;
|
|
transition_result_t main_ret = TRANSITION_NOT_CHANGED;
|
|
|
|
if (base_mode & VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED) {
|
|
/* use autopilot-specific mode */
|
|
if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
|
|
|
|
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
|
|
|
|
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
|
|
|
|
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
|
|
if (custom_sub_mode > 0) {
|
|
|
|
switch (custom_sub_mode) {
|
|
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
|
|
break;
|
|
|
|
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
|
|
break;
|
|
|
|
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
|
|
break;
|
|
|
|
case PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
|
|
break;
|
|
|
|
case PX4_CUSTOM_SUB_MODE_AUTO_LAND:
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
|
|
break;
|
|
|
|
case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET;
|
|
break;
|
|
|
|
case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND:
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
|
|
break;
|
|
|
|
default:
|
|
main_ret = TRANSITION_DENIED;
|
|
mavlink_log_critical(&_mavlink_log_pub, "Unsupported auto mode\t");
|
|
events::send(events::ID("commander_unsupported_auto_mode"), events::Log::Error,
|
|
"Unsupported auto mode");
|
|
break;
|
|
}
|
|
|
|
} else {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
|
|
}
|
|
|
|
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ACRO;
|
|
|
|
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
|
|
|
|
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
|
|
}
|
|
|
|
} else {
|
|
/* use base mode */
|
|
if (base_mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
|
|
|
|
} else if (base_mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
|
|
if (base_mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
|
|
|
|
} else if (base_mode & VEHICLE_MODE_FLAG_STABILIZE_ENABLED) {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
|
|
|
|
} else {
|
|
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (desired_nav_state != vehicle_status_s::NAVIGATION_STATE_MAX) {
|
|
if (_user_mode_intention.change(desired_nav_state)) {
|
|
main_ret = TRANSITION_CHANGED;
|
|
|
|
} else {
|
|
if (cmd.from_external && cmd.source_component == 190) { // MAV_COMP_ID_MISSIONPLANNER
|
|
printRejectMode(desired_nav_state);
|
|
}
|
|
|
|
main_ret = TRANSITION_DENIED;
|
|
}
|
|
}
|
|
|
|
if (main_ret != TRANSITION_DENIED) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: {
|
|
|
|
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
|
|
// for logic state parameters
|
|
const int8_t arming_action = static_cast<int8_t>(lroundf(cmd.param1));
|
|
|
|
if (arming_action != vehicle_command_s::ARMING_ACTION_ARM
|
|
&& arming_action != vehicle_command_s::ARMING_ACTION_DISARM) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f\t", (double)cmd.param1);
|
|
events::send<float>(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Error,
|
|
"Unsupported ARM_DISARM param: {1:.3}", cmd.param1);
|
|
|
|
} else {
|
|
// Arm is forced (checks skipped) when param2 is set to a magic number.
|
|
const bool forced = (static_cast<int>(lroundf(cmd.param2)) == 21196);
|
|
const bool cmd_from_io = (static_cast<int>(roundf(cmd.param3)) == 1234);
|
|
|
|
// Flick to in-air restore first if this comes from an onboard system and from IO
|
|
if (!forced && cmd_from_io
|
|
&& (cmd.source_system == _vehicle_status.system_id)
|
|
&& (cmd.source_component == _vehicle_status.component_id)
|
|
&& (arming_action == vehicle_command_s::ARMING_ACTION_ARM)) {
|
|
// TODO: replace with a proper allowed transition
|
|
_arm_state_machine.forceArmState(vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE);
|
|
}
|
|
|
|
transition_result_t arming_res = TRANSITION_DENIED;
|
|
arm_disarm_reason_t arm_disarm_reason = cmd.from_external ? arm_disarm_reason_t::command_external :
|
|
arm_disarm_reason_t::command_internal;
|
|
|
|
if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) {
|
|
arming_res = arm(arm_disarm_reason, cmd.from_external || !forced);
|
|
|
|
} else if (arming_action == vehicle_command_s::ARMING_ACTION_DISARM) {
|
|
arming_res = disarm(arm_disarm_reason, forced);
|
|
|
|
}
|
|
|
|
if (arming_res == TRANSITION_DENIED) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
|
|
if ((arming_action == vehicle_command_s::ARMING_ACTION_ARM) && (arming_res == TRANSITION_CHANGED)
|
|
&& (hrt_absolute_time() > (_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))
|
|
&& (_param_com_home_en.get())) {
|
|
_home_position.setHomePosition();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
|
|
if (cmd.param1 > 1.5f) {
|
|
// Test termination command triggers lockdown but not actual termination.
|
|
if (!_lockdown_triggered) {
|
|
_actuator_armed.lockdown = true;
|
|
_lockdown_triggered = true;
|
|
PX4_WARN("forcing lockdown (motors off)");
|
|
}
|
|
|
|
} else if (cmd.param1 > 0.5f) {
|
|
// Trigger real termination.
|
|
if (!_flight_termination_triggered) {
|
|
_actuator_armed.force_failsafe = true;
|
|
_flight_termination_triggered = true;
|
|
PX4_WARN("forcing failsafe (termination)");
|
|
send_parachute_command();
|
|
}
|
|
|
|
} else {
|
|
_actuator_armed.force_failsafe = false;
|
|
_actuator_armed.lockdown = false;
|
|
|
|
_lockdown_triggered = false;
|
|
_flight_termination_triggered = false;
|
|
|
|
PX4_WARN("disabling failsafe and lockdown");
|
|
}
|
|
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_HOME: {
|
|
if (_param_com_home_en.get()) {
|
|
bool use_current = cmd.param1 > 0.5f;
|
|
|
|
if (use_current) {
|
|
/* use current position */
|
|
if (_home_position.setHomePosition(true)) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
|
|
} else {
|
|
float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
|
|
yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
|
|
const double lat = cmd.param5;
|
|
const double lon = cmd.param6;
|
|
const float alt = cmd.param7;
|
|
|
|
if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {
|
|
|
|
if (_home_position.setManually(lat, lon, alt, yaw)) {
|
|
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
|
|
}
|
|
}
|
|
|
|
} else {
|
|
// COM_HOME_EN disabled
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH: {
|
|
/* switch to RTL which ends the mission */
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Returning to launch\t");
|
|
events::send(events::ID("commander_rtl"), events::Log::Info, "Returning to launch");
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL);
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
|
|
/* ok, home set, use it to take off */
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF)) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF);
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_NAV_VTOL_TAKEOFF:
|
|
|
|
/* ok, home set, use it to take off */
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF);
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Landing at current position\t");
|
|
events::send(events::ID("commander_landing_current_pos"), events::Log::Info,
|
|
"Landing at current position");
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND);
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_NAV_PRECLAND: {
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND)) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Precision landing\t");
|
|
events::send(events::ID("commander_landing_prec_land"), events::Log::Info,
|
|
"Landing using precision landing");
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND);
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_MISSION_START: {
|
|
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
|
|
|
|
// check if current mission and first item are valid
|
|
if (!_failsafe_flags.auto_mission_missing) {
|
|
|
|
// requested first mission item valid
|
|
if (PX4_ISFINITE(cmd.param1) && (cmd.param1 >= -1) && (cmd.param1 < _mission_result_sub.get().seq_total)) {
|
|
|
|
// switch to AUTO_MISSION and ARM
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
|
|
&& (TRANSITION_DENIED != arm(arm_disarm_reason_t::mission_start))) {
|
|
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION);
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
}
|
|
}
|
|
|
|
} else {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Mission start denied! No valid mission\t");
|
|
events::send(events::ID("commander_mission_start_denied_no_mission"), {events::Log::Critical, events::LogInternal::Info},
|
|
"Mission start denied! No valid mission");
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: {
|
|
// if no high latency telemetry exists send a failed acknowledge
|
|
if (_high_latency_datalink_heartbeat > _boot_timestamp) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
|
|
mavlink_log_critical(&_mavlink_log_pub, "Control high latency failed! Telemetry unavailable\t");
|
|
events::send(events::ID("commander_ctrl_high_latency_failed"), {events::Log::Critical, events::LogInternal::Info},
|
|
"Control high latency failed! Telemetry unavailable");
|
|
}
|
|
}
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
|
|
|
|
transition_result_t main_ret;
|
|
|
|
if (_vehicle_status.in_transition_mode) {
|
|
main_ret = TRANSITION_DENIED;
|
|
|
|
} else if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
|
|
// for fixed wings the behavior of orbit is the same as loiter
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
|
|
main_ret = TRANSITION_CHANGED;
|
|
|
|
} else {
|
|
main_ret = TRANSITION_DENIED;
|
|
}
|
|
|
|
} else {
|
|
// Switch to orbit state and let the orbit task handle the command further
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_ORBIT)) {
|
|
main_ret = TRANSITION_CHANGED;
|
|
|
|
} else {
|
|
main_ret = TRANSITION_DENIED;
|
|
}
|
|
}
|
|
|
|
if (main_ret != TRANSITION_DENIED) {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
|
mavlink_log_critical(&_mavlink_log_pub, "Orbit command rejected");
|
|
}
|
|
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_ACTUATOR_TEST:
|
|
cmd_result = handleCommandActuatorTest(cmd);
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
|
|
|
|
const int param1 = cmd.param1;
|
|
|
|
if (param1 == 0) {
|
|
// 0: Do nothing for autopilot
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
|
|
#if defined(CONFIG_BOARDCTL_RESET)
|
|
|
|
} else if ((param1 == 1) && shutdownIfAllowed() && (px4_reboot_request(false, 400_ms) == 0)) {
|
|
// 1: Reboot autopilot
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
|
|
while (1) { px4_usleep(1); }
|
|
|
|
#endif // CONFIG_BOARDCTL_RESET
|
|
|
|
#if defined(BOARD_HAS_POWER_CONTROL)
|
|
|
|
} else if ((param1 == 2) && shutdownIfAllowed() && (px4_shutdown_request(400_ms) == 0)) {
|
|
// 2: Shutdown autopilot
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
|
|
while (1) { px4_usleep(1); }
|
|
|
|
#endif // BOARD_HAS_POWER_CONTROL
|
|
|
|
#if defined(CONFIG_BOARDCTL_RESET)
|
|
|
|
} else if ((param1 == 3) && shutdownIfAllowed() && (px4_reboot_request(true, 400_ms) == 0)) {
|
|
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
|
|
while (1) { px4_usleep(1); }
|
|
|
|
#endif // CONFIG_BOARDCTL_RESET
|
|
|
|
} else {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
|
|
}
|
|
}
|
|
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
|
|
|
|
if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) {
|
|
|
|
// reject if armed or shutting down
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
|
|
|
|
} else {
|
|
|
|
/* try to go to INIT/PREFLIGHT arming state */
|
|
if (TRANSITION_DENIED == _arm_state_machine.arming_state_transition(_vehicle_status,
|
|
vehicle_status_s::ARMING_STATE_INIT, _actuator_armed, _health_and_arming_checks,
|
|
false /* fRunPreArmChecks */, &_mavlink_log_pub,
|
|
(cmd.from_external ? arm_disarm_reason_t::command_external : arm_disarm_reason_t::command_internal))
|
|
) {
|
|
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
|
|
break;
|
|
|
|
}
|
|
|
|
if ((int)(cmd.param1) == 1) {
|
|
/* gyro calibration */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::GyroCalibration);
|
|
|
|
} else if ((int)(cmd.param1) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION ||
|
|
(int)(cmd.param5) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION ||
|
|
(int)(cmd.param7) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
|
|
/* temperature calibration: handled in events module */
|
|
break;
|
|
|
|
} else if ((int)(cmd.param2) == 1) {
|
|
/* magnetometer calibration */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::MagCalibration);
|
|
|
|
} else if ((int)(cmd.param3) == 1) {
|
|
/* baro calibration */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::BaroCalibration);
|
|
|
|
} else if ((int)(cmd.param4) == 1) {
|
|
/* RC calibration */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
/* disable RC control input completely */
|
|
_vehicle_status.rc_calibration_in_progress = true;
|
|
mavlink_log_info(&_mavlink_log_pub, "Calibration: Disabling RC input\t");
|
|
events::send(events::ID("commander_calib_rc_off"), events::Log::Info,
|
|
"Calibration: Disabling RC input");
|
|
|
|
} else if ((int)(cmd.param4) == 2) {
|
|
/* RC trim calibration */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::RCTrimCalibration);
|
|
|
|
} else if ((int)(cmd.param5) == 1) {
|
|
/* accelerometer calibration */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::AccelCalibration);
|
|
|
|
} else if ((int)(cmd.param5) == 2) {
|
|
// board offset calibration
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::LevelCalibration);
|
|
|
|
} else if ((int)(cmd.param5) == 4) {
|
|
// accelerometer quick calibration
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::AccelCalibrationQuick);
|
|
|
|
} else if ((int)(cmd.param6) == 1 || (int)(cmd.param6) == 2) {
|
|
// TODO: param6 == 1 is deprecated, but we still accept it for a while (feb 2017)
|
|
/* airspeed calibration */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.startTask(WorkerThread::Request::AirspeedCalibration);
|
|
|
|
} else if ((int)(cmd.param7) == 1) {
|
|
/* do esc calibration */
|
|
if (check_battery_disconnected(&_mavlink_log_pub)) {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
|
|
if (_safety.isButtonAvailable() && !_safety.isSafetyOff()) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "ESC calibration denied! Press safety button first\t");
|
|
events::send(events::ID("commander_esc_calibration_denied"), events::Log::Critical,
|
|
"ESCs calibration denied");
|
|
|
|
} else {
|
|
_vehicle_status.calibration_enabled = true;
|
|
_actuator_armed.in_esc_calibration_mode = true;
|
|
_worker_thread.startTask(WorkerThread::Request::ESCCalibration);
|
|
}
|
|
|
|
} else {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
|
|
}
|
|
|
|
} else if ((int)(cmd.param4) == 0) {
|
|
/* RC calibration ended - have we been in one worth confirming? */
|
|
if (_vehicle_status.rc_calibration_in_progress) {
|
|
/* enable RC control input */
|
|
_vehicle_status.rc_calibration_in_progress = false;
|
|
mavlink_log_info(&_mavlink_log_pub, "Calibration: Restoring RC input\t");
|
|
events::send(events::ID("commander_calib_rc_on"), events::Log::Info,
|
|
"Calibration: Restoring RC input");
|
|
}
|
|
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
|
|
} else {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
|
|
}
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_FIXED_MAG_CAL_YAW: {
|
|
// Magnetometer quick calibration using world magnetic model and known heading
|
|
if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) {
|
|
|
|
// reject if armed or shutting down
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
|
|
|
|
} else {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
// parameter 1: Heading (degrees)
|
|
// parameter 3: Latitude (degrees)
|
|
// parameter 4: Longitude (degrees)
|
|
|
|
// assume vehicle pointing north (0 degrees) if heading isn't specified
|
|
const float heading_radians = PX4_ISFINITE(cmd.param1) ? math::radians(roundf(cmd.param1)) : 0.f;
|
|
|
|
float latitude = NAN;
|
|
float longitude = NAN;
|
|
|
|
if (PX4_ISFINITE(cmd.param3) && PX4_ISFINITE(cmd.param4)) {
|
|
// invalid if both lat & lon are 0 (current mavlink spec)
|
|
if ((fabsf(cmd.param3) > 0) && (fabsf(cmd.param4) > 0)) {
|
|
latitude = cmd.param3;
|
|
longitude = cmd.param4;
|
|
}
|
|
}
|
|
|
|
_vehicle_status.calibration_enabled = true;
|
|
_worker_thread.setMagQuickData(heading_radians, latitude, longitude);
|
|
_worker_thread.startTask(WorkerThread::Request::MagCalibrationQuick);
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE: {
|
|
|
|
if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) {
|
|
|
|
// reject if armed or shutting down
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
|
|
|
|
} else {
|
|
|
|
if (((int)(cmd.param1)) == 0) {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_worker_thread.startTask(WorkerThread::Request::ParamLoadDefault);
|
|
|
|
} else if (((int)(cmd.param1)) == 1) {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_worker_thread.startTask(WorkerThread::Request::ParamSaveDefault);
|
|
|
|
} else if (((int)(cmd.param1)) == 2) {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_worker_thread.startTask(WorkerThread::Request::ParamResetAllConfig);
|
|
|
|
} else if (((int)(cmd.param1)) == 3) {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_worker_thread.startTask(WorkerThread::Request::ParamResetSensorFactory);
|
|
|
|
} else if (((int)(cmd.param1)) == 4) {
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
_worker_thread.startTask(WorkerThread::Request::ParamResetAll);
|
|
}
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_RUN_PREARM_CHECKS:
|
|
_health_and_arming_checks.update(true);
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
|
|
break;
|
|
|
|
case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
|
|
case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
|
|
case vehicle_command_s::VEHICLE_CMD_CUSTOM_1:
|
|
case vehicle_command_s::VEHICLE_CMD_CUSTOM_2:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
|
|
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
|
|
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_UAVCAN:
|
|
case vehicle_command_s::VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
|
|
case vehicle_command_s::VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST:
|
|
case vehicle_command_s::VEHICLE_CMD_OBLIQUE_SURVEY:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL:
|
|
case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_MODE:
|
|
case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_ZOOM:
|
|
case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_FOCUS:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_LAND_START:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND:
|
|
case vehicle_command_s::VEHICLE_CMD_LOGGING_START:
|
|
case vehicle_command_s::VEHICLE_CMD_LOGGING_STOP:
|
|
case vehicle_command_s::VEHICLE_CMD_NAV_DELAY:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI:
|
|
case vehicle_command_s::VEHICLE_CMD_NAV_ROI:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE:
|
|
case vehicle_command_s::VEHICLE_CMD_INJECT_FAILURE:
|
|
case vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
|
|
case vehicle_command_s::VEHICLE_CMD_CONFIGURE_ACTUATOR:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR:
|
|
case vehicle_command_s::VEHICLE_CMD_REQUEST_MESSAGE:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_WINCH:
|
|
case vehicle_command_s::VEHICLE_CMD_DO_GRIPPER:
|
|
/* ignore commands that are handled by other parts of the system */
|
|
break;
|
|
|
|
default:
|
|
/* Warn about unsupported commands, this makes sense because only commands
|
|
* to this component ID (or all) are passed by mavlink. */
|
|
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
|
|
break;
|
|
}
|
|
|
|
if (cmd_result != vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED) {
|
|
/* already warned about unsupported commands in "default" case */
|
|
answer_command(cmd, cmd_result);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd)
|
|
{
|
|
if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
|
|
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
|
|
}
|
|
|
|
if (_param_com_mot_test_en.get() != 1) {
|
|
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
|
|
}
|
|
|
|
actuator_test_s actuator_test{};
|
|
actuator_test.timestamp = hrt_absolute_time();
|
|
actuator_test.function = (int)(cmd.param5 + 0.5);
|
|
|
|
if (actuator_test.function < 1000) {
|
|
const int first_motor_function = 1; // from MAVLink ACTUATOR_OUTPUT_FUNCTION
|
|
const int first_servo_function = 33;
|
|
|
|
if (actuator_test.function >= first_motor_function
|
|
&& actuator_test.function < first_motor_function + actuator_test_s::MAX_NUM_MOTORS) {
|
|
actuator_test.function = actuator_test.function - first_motor_function + actuator_test_s::FUNCTION_MOTOR1;
|
|
|
|
} else if (actuator_test.function >= first_servo_function
|
|
&& actuator_test.function < first_servo_function + actuator_test_s::MAX_NUM_SERVOS) {
|
|
actuator_test.function = actuator_test.function - first_servo_function + actuator_test_s::FUNCTION_SERVO1;
|
|
|
|
} else {
|
|
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
|
|
}
|
|
|
|
} else {
|
|
actuator_test.function -= 1000;
|
|
}
|
|
|
|
actuator_test.value = cmd.param1;
|
|
|
|
actuator_test.action = actuator_test_s::ACTION_DO_CONTROL;
|
|
int timeout_ms = (int)(cmd.param2 * 1000.f + 0.5f);
|
|
|
|
if (timeout_ms <= 0) {
|
|
actuator_test.action = actuator_test_s::ACTION_RELEASE_CONTROL;
|
|
|
|
} else {
|
|
actuator_test.timeout_ms = timeout_ms;
|
|
}
|
|
|
|
// enforce a timeout and a maximum limit
|
|
if (actuator_test.timeout_ms == 0 || actuator_test.timeout_ms > 3000) {
|
|
actuator_test.timeout_ms = 3000;
|
|
}
|
|
|
|
_actuator_test_pub.publish(actuator_test);
|
|
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
|
}
|
|
|
|
void Commander::executeActionRequest(const action_request_s &action_request)
|
|
{
|
|
arm_disarm_reason_t arm_disarm_reason{};
|
|
|
|
// Silently ignore RC actions during RC calibration
|
|
if (_vehicle_status.rc_calibration_in_progress
|
|
&& (action_request.source == action_request_s::SOURCE_RC_STICK_GESTURE
|
|
|| action_request.source == action_request_s::SOURCE_RC_SWITCH
|
|
|| action_request.source == action_request_s::SOURCE_RC_BUTTON
|
|
|| action_request.source == action_request_s::SOURCE_RC_MODE_SLOT)) {
|
|
return;
|
|
}
|
|
|
|
switch (action_request.source) {
|
|
case action_request_s::SOURCE_RC_STICK_GESTURE: arm_disarm_reason = arm_disarm_reason_t::rc_stick; break;
|
|
|
|
case action_request_s::SOURCE_RC_SWITCH: arm_disarm_reason = arm_disarm_reason_t::rc_switch; break;
|
|
|
|
case action_request_s::SOURCE_RC_BUTTON: arm_disarm_reason = arm_disarm_reason_t::rc_button; break;
|
|
}
|
|
|
|
switch (action_request.action) {
|
|
case action_request_s::ACTION_DISARM: disarm(arm_disarm_reason); break;
|
|
|
|
case action_request_s::ACTION_ARM: arm(arm_disarm_reason); break;
|
|
|
|
case action_request_s::ACTION_TOGGLE_ARMING:
|
|
if (_arm_state_machine.isArmed()) {
|
|
disarm(arm_disarm_reason);
|
|
|
|
} else {
|
|
arm(arm_disarm_reason);
|
|
}
|
|
|
|
break;
|
|
|
|
case action_request_s::ACTION_UNKILL:
|
|
if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && _actuator_armed.manual_lockdown) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Kill-switch disengaged\t");
|
|
events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill-switch disengaged");
|
|
_status_changed = true;
|
|
_actuator_armed.manual_lockdown = false;
|
|
}
|
|
|
|
break;
|
|
|
|
case action_request_s::ACTION_KILL:
|
|
if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && !_actuator_armed.manual_lockdown) {
|
|
const char kill_switch_string[] = "Kill-switch engaged\t";
|
|
events::LogLevels log_levels{events::Log::Info};
|
|
|
|
if (_vehicle_land_detected.landed) {
|
|
mavlink_log_info(&_mavlink_log_pub, kill_switch_string);
|
|
|
|
} else {
|
|
mavlink_log_critical(&_mavlink_log_pub, kill_switch_string);
|
|
log_levels.external = events::Log::Critical;
|
|
}
|
|
|
|
events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill-switch engaged");
|
|
|
|
_status_changed = true;
|
|
_actuator_armed.manual_lockdown = true;
|
|
send_parachute_command();
|
|
}
|
|
|
|
break;
|
|
|
|
case action_request_s::ACTION_SWITCH_MODE:
|
|
|
|
if (!_user_mode_intention.change(action_request.mode, true)) {
|
|
printRejectMode(action_request.mode);
|
|
}
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
void Commander::updateParameters()
|
|
{
|
|
// update parameters from storage
|
|
updateParams();
|
|
|
|
int32_t value_int32 = 0;
|
|
|
|
// MAV_SYS_ID => vehicle_status.system_id
|
|
if ((_param_mav_sys_id != PARAM_INVALID) && (param_get(_param_mav_sys_id, &value_int32) == PX4_OK)) {
|
|
_vehicle_status.system_id = value_int32;
|
|
}
|
|
|
|
// MAV_COMP_ID => vehicle_status.component_id
|
|
if ((_param_mav_comp_id != PARAM_INVALID) && (param_get(_param_mav_comp_id, &value_int32) == PX4_OK)) {
|
|
_vehicle_status.component_id = value_int32;
|
|
}
|
|
|
|
// MAV_TYPE -> vehicle_status.system_type
|
|
if ((_param_mav_type != PARAM_INVALID) && (param_get(_param_mav_type, &value_int32) == PX4_OK)) {
|
|
_vehicle_status.system_type = value_int32;
|
|
}
|
|
|
|
|
|
_vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
|
|
|
|
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
|
|
|
|
const bool is_rotary = is_rotary_wing(_vehicle_status) || (is_vtol(_vehicle_status)
|
|
&& _vtol_vehicle_status.vehicle_vtol_state != vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
|
|
const bool is_fixed = is_fixed_wing(_vehicle_status) || (is_vtol(_vehicle_status)
|
|
&& _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
|
|
const bool is_ground = is_ground_vehicle(_vehicle_status);
|
|
|
|
/* disable manual override for all systems that rely on electronic stabilization */
|
|
if (is_rotary) {
|
|
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
|
|
|
|
} else if (is_fixed) {
|
|
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
|
|
|
|
} else if (is_ground) {
|
|
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
|
|
}
|
|
|
|
_vehicle_status.is_vtol = is_vtol(_vehicle_status);
|
|
_vehicle_status.is_vtol_tailsitter = is_vtol_tailsitter(_vehicle_status);
|
|
|
|
// _mode_switch_mapped = (RC_MAP_FLTMODE > 0)
|
|
if (_param_rc_map_fltmode != PARAM_INVALID && (param_get(_param_rc_map_fltmode, &value_int32) == PX4_OK)) {
|
|
_mode_switch_mapped = (value_int32 > 0);
|
|
}
|
|
|
|
}
|
|
|
|
void Commander::run()
|
|
{
|
|
/* initialize */
|
|
led_init();
|
|
buzzer_init();
|
|
|
|
#if defined(BOARD_HAS_POWER_CONTROL)
|
|
{
|
|
// we need to do an initial publication to make sure uORB allocates the buffer, which cannot happen
|
|
// in IRQ context.
|
|
power_button_state_s button_state{};
|
|
button_state.timestamp = hrt_absolute_time();
|
|
button_state.event = 0xff;
|
|
power_button_state_pub = orb_advertise(ORB_ID(power_button_state), &button_state);
|
|
|
|
_power_button_state_sub.copy(&button_state);
|
|
|
|
tune_control_s tune_control{};
|
|
button_state.timestamp = hrt_absolute_time();
|
|
tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
|
|
}
|
|
|
|
if (board_register_power_state_notification_cb(power_button_state_notification_cb) != 0) {
|
|
PX4_ERR("Failed to register power notification callback");
|
|
}
|
|
|
|
#endif // BOARD_HAS_POWER_CONTROL
|
|
|
|
_boot_timestamp = hrt_absolute_time();
|
|
|
|
arm_auth_init(&_mavlink_log_pub, &_vehicle_status.system_id);
|
|
|
|
while (!should_exit()) {
|
|
|
|
perf_begin(_loop_perf);
|
|
|
|
const actuator_armed_s actuator_armed_prev{_actuator_armed};
|
|
|
|
/* update parameters */
|
|
const bool params_updated = _parameter_update_sub.updated();
|
|
|
|
if (params_updated) {
|
|
// clear update
|
|
parameter_update_s update;
|
|
_parameter_update_sub.copy(&update);
|
|
|
|
/* update parameters */
|
|
if (!_arm_state_machine.isArmed()) {
|
|
updateParameters();
|
|
|
|
_status_changed = true;
|
|
}
|
|
}
|
|
|
|
/* Update OA parameter */
|
|
_vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
|
|
|
|
handlePowerButtonState();
|
|
|
|
systemPowerUpdate();
|
|
|
|
landDetectorUpdate();
|
|
|
|
safetyButtonUpdate();
|
|
|
|
vtolStatusUpdate();
|
|
|
|
_home_position.update(_param_com_home_en.get(), !_arm_state_machine.isArmed() && _vehicle_land_detected.landed);
|
|
|
|
handleAutoDisarm();
|
|
|
|
battery_status_check();
|
|
|
|
/* If in INIT state, try to proceed to STANDBY state */
|
|
if (!_vehicle_status.calibration_enabled && _arm_state_machine.isInit()) {
|
|
|
|
_arm_state_machine.arming_state_transition(_vehicle_status,
|
|
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed, _health_and_arming_checks,
|
|
true /* fRunPreArmChecks */, &_mavlink_log_pub, arm_disarm_reason_t::transition_to_standby);
|
|
}
|
|
|
|
checkForMissionUpdate();
|
|
|
|
manualControlCheck();
|
|
|
|
offboardControlCheck();
|
|
|
|
// data link checks which update the status
|
|
dataLinkCheck();
|
|
|
|
// Check for failure detector status
|
|
if (_failure_detector.update(_vehicle_status, _vehicle_control_mode)) {
|
|
_vehicle_status.failure_detector_status = _failure_detector.getStatus().value;
|
|
_status_changed = true;
|
|
}
|
|
|
|
const hrt_abstime now = hrt_absolute_time();
|
|
|
|
const bool nav_state_or_failsafe_changed = handleModeIntentionAndFailsafe();
|
|
|
|
// Run arming checks @ 10Hz
|
|
if ((now >= _last_health_and_arming_check + 100_ms) || _status_changed || nav_state_or_failsafe_changed) {
|
|
_last_health_and_arming_check = now;
|
|
|
|
perf_begin(_preflight_check_perf);
|
|
_health_and_arming_checks.update();
|
|
_vehicle_status.pre_flight_checks_pass = _health_and_arming_checks.canArm(_vehicle_status.nav_state);
|
|
perf_end(_preflight_check_perf);
|
|
|
|
checkAndInformReadyForTakeoff();
|
|
}
|
|
|
|
// handle commands last, as the system needs to be updated to handle them
|
|
if (_vehicle_command_sub.updated()) {
|
|
// got command
|
|
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
|
|
vehicle_command_s cmd;
|
|
|
|
if (_vehicle_command_sub.copy(&cmd)) {
|
|
if (_vehicle_command_sub.get_last_generation() != last_generation + 1) {
|
|
PX4_ERR("vehicle_command lost, generation %u -> %u", last_generation, _vehicle_command_sub.get_last_generation());
|
|
}
|
|
|
|
if (handle_command(cmd)) {
|
|
_status_changed = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (_action_request_sub.updated()) {
|
|
const unsigned last_generation = _action_request_sub.get_last_generation();
|
|
action_request_s action_request;
|
|
|
|
if (_action_request_sub.copy(&action_request)) {
|
|
if (_action_request_sub.get_last_generation() != last_generation + 1) {
|
|
PX4_ERR("action_request lost, generation %u -> %u", last_generation, _action_request_sub.get_last_generation());
|
|
}
|
|
|
|
executeActionRequest(action_request);
|
|
}
|
|
}
|
|
|
|
// check for arming state changes
|
|
if (_was_armed != _arm_state_machine.isArmed()) {
|
|
_status_changed = true;
|
|
}
|
|
|
|
if (!_was_armed && _arm_state_machine.isArmed() && !_vehicle_land_detected.landed) {
|
|
_have_taken_off_since_arming = true;
|
|
}
|
|
|
|
if (_was_armed && !_arm_state_machine.isArmed()) {
|
|
const int32_t flight_uuid = _param_flight_uuid.get() + 1;
|
|
_param_flight_uuid.set(flight_uuid);
|
|
_param_flight_uuid.commit_no_notification();
|
|
|
|
_last_disarmed_timestamp = hrt_absolute_time();
|
|
|
|
_user_mode_intention.onDisarm();
|
|
}
|
|
|
|
if (!_arm_state_machine.isArmed()) {
|
|
/* Reset the flag if disarmed. */
|
|
_have_taken_off_since_arming = false;
|
|
}
|
|
|
|
_actuator_armed.prearmed = getPrearmState();
|
|
|
|
// publish states (armed, control_mode, vehicle_status, failure_detector_status) at 2 Hz or immediately when changed
|
|
if ((now >= _vehicle_status.timestamp + 500_ms) || _status_changed || nav_state_or_failsafe_changed
|
|
|| !(_actuator_armed == actuator_armed_prev)) {
|
|
|
|
// publish actuator_armed first (used by output modules)
|
|
_actuator_armed.armed = _arm_state_machine.isArmed();
|
|
_actuator_armed.ready_to_arm = _arm_state_machine.isArmed() || _arm_state_machine.isStandby();
|
|
_actuator_armed.timestamp = hrt_absolute_time();
|
|
_actuator_armed_pub.publish(_actuator_armed);
|
|
|
|
// update and publish vehicle_control_mode
|
|
updateControlMode();
|
|
|
|
// vehicle_status publish (after prearm/preflight updates above)
|
|
_vehicle_status.arming_state = _arm_state_machine.getArmState();
|
|
_vehicle_status.timestamp = hrt_absolute_time();
|
|
_vehicle_status_pub.publish(_vehicle_status);
|
|
|
|
// failure_detector_status publish
|
|
failure_detector_status_s fd_status{};
|
|
fd_status.fd_roll = _failure_detector.getStatusFlags().roll;
|
|
fd_status.fd_pitch = _failure_detector.getStatusFlags().pitch;
|
|
fd_status.fd_alt = _failure_detector.getStatusFlags().alt;
|
|
fd_status.fd_ext = _failure_detector.getStatusFlags().ext;
|
|
fd_status.fd_arm_escs = _failure_detector.getStatusFlags().arm_escs;
|
|
fd_status.fd_battery = _failure_detector.getStatusFlags().battery;
|
|
fd_status.fd_imbalanced_prop = _failure_detector.getStatusFlags().imbalanced_prop;
|
|
fd_status.fd_motor = _failure_detector.getStatusFlags().motor;
|
|
fd_status.imbalanced_prop_metric = _failure_detector.getImbalancedPropMetric();
|
|
fd_status.motor_failure_mask = _failure_detector.getMotorFailures();
|
|
fd_status.timestamp = hrt_absolute_time();
|
|
_failure_detector_status_pub.publish(fd_status);
|
|
}
|
|
|
|
checkWorkerThread();
|
|
|
|
updateTunes();
|
|
control_status_leds(_status_changed, _battery_warning);
|
|
|
|
_status_changed = false;
|
|
|
|
_was_armed = _arm_state_machine.isArmed();
|
|
|
|
arm_auth_update(hrt_absolute_time(), params_updated);
|
|
|
|
px4_indicate_external_reset_lockout(LockoutComponent::Commander, _arm_state_machine.isArmed());
|
|
|
|
perf_end(_loop_perf);
|
|
|
|
// sleep if there are no vehicle_commands or action_requests to process
|
|
if (!_vehicle_command_sub.updated() && !_action_request_sub.updated()) {
|
|
px4_usleep(COMMANDER_MONITORING_INTERVAL);
|
|
}
|
|
}
|
|
|
|
rgbled_set_color_and_mode(led_control_s::COLOR_WHITE, led_control_s::MODE_OFF);
|
|
|
|
/* close fds */
|
|
led_deinit();
|
|
buzzer_deinit();
|
|
}
|
|
|
|
void Commander::checkForMissionUpdate()
|
|
{
|
|
if (_mission_result_sub.updated()) {
|
|
const mission_result_s &mission_result = _mission_result_sub.get();
|
|
|
|
const auto prev_mission_instance_count = mission_result.instance_count;
|
|
_mission_result_sub.update();
|
|
|
|
// if mission_result is valid for the current mission
|
|
const bool mission_result_ok = (mission_result.timestamp > _boot_timestamp)
|
|
&& (mission_result.instance_count > 0);
|
|
|
|
bool auto_mission_available = mission_result_ok && mission_result.valid;
|
|
|
|
if (mission_result_ok) {
|
|
/* Only evaluate mission state if home is set */
|
|
if (!_failsafe_flags.home_position_invalid &&
|
|
(prev_mission_instance_count != mission_result.instance_count)) {
|
|
|
|
if (!auto_mission_available) {
|
|
/* the mission is invalid */
|
|
tune_mission_fail(true);
|
|
|
|
} else if (mission_result.warning) {
|
|
/* the mission has a warning */
|
|
tune_mission_warn(true);
|
|
|
|
} else {
|
|
/* the mission is valid */
|
|
tune_mission_ok(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (_arm_state_machine.isArmed() && !_vehicle_land_detected.landed
|
|
&& (mission_result.timestamp >= _vehicle_status.nav_state_timestamp)
|
|
&& mission_result.finished) {
|
|
|
|
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
|
|
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) {
|
|
// Transition mode to loiter or auto-mission after takeoff is completed.
|
|
if ((_param_takeoff_finished_action.get() == 1) && auto_mission_available) {
|
|
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION);
|
|
|
|
} else {
|
|
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
|
|
}
|
|
|
|
} else if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
|
|
// Transition to loiter when the mission is cleared and/or finished, and we are still in mission mode.
|
|
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
bool Commander::getPrearmState() const
|
|
{
|
|
switch ((PrearmedMode)_param_com_prearm_mode.get()) {
|
|
case PrearmedMode::DISABLED:
|
|
/* skip prearmed state */
|
|
return false;
|
|
|
|
case PrearmedMode::ALWAYS:
|
|
/* safety is not present, go into prearmed
|
|
* (all output drivers should be started / unlocked last in the boot process
|
|
* when the rest of the system is fully initialized)
|
|
*/
|
|
return hrt_elapsed_time(&_boot_timestamp) > 5_s;
|
|
|
|
case PrearmedMode::SAFETY_BUTTON:
|
|
if (_safety.isButtonAvailable()) {
|
|
/* safety button is present, go into prearmed if safety is off */
|
|
return _safety.isSafetyOff();
|
|
}
|
|
|
|
/* safety button is not present, do not go into prearmed */
|
|
return false;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
void Commander::handlePowerButtonState()
|
|
{
|
|
#if defined(BOARD_HAS_POWER_CONTROL)
|
|
|
|
/* handle power button state */
|
|
if (_power_button_state_sub.updated()) {
|
|
power_button_state_s button_state;
|
|
|
|
if (_power_button_state_sub.copy(&button_state)) {
|
|
if (button_state.event == power_button_state_s::PWR_BUTTON_STATE_REQUEST_SHUTDOWN) {
|
|
if (shutdownIfAllowed() && (px4_shutdown_request() == 0)) {
|
|
while (1) { px4_usleep(1); }
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // BOARD_HAS_POWER_CONTROL
|
|
}
|
|
|
|
void Commander::systemPowerUpdate()
|
|
{
|
|
system_power_s system_power;
|
|
|
|
if (_system_power_sub.update(&system_power)) {
|
|
|
|
if (hrt_elapsed_time(&system_power.timestamp) < 1_s) {
|
|
if (system_power.servo_valid &&
|
|
!system_power.brick_valid &&
|
|
!system_power.usb_connected) {
|
|
/* flying only on servo rail, this is unsafe */
|
|
_vehicle_status.power_input_valid = false;
|
|
|
|
} else {
|
|
_vehicle_status.power_input_valid = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void Commander::landDetectorUpdate()
|
|
{
|
|
if (_vehicle_land_detected_sub.updated()) {
|
|
const bool was_landed = _vehicle_land_detected.landed;
|
|
_vehicle_land_detected_sub.copy(&_vehicle_land_detected);
|
|
|
|
// Only take actions if armed
|
|
if (_arm_state_machine.isArmed()) {
|
|
if (!was_landed && _vehicle_land_detected.landed) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Landing detected\t");
|
|
events::send(events::ID("commander_landing_detected"), events::Log::Info, "Landing detected");
|
|
_vehicle_status.takeoff_time = 0;
|
|
|
|
} else if (was_landed && !_vehicle_land_detected.landed) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Takeoff detected\t");
|
|
events::send(events::ID("commander_takeoff_detected"), events::Log::Info, "Takeoff detected");
|
|
_vehicle_status.takeoff_time = hrt_absolute_time();
|
|
_have_taken_off_since_arming = true;
|
|
}
|
|
|
|
// automatically set or update home position
|
|
if (_param_com_home_en.get()) {
|
|
// set the home position when taking off, but only if we were previously disarmed
|
|
// and at least 500 ms from commander start spent to avoid setting home on in-air restart
|
|
if (!_vehicle_land_detected.landed && (hrt_elapsed_time(&_boot_timestamp) > INAIR_RESTART_HOLDOFF_INTERVAL)) {
|
|
if (was_landed) {
|
|
_home_position.setHomePosition();
|
|
|
|
} else if (_param_com_home_in_air.get()) {
|
|
_home_position.setInAirHomePosition();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void Commander::safetyButtonUpdate()
|
|
{
|
|
const bool safety_changed = _safety.safetyButtonHandler();
|
|
_vehicle_status.safety_button_available = _safety.isButtonAvailable();
|
|
_vehicle_status.safety_off = _safety.isSafetyOff();
|
|
|
|
if (safety_changed) {
|
|
// Notify the user if the status of the safety button changes
|
|
if (!_safety.isSafetyDisabled()) {
|
|
if (_safety.isSafetyOff()) {
|
|
set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
|
|
|
|
} else {
|
|
tune_neutral(true);
|
|
}
|
|
}
|
|
|
|
_status_changed = true;
|
|
}
|
|
}
|
|
|
|
void Commander::vtolStatusUpdate()
|
|
{
|
|
// Make sure that this is only adjusted if vehicle really is of type vtol
|
|
if (_vtol_vehicle_status_sub.update(&_vtol_vehicle_status) && is_vtol(_vehicle_status)) {
|
|
|
|
// Check if there has been any change while updating the flags (transition = rotary wing status)
|
|
const auto new_vehicle_type = _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW ?
|
|
vehicle_status_s::VEHICLE_TYPE_FIXED_WING :
|
|
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
|
|
|
|
if (new_vehicle_type != _vehicle_status.vehicle_type) {
|
|
_vehicle_status.vehicle_type = new_vehicle_type;
|
|
_status_changed = true;
|
|
}
|
|
|
|
const bool new_in_transition = _vtol_vehicle_status.vehicle_vtol_state ==
|
|
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW
|
|
|| _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_MC;
|
|
|
|
if (_vehicle_status.in_transition_mode != new_in_transition) {
|
|
_vehicle_status.in_transition_mode = new_in_transition;
|
|
_status_changed = true;
|
|
}
|
|
|
|
if (_vehicle_status.in_transition_to_fw != (_vtol_vehicle_status.vehicle_vtol_state ==
|
|
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW)) {
|
|
_vehicle_status.in_transition_to_fw = (_vtol_vehicle_status.vehicle_vtol_state ==
|
|
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW);
|
|
_status_changed = true;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
void Commander::updateTunes()
|
|
{
|
|
// play arming and battery warning tunes
|
|
if (!_arm_tune_played && _arm_state_machine.isArmed()) {
|
|
|
|
/* play tune when armed */
|
|
set_tune(tune_control_s::TUNE_ID_ARMING_WARNING);
|
|
_arm_tune_played = true;
|
|
|
|
} else if (!_vehicle_status.usb_connected &&
|
|
(_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
|
|
(_battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
|
|
/* play tune on battery critical */
|
|
set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_FAST);
|
|
|
|
} else if ((_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
|
|
(_battery_warning == battery_status_s::BATTERY_WARNING_LOW)) {
|
|
/* play tune on battery warning */
|
|
set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW);
|
|
|
|
} else if (_vehicle_status.failsafe && _arm_state_machine.isArmed()) {
|
|
tune_failsafe(true);
|
|
|
|
} else {
|
|
set_tune(tune_control_s::TUNE_ID_STOP);
|
|
}
|
|
|
|
/* reset arm_tune_played when disarmed */
|
|
if (!_arm_state_machine.isArmed()) {
|
|
|
|
// Notify the user that it is safe to approach the vehicle
|
|
if (_arm_tune_played) {
|
|
tune_neutral(true);
|
|
}
|
|
|
|
_arm_tune_played = false;
|
|
}
|
|
}
|
|
|
|
void Commander::checkWorkerThread()
|
|
{
|
|
// check if the worker has finished
|
|
if (_worker_thread.hasResult()) {
|
|
int ret = _worker_thread.getResultAndReset();
|
|
_actuator_armed.in_esc_calibration_mode = false;
|
|
|
|
if (_vehicle_status.calibration_enabled) { // did we do a calibration?
|
|
_vehicle_status.calibration_enabled = false;
|
|
|
|
if (ret == 0) {
|
|
tune_positive(true);
|
|
|
|
} else {
|
|
tune_negative(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void Commander::handleAutoDisarm()
|
|
{
|
|
// Auto disarm when landed or kill switch engaged
|
|
if (_arm_state_machine.isArmed()) {
|
|
|
|
// Check for auto-disarm on landing or pre-flight
|
|
if (_param_com_disarm_land.get() > 0 || _param_com_disarm_preflight.get() > 0) {
|
|
|
|
const bool landed_amid_mission = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
|
|
&& !_mission_result_sub.get().finished;
|
|
|
|
if (_param_com_disarm_land.get() > 0 && _have_taken_off_since_arming && !landed_amid_mission) {
|
|
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
|
|
_auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());
|
|
|
|
} else if (_param_com_disarm_preflight.get() > 0 && !_have_taken_off_since_arming) {
|
|
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
|
|
_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
|
|
}
|
|
|
|
if (_auto_disarm_landed.get_state()) {
|
|
if (_have_taken_off_since_arming) {
|
|
disarm(arm_disarm_reason_t::auto_disarm_land);
|
|
|
|
} else {
|
|
disarm(arm_disarm_reason_t::auto_disarm_preflight);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Auto disarm after 5 seconds if kill switch is engaged
|
|
bool auto_disarm = _actuator_armed.manual_lockdown;
|
|
|
|
// auto disarm if locked down to avoid user confusion
|
|
// skipped in HITL where lockdown is enabled for safety
|
|
if (_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) {
|
|
auto_disarm |= _actuator_armed.lockdown;
|
|
}
|
|
|
|
_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
|
|
|
|
if (_auto_disarm_killed.get_state()) {
|
|
if (_actuator_armed.manual_lockdown) {
|
|
disarm(arm_disarm_reason_t::kill_switch, true);
|
|
|
|
} else {
|
|
disarm(arm_disarm_reason_t::lockdown, true);
|
|
}
|
|
}
|
|
|
|
} else {
|
|
_auto_disarm_landed.set_state_and_update(false, hrt_absolute_time());
|
|
_auto_disarm_killed.set_state_and_update(false, hrt_absolute_time());
|
|
}
|
|
}
|
|
|
|
bool Commander::handleModeIntentionAndFailsafe()
|
|
{
|
|
const uint8_t prev_nav_state = _vehicle_status.nav_state;
|
|
const FailsafeBase::Action prev_failsafe_action = _failsafe.selectedAction();
|
|
|
|
FailsafeBase::State state{};
|
|
state.armed = _arm_state_machine.isArmed();
|
|
state.vtol_in_transition_mode = _vehicle_status.in_transition_mode;
|
|
state.mission_finished = _mission_result_sub.get().finished;
|
|
state.user_intended_mode = _user_mode_intention.get();
|
|
state.vehicle_type = _vehicle_status.vehicle_type;
|
|
|
|
// There might have been a mode change request without changing the user intended mode.
|
|
// If a failsafe is active we must pass the request along as it might lead to a user-takeover.
|
|
bool mode_change_requested = _user_mode_intention.getHadModeChangeAndClear();
|
|
|
|
uint8_t updated_user_intented_mode = _failsafe.update(hrt_absolute_time(), state, mode_change_requested,
|
|
_failsafe_user_override_request,
|
|
_failsafe_flags);
|
|
_failsafe_user_override_request = false;
|
|
|
|
// Force intended mode if changed by the failsafe state machine
|
|
if (state.user_intended_mode != updated_user_intented_mode) {
|
|
_user_mode_intention.change(updated_user_intented_mode, false, true);
|
|
_user_mode_intention.getHadModeChangeAndClear();
|
|
}
|
|
|
|
// Handle failsafe action
|
|
_vehicle_status.nav_state_user_intention = _user_mode_intention.get();
|
|
_vehicle_status.nav_state = FailsafeBase::modeFromAction(_failsafe.selectedAction(), _user_mode_intention.get());
|
|
|
|
switch (_failsafe.selectedAction()) {
|
|
case FailsafeBase::Action::Disarm:
|
|
disarm(arm_disarm_reason_t::failsafe, true);
|
|
break;
|
|
|
|
case FailsafeBase::Action::Terminate:
|
|
_vehicle_status.nav_state = _vehicle_status.NAVIGATION_STATE_TERMINATION;
|
|
_actuator_armed.force_failsafe = true;
|
|
|
|
if (!_flight_termination_triggered) {
|
|
_flight_termination_triggered = true;
|
|
send_parachute_command();
|
|
}
|
|
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
_vehicle_status.failsafe = _failsafe.inFailsafe();
|
|
_vehicle_status.failsafe_and_user_took_over = _failsafe.userTakeoverActive();
|
|
|
|
if (prev_nav_state != _vehicle_status.nav_state) {
|
|
_vehicle_status.nav_state_timestamp = hrt_absolute_time();
|
|
}
|
|
|
|
return prev_nav_state != _vehicle_status.nav_state || prev_failsafe_action != _failsafe.selectedAction();
|
|
}
|
|
|
|
void Commander::checkAndInformReadyForTakeoff()
|
|
{
|
|
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
|
|
static bool ready_for_takeoff_printed = false;
|
|
|
|
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||
|
|
_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
|
|
if (!ready_for_takeoff_printed &&
|
|
_health_and_arming_checks.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF)) {
|
|
PX4_INFO("%sReady for takeoff!%s", PX4_ANSI_COLOR_GREEN, PX4_ANSI_COLOR_RESET);
|
|
ready_for_takeoff_printed = true;
|
|
}
|
|
}
|
|
|
|
#endif // CONFIG_ARCH_BOARD_PX4_SITL
|
|
}
|
|
|
|
void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
|
|
{
|
|
switch (blink_msg_state()) {
|
|
case 1:
|
|
// blinking LED message, don't touch LEDs
|
|
return;
|
|
|
|
case 2:
|
|
// blinking LED message completed, restore normal state
|
|
changed = true;
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
const hrt_abstime time_now_us = hrt_absolute_time();
|
|
|
|
if (_cpuload_sub.updated()) {
|
|
cpuload_s cpuload;
|
|
|
|
if (_cpuload_sub.copy(&cpuload)) {
|
|
const float cpuload_percent = cpuload.load * 100.f;
|
|
|
|
bool overload = (cpuload_percent > _param_com_cpu_max.get()) || (cpuload.ram_usage > 0.99f);
|
|
|
|
if (_overload_start == 0 && overload) {
|
|
_overload_start = time_now_us;
|
|
|
|
} else if (!overload) {
|
|
_overload_start = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
const bool overload = (_overload_start != 0);
|
|
|
|
// driving the RGB led
|
|
if (changed || _last_overload != overload) {
|
|
uint8_t led_mode = led_control_s::MODE_OFF;
|
|
uint8_t led_color = led_control_s::COLOR_WHITE;
|
|
bool set_normal_color = false;
|
|
|
|
uint64_t overload_warn_delay = _arm_state_machine.isArmed() ? 1_ms : 250_ms;
|
|
|
|
// set mode
|
|
if (overload && (time_now_us >= _overload_start + overload_warn_delay)) {
|
|
led_mode = led_control_s::MODE_BLINK_FAST;
|
|
led_color = led_control_s::COLOR_PURPLE;
|
|
|
|
} else if (_arm_state_machine.isArmed()) {
|
|
led_mode = led_control_s::MODE_ON;
|
|
set_normal_color = true;
|
|
|
|
} else if (!_vehicle_status.pre_flight_checks_pass) {
|
|
led_mode = led_control_s::MODE_BLINK_FAST;
|
|
led_color = led_control_s::COLOR_RED;
|
|
|
|
} else if (_arm_state_machine.isStandby()) {
|
|
led_mode = led_control_s::MODE_BREATHE;
|
|
set_normal_color = true;
|
|
|
|
} else if (_arm_state_machine.isInit()) {
|
|
// if in init status it should not be in the error state
|
|
led_mode = led_control_s::MODE_OFF;
|
|
|
|
} else {
|
|
// STANDBY_ERROR and other states
|
|
led_mode = led_control_s::MODE_BLINK_NORMAL;
|
|
led_color = led_control_s::COLOR_RED;
|
|
}
|
|
|
|
if (set_normal_color) {
|
|
// set color
|
|
if (_vehicle_status.failsafe) {
|
|
led_color = led_control_s::COLOR_PURPLE;
|
|
|
|
} else if (battery_warning == battery_status_s::BATTERY_WARNING_LOW) {
|
|
led_color = led_control_s::COLOR_AMBER;
|
|
|
|
} else if (battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
|
|
led_color = led_control_s::COLOR_RED;
|
|
|
|
} else {
|
|
if (!_failsafe_flags.home_position_invalid && !_failsafe_flags.global_position_invalid) {
|
|
led_color = led_control_s::COLOR_GREEN;
|
|
|
|
} else {
|
|
led_color = led_control_s::COLOR_BLUE;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (led_mode != led_control_s::MODE_OFF) {
|
|
rgbled_set_color_and_mode(led_color, led_mode);
|
|
}
|
|
}
|
|
|
|
_last_overload = overload;
|
|
|
|
#if !defined(CONFIG_ARCH_LEDS) && defined(BOARD_HAS_CONTROL_STATUS_LEDS)
|
|
|
|
if (_arm_state_machine.isArmed()) {
|
|
if (_vehicle_status.failsafe) {
|
|
BOARD_ARMED_LED_OFF();
|
|
|
|
if (time_now_us >= _led_armed_state_toggle + 250_ms) {
|
|
_led_armed_state_toggle = time_now_us;
|
|
BOARD_ARMED_STATE_LED_TOGGLE();
|
|
}
|
|
|
|
} else {
|
|
BOARD_ARMED_STATE_LED_OFF();
|
|
|
|
// armed, solid
|
|
BOARD_ARMED_LED_ON();
|
|
}
|
|
|
|
} else if (_arm_state_machine.isStandby()) {
|
|
BOARD_ARMED_LED_OFF();
|
|
|
|
// ready to arm, blink at 1Hz
|
|
if (time_now_us >= _led_armed_state_toggle + 1_s) {
|
|
_led_armed_state_toggle = time_now_us;
|
|
BOARD_ARMED_STATE_LED_TOGGLE();
|
|
}
|
|
|
|
} else {
|
|
BOARD_ARMED_LED_OFF();
|
|
|
|
// not ready to arm, blink at 10Hz
|
|
if (time_now_us >= _led_armed_state_toggle + 100_ms) {
|
|
_led_armed_state_toggle = time_now_us;
|
|
BOARD_ARMED_STATE_LED_TOGGLE();
|
|
}
|
|
}
|
|
|
|
#endif
|
|
|
|
// give system warnings on error LED
|
|
if (overload) {
|
|
if (time_now_us >= _led_overload_toggle + 50_ms) {
|
|
_led_overload_toggle = time_now_us;
|
|
BOARD_OVERLOAD_LED_TOGGLE();
|
|
}
|
|
|
|
} else {
|
|
BOARD_OVERLOAD_LED_OFF();
|
|
}
|
|
}
|
|
|
|
void Commander::updateControlMode()
|
|
{
|
|
_vehicle_control_mode = {};
|
|
mode_util::getVehicleControlMode(_arm_state_machine.isArmed(), _vehicle_status.nav_state,
|
|
_vehicle_status.vehicle_type, _offboard_control_mode_sub.get(), _vehicle_control_mode);
|
|
_vehicle_control_mode.timestamp = hrt_absolute_time();
|
|
_vehicle_control_mode_pub.publish(_vehicle_control_mode);
|
|
}
|
|
|
|
void Commander::printRejectMode(uint8_t nav_state)
|
|
{
|
|
if (hrt_elapsed_time(&_last_print_mode_reject_time) > 1_s) {
|
|
|
|
mavlink_log_critical(&_mavlink_log_pub, "Switching to %s is currently not available\t",
|
|
mode_util::nav_state_names[nav_state]);
|
|
px4_custom_mode custom_mode = get_px4_custom_mode(nav_state);
|
|
uint32_t mavlink_mode = custom_mode.data;
|
|
/* EVENT
|
|
* @type append_health_and_arming_messages
|
|
*/
|
|
events::send<uint32_t, events::px4::enums::navigation_mode_t>(events::ID("commander_modeswitch_not_avail"), {events::Log::Critical, events::LogInternal::Info},
|
|
"Switching to mode '{2}' is currently not possible", mavlink_mode, mode_util::navigation_mode(nav_state));
|
|
|
|
/* only buzz if armed, because else we're driving people nuts indoors
|
|
they really need to look at the leds as well. */
|
|
tune_negative(_arm_state_machine.isArmed());
|
|
|
|
_last_print_mode_reject_time = hrt_absolute_time();
|
|
}
|
|
}
|
|
|
|
void Commander::answer_command(const vehicle_command_s &cmd, uint8_t result)
|
|
{
|
|
switch (result) {
|
|
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED:
|
|
break;
|
|
|
|
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED:
|
|
tune_negative(true);
|
|
break;
|
|
|
|
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED:
|
|
tune_negative(true);
|
|
break;
|
|
|
|
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
|
|
tune_negative(true);
|
|
break;
|
|
|
|
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
|
|
tune_negative(true);
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
/* publish ACK */
|
|
vehicle_command_ack_s command_ack{};
|
|
command_ack.command = cmd.command;
|
|
command_ack.result = result;
|
|
command_ack.target_system = cmd.source_system;
|
|
command_ack.target_component = cmd.source_component;
|
|
command_ack.timestamp = hrt_absolute_time();
|
|
_vehicle_command_ack_pub.publish(command_ack);
|
|
}
|
|
|
|
int Commander::task_spawn(int argc, char *argv[])
|
|
{
|
|
_task_id = px4_task_spawn_cmd("commander",
|
|
SCHED_DEFAULT,
|
|
SCHED_PRIORITY_DEFAULT + 40,
|
|
3250,
|
|
(px4_main_t)&run_trampoline,
|
|
(char *const *)argv);
|
|
|
|
if (_task_id < 0) {
|
|
_task_id = -1;
|
|
return -errno;
|
|
}
|
|
|
|
// wait until task is up & running
|
|
if (wait_until_running() < 0) {
|
|
_task_id = -1;
|
|
return -1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
Commander *Commander::instantiate(int argc, char *argv[])
|
|
{
|
|
Commander *instance = new Commander();
|
|
|
|
if (instance) {
|
|
if (argc >= 2 && !strcmp(argv[1], "-h")) {
|
|
instance->enable_hil();
|
|
}
|
|
}
|
|
|
|
return instance;
|
|
}
|
|
|
|
void Commander::enable_hil()
|
|
{
|
|
_vehicle_status.hil_state = vehicle_status_s::HIL_STATE_ON;
|
|
}
|
|
|
|
void Commander::dataLinkCheck()
|
|
{
|
|
for (auto &telemetry_status : _telemetry_status_subs) {
|
|
telemetry_status_s telemetry;
|
|
|
|
if (telemetry_status.update(&telemetry)) {
|
|
|
|
// handle different radio types
|
|
switch (telemetry.type) {
|
|
case telemetry_status_s::LINK_TYPE_USB:
|
|
// set (but don't unset) telemetry via USB as active once a MAVLink connection is up
|
|
_vehicle_status.usb_connected = true;
|
|
break;
|
|
|
|
case telemetry_status_s::LINK_TYPE_IRIDIUM: {
|
|
iridiumsbd_status_s iridium_status;
|
|
|
|
if (_iridiumsbd_status_sub.update(&iridium_status)) {
|
|
_high_latency_datalink_heartbeat = iridium_status.last_heartbeat;
|
|
|
|
if (_vehicle_status.high_latency_data_link_lost) {
|
|
if (hrt_elapsed_time(&_high_latency_datalink_lost) > (_param_com_hldl_reg_t.get() * 1_s)) {
|
|
_vehicle_status.high_latency_data_link_lost = false;
|
|
_status_changed = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (telemetry.heartbeat_type_gcs) {
|
|
// Initial connection or recovery from data link lost
|
|
if (_vehicle_status.gcs_connection_lost) {
|
|
_vehicle_status.gcs_connection_lost = false;
|
|
_status_changed = true;
|
|
|
|
if (_datalink_last_heartbeat_gcs != 0) {
|
|
mavlink_log_info(&_mavlink_log_pub, "GCS connection regained\t");
|
|
events::send(events::ID("commander_dl_regained"), events::Log::Info, "GCS connection regained");
|
|
}
|
|
}
|
|
|
|
_datalink_last_heartbeat_gcs = telemetry.timestamp;
|
|
}
|
|
|
|
if (telemetry.heartbeat_type_onboard_controller) {
|
|
if (_onboard_controller_lost) {
|
|
_onboard_controller_lost = false;
|
|
_status_changed = true;
|
|
|
|
if (_datalink_last_heartbeat_onboard_controller != 0) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Onboard controller regained\t");
|
|
events::send(events::ID("commander_onboard_ctrl_regained"), events::Log::Info, "Onboard controller regained");
|
|
}
|
|
}
|
|
|
|
_datalink_last_heartbeat_onboard_controller = telemetry.timestamp;
|
|
}
|
|
|
|
if (telemetry.heartbeat_type_parachute) {
|
|
if (_parachute_system_lost) {
|
|
_parachute_system_lost = false;
|
|
|
|
if (_datalink_last_heartbeat_parachute_system != 0) {
|
|
mavlink_log_info(&_mavlink_log_pub, "Parachute system regained\t");
|
|
events::send(events::ID("commander_parachute_regained"), events::Log::Info, "Parachute system regained");
|
|
}
|
|
}
|
|
|
|
bool healthy = telemetry.parachute_system_healthy;
|
|
|
|
_datalink_last_heartbeat_parachute_system = telemetry.timestamp;
|
|
_vehicle_status.parachute_system_present = true;
|
|
_vehicle_status.parachute_system_healthy = healthy;
|
|
}
|
|
|
|
if (telemetry.heartbeat_type_open_drone_id) {
|
|
if (_open_drone_id_system_lost) {
|
|
_open_drone_id_system_lost = false;
|
|
|
|
if (_datalink_last_heartbeat_open_drone_id_system != 0) {
|
|
mavlink_log_info(&_mavlink_log_pub, "OpenDroneID system regained\t");
|
|
events::send(events::ID("commander_open_drone_id_regained"), events::Log::Info, "OpenDroneID system regained");
|
|
}
|
|
}
|
|
|
|
bool healthy = telemetry.open_drone_id_system_healthy;
|
|
|
|
_datalink_last_heartbeat_open_drone_id_system = telemetry.timestamp;
|
|
_vehicle_status.open_drone_id_system_present = true;
|
|
_vehicle_status.open_drone_id_system_healthy = healthy;
|
|
}
|
|
|
|
if (telemetry.heartbeat_component_obstacle_avoidance) {
|
|
if (_avoidance_system_lost) {
|
|
_avoidance_system_lost = false;
|
|
_status_changed = true;
|
|
}
|
|
|
|
_datalink_last_heartbeat_avoidance_system = telemetry.timestamp;
|
|
_vehicle_status.avoidance_system_valid = telemetry.avoidance_system_healthy;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// GCS data link loss failsafe
|
|
if (!_vehicle_status.gcs_connection_lost) {
|
|
if ((_datalink_last_heartbeat_gcs != 0)
|
|
&& hrt_elapsed_time(&_datalink_last_heartbeat_gcs) > (_param_com_dl_loss_t.get() * 1_s)) {
|
|
|
|
_vehicle_status.gcs_connection_lost = true;
|
|
_vehicle_status.gcs_connection_lost_counter++;
|
|
|
|
mavlink_log_info(&_mavlink_log_pub, "Connection to ground station lost\t");
|
|
events::send(events::ID("commander_gcs_lost"), {events::Log::Warning, events::LogInternal::Info},
|
|
"Connection to ground control station lost");
|
|
|
|
_status_changed = true;
|
|
}
|
|
}
|
|
|
|
// ONBOARD CONTROLLER data link loss failsafe
|
|
if ((_datalink_last_heartbeat_onboard_controller > 0)
|
|
&& (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > (_param_com_obc_loss_t.get() * 1_s))
|
|
&& !_onboard_controller_lost) {
|
|
|
|
mavlink_log_critical(&_mavlink_log_pub, "Connection to mission computer lost\t");
|
|
events::send(events::ID("commander_mission_comp_lost"), events::Log::Critical, "Connection to mission computer lost");
|
|
_onboard_controller_lost = true;
|
|
_status_changed = true;
|
|
}
|
|
|
|
// Parachute system
|
|
if ((hrt_elapsed_time(&_datalink_last_heartbeat_parachute_system) > 3_s)
|
|
&& !_parachute_system_lost) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Parachute system lost");
|
|
_vehicle_status.parachute_system_present = false;
|
|
_vehicle_status.parachute_system_healthy = false;
|
|
_parachute_system_lost = true;
|
|
_status_changed = true;
|
|
}
|
|
|
|
// OpenDroneID system
|
|
if ((hrt_elapsed_time(&_datalink_last_heartbeat_open_drone_id_system) > 3_s)
|
|
&& !_open_drone_id_system_lost) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "OpenDroneID system lost");
|
|
events::send(events::ID("commander_open_drone_id_lost"), events::Log::Critical, "OpenDroneID system lost");
|
|
_vehicle_status.open_drone_id_system_present = false;
|
|
_vehicle_status.open_drone_id_system_healthy = false;
|
|
_open_drone_id_system_lost = true;
|
|
_status_changed = true;
|
|
}
|
|
|
|
// AVOIDANCE SYSTEM state check (only if it is enabled)
|
|
if (_vehicle_status.avoidance_system_required && !_onboard_controller_lost) {
|
|
// if heartbeats stop
|
|
if (!_avoidance_system_lost && (_datalink_last_heartbeat_avoidance_system > 0)
|
|
&& (hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > 5_s)) {
|
|
|
|
_avoidance_system_lost = true;
|
|
_vehicle_status.avoidance_system_valid = false;
|
|
}
|
|
}
|
|
|
|
// high latency data link loss failsafe
|
|
if (_high_latency_datalink_heartbeat > 0
|
|
&& hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s)) {
|
|
_high_latency_datalink_lost = hrt_absolute_time();
|
|
|
|
if (!_vehicle_status.high_latency_data_link_lost) {
|
|
_vehicle_status.high_latency_data_link_lost = true;
|
|
mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t");
|
|
events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost");
|
|
_status_changed = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
void Commander::battery_status_check()
|
|
{
|
|
// Handle shutdown request from emergency battery action
|
|
if (_battery_warning != _failsafe_flags.battery_warning) {
|
|
|
|
if (_failsafe_flags.battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
|
|
#if defined(BOARD_HAS_POWER_CONTROL)
|
|
|
|
if (shutdownIfAllowed() && (px4_shutdown_request(60_s) == 0)) {
|
|
mavlink_log_critical(&_mavlink_log_pub, "Dangerously low battery! Shutting system down in 60 seconds\t");
|
|
events::send(events::ID("commander_low_bat_shutdown"), {events::Log::Emergency, events::LogInternal::Warning},
|
|
"Dangerously low battery! Shutting system down");
|
|
|
|
while (1) { px4_usleep(1); }
|
|
|
|
} else {
|
|
mavlink_log_critical(&_mavlink_log_pub, "System does not support shutdown\t");
|
|
/* EVENT
|
|
* @description Cannot shut down, most likely the system does not support it.
|
|
*/
|
|
events::send(events::ID("commander_low_bat_shutdown_failed"), {events::Log::Emergency, events::LogInternal::Error},
|
|
"Dangerously low battery! System shut down failed");
|
|
}
|
|
|
|
#endif // BOARD_HAS_POWER_CONTROL
|
|
}
|
|
}
|
|
|
|
_battery_warning = _failsafe_flags.battery_warning;
|
|
}
|
|
|
|
void Commander::manualControlCheck()
|
|
{
|
|
manual_control_setpoint_s manual_control_setpoint;
|
|
const bool manual_control_updated = _manual_control_setpoint_sub.update(&manual_control_setpoint);
|
|
|
|
if (manual_control_updated && manual_control_setpoint.valid) {
|
|
|
|
_is_throttle_above_center = (manual_control_setpoint.throttle > 0.2f);
|
|
_is_throttle_low = (manual_control_setpoint.throttle < -0.8f);
|
|
|
|
if (_arm_state_machine.isArmed()) {
|
|
// Abort autonomous mode and switch to position mode if sticks are moved significantly
|
|
// but only if actually in air.
|
|
if (manual_control_setpoint.sticks_moving
|
|
&& !_vehicle_control_mode.flag_control_manual_enabled
|
|
&& (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
|
|
) {
|
|
bool override_enabled = false;
|
|
|
|
if (_vehicle_control_mode.flag_control_auto_enabled) {
|
|
if (_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::AUTO_MODE_BIT)) {
|
|
override_enabled = true;
|
|
}
|
|
}
|
|
|
|
if (_vehicle_control_mode.flag_control_offboard_enabled) {
|
|
if (_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::OFFBOARD_MODE_BIT)) {
|
|
override_enabled = true;
|
|
}
|
|
}
|
|
|
|
if (override_enabled) {
|
|
// If no failsafe is active, directly change the mode, otherwise pass the request to the failsafe state machine
|
|
if (_failsafe.selectedAction() <= FailsafeBase::Action::Warn) {
|
|
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_POSCTL, true)) {
|
|
tune_positive(true);
|
|
mavlink_log_info(&_mavlink_log_pub, "Pilot took over using sticks\t");
|
|
events::send(events::ID("commander_rc_override"), events::Log::Info, "Pilot took over using sticks");
|
|
}
|
|
|
|
} else {
|
|
_failsafe_user_override_request = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
} else {
|
|
const bool is_mavlink = (manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC);
|
|
|
|
// if there's never been a mode change force position control as initial state
|
|
if (!_user_mode_intention.everHadModeChange() && (is_mavlink || !_mode_switch_mapped)) {
|
|
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_POSCTL, false, true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void Commander::offboardControlCheck()
|
|
{
|
|
if (_offboard_control_mode_sub.update()) {
|
|
if (_failsafe_flags.offboard_control_signal_lost) {
|
|
// Run arming checks immediately to allow for offboard mode activation
|
|
_status_changed = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
void Commander::send_parachute_command()
|
|
{
|
|
vehicle_command_s vcmd{};
|
|
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_PARACHUTE;
|
|
vcmd.param1 = static_cast<float>(vehicle_command_s::PARACHUTE_ACTION_RELEASE);
|
|
|
|
uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
|
|
vcmd.source_system = vehicle_status_sub.get().system_id;
|
|
vcmd.target_system = vehicle_status_sub.get().system_id;
|
|
vcmd.source_component = vehicle_status_sub.get().component_id;
|
|
vcmd.target_component = 161; // MAV_COMP_ID_PARACHUTE
|
|
|
|
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
|
|
vcmd.timestamp = hrt_absolute_time();
|
|
vcmd_pub.publish(vcmd);
|
|
|
|
set_tune_override(tune_control_s::TUNE_ID_PARACHUTE_RELEASE);
|
|
}
|
|
|
|
int Commander::print_usage(const char *reason)
|
|
{
|
|
if (reason) {
|
|
PX4_INFO("%s", reason);
|
|
}
|
|
|
|
PRINT_MODULE_DESCRIPTION(
|
|
R"DESCR_STR(
|
|
### Description
|
|
The commander module contains the state machine for mode switching and failsafe behavior.
|
|
)DESCR_STR");
|
|
|
|
PRINT_MODULE_USAGE_NAME("commander", "system");
|
|
PRINT_MODULE_USAGE_COMMAND("start");
|
|
PRINT_MODULE_USAGE_PARAM_FLAG('h', "Enable HIL mode", true);
|
|
#ifndef CONSTRAINED_FLASH
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
|
|
PRINT_MODULE_USAGE_ARG("mag|baro|accel|gyro|level|esc|airspeed", "Calibration type", false);
|
|
PRINT_MODULE_USAGE_ARG("quick", "Quick calibration (accel only, not recommended)", false);
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
|
|
PRINT_MODULE_USAGE_COMMAND("arm");
|
|
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
|
|
PRINT_MODULE_USAGE_COMMAND("disarm");
|
|
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force disarming (disarm in air)", true);
|
|
PRINT_MODULE_USAGE_COMMAND("takeoff");
|
|
PRINT_MODULE_USAGE_COMMAND("land");
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
|
|
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
|
|
"Flight mode", false);
|
|
PRINT_MODULE_USAGE_COMMAND("pair");
|
|
PRINT_MODULE_USAGE_COMMAND("lockdown");
|
|
PRINT_MODULE_USAGE_ARG("on|off", "Turn lockdown on or off", false);
|
|
PRINT_MODULE_USAGE_COMMAND("set_ekf_origin");
|
|
PRINT_MODULE_USAGE_ARG("lat, lon, alt", "Origin Latitude, Longitude, Altitude", false);
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("lat|lon|alt", "Origin latitude longitude altitude");
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("poweroff", "Power off board (if supported)");
|
|
#endif
|
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
|
|
|
return 1;
|
|
}
|