fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 17:00:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
75b8e11b90551a4553a9ad0fe08f27053d301f54
PX4-Autopilot/src/modules/commander/state_machine_helper.cpp
T
Julian Oes 75b8e11b90 commander: make LAND failsafe stick 
By default we would leave the LAND failsafe as soon as a link comes
back. With this change, we switch to the LAND failsafe like a proper
mode change, immediately disabling the failsafe as such.
This is as the same that is done for RTL in fact.

This is not optimal but a workaround for the problem where we switch out
of failsafe right on landing and then discover takeoff again and start
looping through it again and again without ever disarming.
2021-10-05 14:02:22 +02:00

1257 lines
48 KiB
C++
Raw Blame History

/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file state_machine_helper.cpp
* State machine helper functions implementations
*
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@oes.ch>
* @author Sander Smeets <sander@droneslab.com>
*/
#include <px4_platform_common/px4_config.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_status.h>
#include <systemlib/mavlink_log.h>
#include <drivers/drv_hrt.h>
#include <float.h>
#include "state_machine_helper.h"
#include "commander_helper.h"
using namespace time_literals;
static constexpr const char reason_no_rc[] = "No manual control stick input";
static constexpr const char reason_no_offboard[] = "no offboard";
static constexpr const char reason_no_rc_and_no_offboard[] = "no RC and no offboard";
static constexpr const char reason_no_local_position[] = "no local position";
static constexpr const char reason_no_global_position[] = "no global position";
static constexpr const char reason_no_datalink[] = "no datalink";
static constexpr const char reason_no_rc_and_no_datalink[] = "no RC and no datalink";
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX]
= {
// INIT, STANDBY, ARMED, STANDBY_ERROR, SHUTDOWN, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_SHUTDOWN */ true, true, false, true, true, true },
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false }, // NYI
};
// You can index into the array with an arming_state_t in order to get its textual representation
const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"INIT",
"STANDBY",
"ARMED",
"STANDBY_ERROR",
"SHUTDOWN",
"IN_AIR_RESTORE",
};
static inline events::px4::enums::arming_state_t eventArmingState(uint8_t arming_state)
{
switch (arming_state) {
case vehicle_status_s::ARMING_STATE_INIT: return events::px4::enums::arming_state_t::init;
case vehicle_status_s::ARMING_STATE_STANDBY: return events::px4::enums::arming_state_t::standby;
case vehicle_status_s::ARMING_STATE_ARMED: return events::px4::enums::arming_state_t::armed;
case vehicle_status_s::ARMING_STATE_STANDBY_ERROR: return events::px4::enums::arming_state_t::standby_error;
case vehicle_status_s::ARMING_STATE_SHUTDOWN: return events::px4::enums::arming_state_t::shutdown;
case vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE: return events::px4::enums::arming_state_t::inair_restore;
}
static_assert(vehicle_status_s::ARMING_STATE_MAX - 1 == (int)events::px4::enums::arming_state_t::inair_restore,
"enum def mismatch");
return events::px4::enums::arming_state_t::init;
}
// You can index into the array with an navigation_state_t in order to get its textual representation
const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
"MANUAL",
"ALTCTL",
"POSCTL",
"AUTO_MISSION",
"AUTO_LOITER",
"AUTO_RTL",
"6: unallocated",
"7: unallocated",
"AUTO_LANDENGFAIL",
"AUTO_LANDGPSFAIL",
"ACRO",
"11: UNUSED",
"DESCEND",
"TERMINATION",
"OFFBOARD",
"STAB",
"16: UNUSED2",
"AUTO_TAKEOFF",
"AUTO_LAND",
"AUTO_FOLLOW_TARGET",
"AUTO_PRECLAND",
"ORBIT"
};
static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately
void set_link_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, link_loss_actions_t link_loss_act,
const float ll_delay);
void reset_link_loss_globals(actuator_armed_s &armed, const bool old_failsafe, const link_loss_actions_t link_loss_act);
void set_offboard_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
const vehicle_status_flags_s &status_flags,
const offboard_loss_actions_t offboard_loss_act);
void set_offboard_loss_rc_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
const vehicle_status_flags_s &status_flags,
const offboard_loss_rc_actions_t offboard_loss_rc_act);
void reset_offboard_loss_globals(actuator_armed_s &armed, const bool old_failsafe,
const offboard_loss_actions_t offboard_loss_act,
const offboard_loss_rc_actions_t offboard_loss_rc_act);
transition_result_t arming_state_transition(vehicle_status_s &status, const safety_s &safety,
const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s &status_flags,
const PreFlightCheck::arm_requirements_t &arm_requirements,
const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason)
{
// Double check that our static arrays are still valid
static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
static_assert(vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE == vehicle_status_s::ARMING_STATE_MAX - 1,
"ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1");
transition_result_t ret = TRANSITION_DENIED;
arming_state_t current_arming_state = status.arming_state;
bool feedback_provided = false;
const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON);
/* only check transition if the new state is actually different from the current one */
if (new_arming_state == current_arming_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
/*
* Get sensing state if necessary
*/
bool preflight_check_ret = true;
/* only perform the pre-arm check if we have to */
if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& !hil_enabled) {
preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, true, true,
time_since_boot);
if (preflight_check_ret) {
status_flags.condition_system_sensors_initialized = true;
}
feedback_provided = true;
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags.condition_system_sensors_initialized
&& fRunPreArmChecks
&& ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
&& !hil_enabled) {
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
status_flags.condition_system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, status,
status_flags, false, status.arming_state != vehicle_status_s::ARMING_STATE_ARMED,
time_since_boot);
last_preflight_check = hrt_absolute_time();
}
}
// Check that we have a valid state transition
bool valid_transition = arming_transitions[new_arming_state][status.arming_state];
if (valid_transition) {
// We have a good transition. Now perform any secondary validation.
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// Do not perform pre-arm checks if coming from in air restore
// Allow if vehicle_status_s::HIL_STATE_ON
if (status.arming_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE) {
bool prearm_check_ret = true;
if (fRunPreArmChecks && preflight_check_ret) {
// only bother running prearm if preflight was successful
prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, safety, arm_requirements, status);
}
if (!preflight_check_ret || !prearm_check_ret) {
// the prearm and preflight checks already print the rejection reason
feedback_provided = true;
valid_transition = false;
}
}
}
}
if (hil_enabled) {
/* enforce lockdown in HIL */
armed.lockdown = true;
status_flags.condition_system_sensors_initialized = true;
/* recover from a prearm fail */
if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
status.arming_state = vehicle_status_s::ARMING_STATE_STANDBY;
}
// HIL can always go to standby
if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
valid_transition = true;
}
}
if (!hil_enabled &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status.arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) {
// Sensors need to be initialized for STANDBY state, except for HIL
if (!status_flags.condition_system_sensors_initialized) {
feedback_provided = true;
valid_transition = false;
}
}
// Finish up the state transition
if (valid_transition) {
bool was_armed = armed.armed;
armed.armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED);
armed.ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY);
ret = TRANSITION_CHANGED;
status.arming_state = new_arming_state;
if (was_armed && !armed.armed) { // disarm transition
status.latest_disarming_reason = (uint8_t)calling_reason;
} else if (!was_armed && armed.armed) { // arm transition
status.latest_arming_reason = (uint8_t)calling_reason;
}
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
status.armed_time = hrt_absolute_time();
} else {
status.armed_time = 0;
}
}
}
if (ret == TRANSITION_DENIED) {
/* print to MAVLink and console if we didn't provide any feedback yet */
if (!feedback_provided) {
// FIXME: this catch-all does not provide helpful information to the user
mavlink_log_critical(mavlink_log_pub, "Transition denied: %s to %s\t",
arming_state_names[status.arming_state], arming_state_names[new_arming_state]);
events::send<events::px4::enums::arming_state_t, events::px4::enums::arming_state_t>(
events::ID("commander_transition_denied"), events::Log::Critical,
"Arming state transition denied: {1} to {2}",
eventArmingState(status.arming_state), eventArmingState(new_arming_state));
}
}
return ret;
}
transition_result_t
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
const vehicle_status_flags_s &status_flags, commander_state_s &internal_state)
{
// IMPORTANT: The assumption of callers of this function is that the execution of
// this check is essentially "free". Therefore any runtime checking in here has to be
// kept super lightweight. No complex logic or calls on external function should be
// implemented here.
transition_result_t ret = TRANSITION_DENIED;
/* transition may be denied even if the same state is requested because conditions may have changed */
switch (new_main_state) {
case commander_state_s::MAIN_STATE_MANUAL:
case commander_state_s::MAIN_STATE_STAB:
case commander_state_s::MAIN_STATE_ACRO:
ret = TRANSITION_CHANGED;
break;
case commander_state_s::MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
if (status_flags.condition_local_altitude_valid ||
status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_POSCTL:
/* need at minimum local position estimate */
if (status_flags.condition_local_position_valid ||
status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_AUTO_LOITER:
/* need global position estimate */
if (status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET:
case commander_state_s::MAIN_STATE_ORBIT:
/* Follow and orbit only implemented for multicopter */
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_AUTO_MISSION:
/* need global position, home position, and a valid mission */
if (status_flags.condition_global_position_valid &&
status_flags.condition_auto_mission_available) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_AUTO_RTL:
/* need global position and home position */
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* need local position */
if (status_flags.condition_local_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* need local and global position, and precision land only implemented for multicopters */
if (status_flags.condition_local_position_valid
&& status_flags.condition_global_position_valid
&& status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_OFFBOARD:
/* need offboard signal */
if (!status_flags.offboard_control_signal_lost) {
ret = TRANSITION_CHANGED;
}
break;
case commander_state_s::MAIN_STATE_MAX:
default:
break;
}
if (ret == TRANSITION_CHANGED) {
if (internal_state.main_state != new_main_state) {
internal_state.main_state = new_main_state;
internal_state.main_state_changes++;
internal_state.timestamp = hrt_absolute_time();
} else {
ret = TRANSITION_NOT_CHANGED;
}
}
return ret;
}
using event_failsafe_reason_t = events::px4::enums::failsafe_reason_t;
/**
* Enable failsafe and report to user
*/
static void enable_failsafe(vehicle_status_s &status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
event_failsafe_reason_t event_failsafe_reason)
{
if (!old_failsafe && status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// make sure intermittent failsafes don't lead to infinite delay by not constantly reseting the timestamp
if (status.failsafe_timestamp == 0 ||
hrt_elapsed_time(&status.failsafe_timestamp) > 30_s) {
status.failsafe_timestamp = hrt_absolute_time();
}
const char *reason = "";
switch (event_failsafe_reason) {
case event_failsafe_reason_t::no_rc: reason = reason_no_rc; break;
case event_failsafe_reason_t::no_offboard: reason = reason_no_offboard; break;
case event_failsafe_reason_t::no_rc_and_no_offboard: reason = reason_no_rc_and_no_offboard; break;
case event_failsafe_reason_t::no_local_position: reason = reason_no_local_position; break;
case event_failsafe_reason_t::no_global_position: reason = reason_no_global_position; break;
case event_failsafe_reason_t::no_datalink: reason = reason_no_datalink; break;
case event_failsafe_reason_t::no_rc_and_no_datalink: reason = reason_no_rc_and_no_datalink; break;
}
mavlink_log_critical(mavlink_log_pub, "Failsafe enabled: %s\t", reason);
events::send<events::px4::enums::failsafe_reason_t>(
events::ID("commander_enable_failsafe"), {events::Log::Critical, events::LogInternal::Info},
"Failsafe enabled: {1}", event_failsafe_reason);
}
status.failsafe = true;
}
/**
* Check failsafe and main status and set navigation status for navigator accordingly
*/
bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_state_s &internal_state,
orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
const offboard_loss_rc_actions_t offb_loss_rc_act,
const position_nav_loss_actions_t posctl_nav_loss_act,
const float param_com_rcl_act_t, const int param_com_rcl_except)
{
const navigation_state_t nav_state_old = status.nav_state;
const bool is_armed = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
const bool data_link_loss_act_configured = (data_link_loss_act > link_loss_actions_t::DISABLED);
bool old_failsafe = status.failsafe;
status.failsafe = false;
// Safe to do reset flags here, as if loss state persists flags will be restored in the code below
reset_link_loss_globals(armed, old_failsafe, rc_loss_act);
reset_link_loss_globals(armed, old_failsafe, data_link_loss_act);
reset_offboard_loss_globals(armed, old_failsafe, offb_loss_act, offb_loss_rc_act);
// Failsafe decision logic for every normal non-failsafe mode
switch (internal_state.main_state) {
case commander_state_s::MAIN_STATE_ACRO:
case commander_state_s::MAIN_STATE_MANUAL:
case commander_state_s::MAIN_STATE_STAB:
case commander_state_s::MAIN_STATE_ALTCTL:
// Require RC for all manual modes
if (status.rc_signal_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else {
switch (internal_state.main_state) {
case commander_state_s::MAIN_STATE_ACRO:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_ACRO;
break;
case commander_state_s::MAIN_STATE_MANUAL:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
break;
case commander_state_s::MAIN_STATE_STAB:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
break;
case commander_state_s::MAIN_STATE_ALTCTL:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
break;
default:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
break;
}
}
break;
case commander_state_s::MAIN_STATE_POSCTL: {
const bool rc_fallback_allowed = (posctl_nav_loss_act != position_nav_loss_actions_t::LAND_TERMINATE) || !is_armed;
if (status.rc_signal_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
/* A local position estimate is enough for POSCTL for multirotors,
* this enables POSCTL using e.g. flow.
* For fixedwing, a global position is needed. */
} else if (check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags,
rc_fallback_allowed, status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
}
}
break;
case commander_state_s::MAIN_STATE_AUTO_MISSION:
/* go into failsafe
* - if we have an engine failure
* - if we have vtol transition failure
* - on data and RC link loss */
if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status.engine_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags.vtol_transition_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status.mission_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status.data_link_lost && data_link_loss_act_configured
&& is_armed && !landed) {
// Data link lost, data link loss reaction configured -> do configured reaction
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_MISSION)
&& status_flags.rc_signal_found_once && is_armed && !landed) {
// RC link lost, rc loss not disabled in mission, RC was used before -> RC loss reaction after delay
// Safety pilot expects to be able to take over by RC in case anything unexpected happens
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_MISSION)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed) {
// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
// Lost all communication, by default it's considered unsafe to continue the mission
// This is only reached when flying mission completely without RC (it was not present since boot)
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else if (status.rc_signal_lost && (param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_MISSION)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed
&& mission_finished) {
// All links lost, all link loss reactions disabled -> return after mission finished
// Pilot disabled all reactions, finish mission but then return to avoid lost vehicle
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc_and_no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_actions_t::AUTO_RTL, 0);
} else if (!stay_in_failsafe) {
// normal mission operation if there's no need to stay in failsafe
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
}
break;
case commander_state_s::MAIN_STATE_AUTO_LOITER:
/* go into failsafe on a engine failure */
if (status.engine_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
// Data link lost, data link loss reaction configured -> do configured reaction
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status_flags.rc_signal_found_once && is_armed && !landed) {
// RC link lost, rc loss not disabled in loiter, RC was used before -> RC loss reaction after delay
// Safety pilot expects to be able to take over by RC in case anything unexpected happens
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed) {
// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
// Lost all communication, by default it's considered unsafe to continue the mission
// This is only reached when flying mission completely without RC (it was not present since boot)
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
}
break;
case commander_state_s::MAIN_STATE_AUTO_RTL:
/* require global position and home, also go into failsafe on an engine failure */
if (status.engine_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
}
break;
case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET:
/* require global position and home */
if (status.engine_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET;
}
break;
case commander_state_s::MAIN_STATE_ORBIT:
if (status.engine_failure) {
// failsafe: on engine failure
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
// Orbit can only be started via vehicle_command (mavlink). Recovery from failsafe into orbit
// is not possible and therefore the internal_state needs to be adjusted.
internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
// failsafe: necessary position estimate lost; switching is done in check_invalid_pos_nav_state
// Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit
// is not possible and therefore the internal_state needs to be adjusted.
internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
} else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
// failsafe: just datalink is lost and we're in air
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0);
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
// Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit
// is not possible and therefore the internal_state needs to be adjusted.
internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
} else if (status.rc_signal_lost && status.data_link_lost && !data_link_loss_act_configured && is_armed) {
// Orbit does not depend on RC but while armed & all links lost & when datalink loss is not set up, we failsafe
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
// Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit
// is not possible and therefore the internal_state needs to be adjusted.
internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
} else {
// no failsafe, RC is not mandatory for orbit
status.nav_state = vehicle_status_s::NAVIGATION_STATE_ORBIT;
}
break;
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
/* require local position */
if (status.engine_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
// Data link lost, data link loss reaction configured -> do configured reaction
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status_flags.rc_signal_found_once && is_armed && !landed) {
// RC link lost, rc loss not disabled in loiter, RC was used before -> RC loss reaction after delay
// Safety pilot expects to be able to take over by RC in case anything unexpected happens
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_HOLD)
&& status.data_link_lost && !data_link_loss_act_configured
&& is_armed && !landed) {
// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
// Lost all communication, by default it's considered unsafe to continue the mission
// This is only reached when flying mission completely without RC (it was not present since boot)
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_datalink);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
}
break;
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* require local position */
if (status.engine_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
}
break;
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* must be rotary wing plus same requirements as normal landing */
if (status.engine_failure) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
}
break;
case commander_state_s::MAIN_STATE_OFFBOARD:
if (status_flags.offboard_control_signal_lost) {
if (status.rc_signal_lost) {
// Offboard and RC are lost
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc_and_no_offboard);
set_offboard_loss_nav_state(status, armed, status_flags, offb_loss_act);
} else {
// Offboard is lost, RC is ok
if (param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_OFFBOARD) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_offboard);
set_offboard_loss_nav_state(status, armed, status_flags, offb_loss_act);
} else {
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_offboard);
set_offboard_loss_rc_nav_state(status, armed, status_flags, offb_loss_rc_act);
}
}
} else if (status.rc_signal_lost && !(param_com_rcl_except & RCLossExceptionBits::RCL_EXCEPT_OFFBOARD)) {
// Only RC is lost
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_rc);
set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
}
default:
break;
}
return status.nav_state != nav_state_old;
}
bool check_invalid_pos_nav_state(vehicle_status_s &status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos)
{
bool fallback_required = false;
if (using_global_pos && !status_flags.condition_global_position_valid) {
fallback_required = true;
} else if (!using_global_pos
&& (!status_flags.condition_local_position_valid || !status_flags.condition_local_velocity_valid)) {
fallback_required = true;
}
if (fallback_required) {
if (use_rc) {
// fallback to a mode that gives the operator stick control
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& status_flags.condition_local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
} else if (status_flags.condition_local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
}
} else {
// go into a descent that does not require stick control
if (status_flags.condition_local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags.condition_local_altitude_valid) {
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
// TODO: FW position controller doesn't run without condition_global_position_valid
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
}
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
}
if (using_global_pos) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_global_position);
} else {
enable_failsafe(status, old_failsafe, mavlink_log_pub, event_failsafe_reason_t::no_local_position);
}
}
return fallback_required;
}
void set_link_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, link_loss_actions_t link_loss_act,
const float ll_delay)
{
if (hrt_elapsed_time(&status.failsafe_timestamp) < (ll_delay * 1_s)
&& link_loss_act != link_loss_actions_t::DISABLED) {
// delay failsafe reaction by trying to hold position if configured
link_loss_act = link_loss_actions_t::AUTO_LOITER;
}
// do the best you can according to the action set
switch (link_loss_act) {
case link_loss_actions_t::DISABLED:
// If datalink loss failsafe is disabled then no action must be taken.
break;
case link_loss_actions_t::AUTO_RTL:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state);
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
return;
}
// FALLTHROUGH
case link_loss_actions_t::AUTO_LOITER:
if (status_flags.condition_global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
return;
}
// FALLTHROUGH
case link_loss_actions_t::AUTO_LAND:
if (status_flags.condition_global_position_valid) {
main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, internal_state);
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
} else {
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (status_flags.condition_local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
} else if (status_flags.condition_local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
return;
}
} else {
// TODO: FW position controller doesn't run without condition_global_position_valid
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
return;
}
}
// FALLTHROUGH
case link_loss_actions_t::TERMINATE:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
armed.force_failsafe = true;
break;
case link_loss_actions_t::LOCKDOWN:
armed.lockdown = true;
break;
}
}
void reset_link_loss_globals(actuator_armed_s &armed, const bool old_failsafe, const link_loss_actions_t link_loss_act)
{
if (old_failsafe) {
if (link_loss_act == link_loss_actions_t::TERMINATE) {
armed.force_failsafe = false;
} else if (link_loss_act == link_loss_actions_t::LOCKDOWN) {
armed.lockdown = false;
}
}
}
void set_offboard_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
const vehicle_status_flags_s &status_flags,
const offboard_loss_actions_t offboard_loss_act)
{
switch (offboard_loss_act) {
case offboard_loss_actions_t::DISABLED:
// If offboard loss failsafe is disabled then no action must be taken.
return;
case offboard_loss_actions_t::TERMINATE:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
armed.force_failsafe = true;
return;
case offboard_loss_actions_t::LOCKDOWN:
armed.lockdown = true;
return;
case offboard_loss_actions_t::AUTO_RTL:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
return;
}
// FALLTHROUGH
case offboard_loss_actions_t::AUTO_LOITER:
if (status_flags.condition_global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
return;
}
// FALLTHROUGH
case offboard_loss_actions_t::AUTO_LAND:
if (status_flags.condition_global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
}
}
// If none of the above worked, try to mitigate
if (status_flags.condition_local_altitude_valid) {
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
// TODO: FW position controller doesn't run without condition_global_position_valid
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
}
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
}
void set_offboard_loss_rc_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
const vehicle_status_flags_s &status_flags,
const offboard_loss_rc_actions_t offboard_loss_rc_act)
{
switch (offboard_loss_rc_act) {
case offboard_loss_rc_actions_t::DISABLED:
// If offboard loss failsafe is disabled then no action must be taken.
return;
case offboard_loss_rc_actions_t::TERMINATE:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
armed.force_failsafe = true;
return;
case offboard_loss_rc_actions_t::LOCKDOWN:
armed.lockdown = true;
return;
case offboard_loss_rc_actions_t::MANUAL_POSITION:
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& status_flags.condition_local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
return;
} else if (status_flags.condition_global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
return;
}
// FALLTHROUGH
case offboard_loss_rc_actions_t::MANUAL_ALTITUDE:
if (status_flags.condition_local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
return;
}
// FALLTHROUGH
case offboard_loss_rc_actions_t::MANUAL_ATTITUDE:
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
return;
case offboard_loss_rc_actions_t::AUTO_RTL:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
return;
}
// FALLTHROUGH
case offboard_loss_rc_actions_t::AUTO_LOITER:
if (status_flags.condition_global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
return;
}
// FALLTHROUGH
case offboard_loss_rc_actions_t::AUTO_LAND:
if (status_flags.condition_global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
}
}
// If none of the above worked, try to mitigate
if (status_flags.condition_local_altitude_valid) {
//TODO: Add case for rover
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
// TODO: FW position controller doesn't run without condition_global_position_valid
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
}
} else {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
}
void reset_offboard_loss_globals(actuator_armed_s &armed, const bool old_failsafe,
const offboard_loss_actions_t offboard_loss_act,
const offboard_loss_rc_actions_t offboard_loss_rc_act)
{
if (old_failsafe) {
if (offboard_loss_act == offboard_loss_actions_t::TERMINATE
|| offboard_loss_rc_act == offboard_loss_rc_actions_t::TERMINATE) {
armed.force_failsafe = false;
}
if (offboard_loss_act == offboard_loss_actions_t::LOCKDOWN
|| offboard_loss_rc_act == offboard_loss_rc_actions_t::LOCKDOWN) {
armed.lockdown = false;
}
}
}
void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, const uint8_t battery_warning,
const low_battery_action_t low_battery_action)
{
switch (battery_warning) {
case battery_status_s::BATTERY_WARNING_NONE:
break;
case battery_status_s::BATTERY_WARNING_LOW:
mavlink_log_critical(mavlink_log_pub, "Low battery level! Return advised\t");
events::send(events::ID("commander_bat_low"), {events::Log::Warning, events::LogInternal::Info},
"Low battery level! Return advised");
break;
case battery_status_s::BATTERY_WARNING_CRITICAL:
static constexpr char battery_critical[] = "Critical battery level!";
switch (low_battery_action) {
case LOW_BAT_ACTION::WARNING:
mavlink_log_critical(mavlink_log_pub, "%s, landing advised\t", battery_critical);
events::send(events::ID("commander_bat_crit"), {events::Log::Critical, events::LogInternal::Info},
"Critical battery level! Landing advised");
break;
case LOW_BAT_ACTION::RETURN:
// FALLTHROUGH
case LOW_BAT_ACTION::RETURN_OR_LAND:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) {
internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
internal_state.timestamp = hrt_absolute_time();
mavlink_log_critical(mavlink_log_pub, "%s, executing RTL\t", battery_critical);
events::send(events::ID("commander_bat_crit_rtl"), {events::Log::Critical, events::LogInternal::Info},
"Critical battery level! Executing RTL");
}
} else {
if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) {
internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
internal_state.timestamp = hrt_absolute_time();
mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead\t", battery_critical);
events::send(events::ID("commander_bat_crit_no_rtl_land"), {events::Log::Emergency, events::LogInternal::Info},
"Critical battery level! Cannot execute RTL, landing instead");
}
}
break;
case LOW_BAT_ACTION::LAND:
if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) {
internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
internal_state.timestamp = hrt_absolute_time();
mavlink_log_emergency(mavlink_log_pub, "%s, landing\t", battery_critical);
events::send(events::ID("commander_bat_crit_land"), {events::Log::Warning, events::LogInternal::Info},
"Critical battery level! Landing now");
}
break;
}
break;
case battery_status_s::BATTERY_WARNING_EMERGENCY:
static constexpr char battery_dangerous[] = "Dangerous battery level!";
switch (low_battery_action) {
case LOW_BAT_ACTION::WARNING:
mavlink_log_emergency(mavlink_log_pub, "%s, please land!\t", battery_dangerous);
events::send(events::ID("commander_bat_emerg_warn"), {events::Log::Emergency, events::LogInternal::Info},
"Dangerous battery level! Please land immediately");
break;
case LOW_BAT_ACTION::RETURN:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) {
internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
internal_state.timestamp = hrt_absolute_time();
mavlink_log_critical(mavlink_log_pub, "%s, executing RTL\t", battery_dangerous);
events::send(events::ID("commander_bat_emerg_rtl"), {events::Log::Emergency, events::LogInternal::Info},
"Dangerous battery level! Executing RTL");
}
} else {
if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) {
internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
internal_state.timestamp = hrt_absolute_time();
mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead\t", battery_dangerous);
events::send(events::ID("commander_bat_emerg_no_rtl_land"), {events::Log::Emergency, events::LogInternal::Info},
"Dangerous battery level! Cannot execute RTL, landing instead");
}
}
break;
case LOW_BAT_ACTION::RETURN_OR_LAND:
// FALLTHROUGH
case LOW_BAT_ACTION::LAND:
if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) {
internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
internal_state.timestamp = hrt_absolute_time();
mavlink_log_emergency(mavlink_log_pub, "%s, landing\t", battery_dangerous);
events::send(events::ID("commander_bat_emerg_land"), {events::Log::Emergency, events::LogInternal::Info},
"Dangerous battery level! Landing now");
}
break;
}
break;
case battery_status_s::BATTERY_WARNING_FAILED:
mavlink_log_emergency(mavlink_log_pub, "Battery failure detected\t");
events::send(events::ID("commander_bat_failure"), events::Log::Emergency, "Battery failure detected");
break;
}
}
Reference in New Issue View Git Blame Copy Permalink