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PX4-Autopilot/src/modules/commander/state_machine_helper.c

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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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.c
* State machine helper functions implementations
*/
#include <stdio.h>
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
#include "commander_helper.h"
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd) {
int ret = ERROR;
/* only check transition if the new state is actually different from the current one */
if (new_arming_state == current_state->arming_state) {
ret = OK;
} else {
switch (new_arming_state) {
case ARMING_STATE_INIT:
/* allow going back from INIT for calibration */
if (current_state->arming_state == ARMING_STATE_STANDBY) {
ret = OK;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_STANDBY:
/* allow coming from INIT and disarming from ARMED */
if (current_state->arming_state == ARMING_STATE_INIT
|| current_state->arming_state == ARMING_STATE_ARMED) {
/* sensors need to be initialized for STANDBY state */
if (current_state->condition_system_sensors_initialized) {
ret = OK;
armed->armed = false;
armed->ready_to_arm = true;
} else {
mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized");
}
}
break;
case ARMING_STATE_ARMED:
/* allow arming from STANDBY and IN-AIR-RESTORE */
if (current_state->arming_state == ARMING_STATE_STANDBY
|| current_state->arming_state == ARMING_STATE_IN_AIR_RESTORE) {
/* XXX conditions for arming? */
ret = OK;
armed->armed = true;
}
break;
case ARMING_STATE_ARMED_ERROR:
/* an armed error happens when ARMED obviously */
if (current_state->arming_state == ARMING_STATE_ARMED) {
/* XXX conditions for an error state? */
ret = OK;
armed->armed = true;
}
break;
case ARMING_STATE_STANDBY_ERROR:
/* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */
if (current_state->arming_state == ARMING_STATE_STANDBY
|| current_state->arming_state == ARMING_STATE_INIT
|| current_state->arming_state == ARMING_STATE_ARMED_ERROR) {
ret = OK;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_REBOOT:
/* an armed error happens when ARMED obviously */
if (current_state->arming_state == ARMING_STATE_INIT
|| current_state->arming_state == ARMING_STATE_STANDBY
|| current_state->arming_state == ARMING_STATE_STANDBY_ERROR) {
ret = OK;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_IN_AIR_RESTORE:
/* XXX implement */
break;
default:
break;
}
if (ret == OK) {
current_state->arming_state = new_arming_state;
current_state->counter++;
current_state->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_state);
armed->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_armed), armed_pub, armed);
}
}
return ret;
}
/*
* This functions does not evaluate any input flags but only checks if the transitions
* are valid.
*/
int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd) {
int ret = ERROR;
/* only check transition if the new state is actually different from the current one */
if (new_navigation_state == current_state->navigation_state) {
ret = OK;
} else {
switch (new_navigation_state) {
case NAVIGATION_STATE_INIT:
/* transitions back to INIT are possible for calibration */
if (current_state->navigation_state == NAVIGATION_STATE_MANUAL_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY) {
ret = OK;
control_mode->flag_control_rates_enabled = false;
control_mode->flag_control_attitude_enabled = false;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
break;
case NAVIGATION_STATE_MANUAL_STANDBY:
/* transitions from INIT and other STANDBY states as well as MANUAL are possible */
if (current_state->navigation_state == NAVIGATION_STATE_INIT
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL) {
/* need to be disarmed first */
if (current_state->arming_state != ARMING_STATE_STANDBY) {
mavlink_log_critical(mavlink_fd, "Rej. MANUAL_STANDBY: not disarmed");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = true;
}
}
break;
case NAVIGATION_STATE_MANUAL:
/* need to be armed first */
if (current_state->arming_state != ARMING_STATE_ARMED) {
mavlink_log_critical(mavlink_fd, "Rej. MANUAL: not armed");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = true;
}
break;
case NAVIGATION_STATE_SEATBELT_STANDBY:
/* transitions from INIT and other STANDBY states as well as SEATBELT and SEATBELT_DESCENT are possible */
if (current_state->navigation_state == NAVIGATION_STATE_INIT
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT) {
/* need to be disarmed and have a position estimate */
if (current_state->arming_state != ARMING_STATE_STANDBY) {
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_STANDBY: not disarmed");
tune_negative();
} else if (!current_state->condition_local_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_STANDBY: no position estimate");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_SEATBELT:
/* transitions from all AUTO modes except AUTO_STANDBY and except MANUAL_STANDBY and INIT*/
if (current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LAND
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_READY
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
/* need to be armed and have a position estimate */
if (current_state->arming_state != ARMING_STATE_ARMED) {
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: not armed");
tune_negative();
} else if (!current_state->condition_local_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no pos estimate");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_SEATBELT_DESCENT:
/* transitions from all AUTO modes except AUTO_STANDBY and except MANUAL_STANDBY and INIT and SEATBELT_STANDBY */
if (current_state->navigation_state == NAVIGATION_STATE_SEATBELT
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LAND
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_READY
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
/* need to be armed and have a position estimate */
if (current_state->arming_state != ARMING_STATE_ARMED) {
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: not armed");
tune_negative();
} else if (!current_state->condition_local_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: no pos estimate");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_AUTO_STANDBY:
/* transitions from INIT or from other STANDBY modes or from AUTO READY */
if (current_state->navigation_state == NAVIGATION_STATE_INIT
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_READY) {
/* need to be disarmed and have a position and home lock */
if (current_state->arming_state != ARMING_STATE_STANDBY) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: not disarmed");
tune_negative();
} else if (!current_state->condition_global_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: no pos lock");
tune_negative();
} else if (!current_state->condition_home_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: no home pos");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_AUTO_READY:
/* transitions from AUTO_STANDBY or AUTO_LAND */
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LAND) {
// XXX flag test needed?
/* need to be armed and have a position and home lock */
if (current_state->arming_state != ARMING_STATE_ARMED) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_READY: not armed");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_AUTO_TAKEOFF:
/* only transitions from AUTO_READY */
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_READY) {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
break;
case NAVIGATION_STATE_AUTO_LOITER:
/* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL) {
/* need to have a position and home lock */
if (!current_state->condition_global_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LOITER: no pos lock");
tune_negative();
} else if (!current_state->condition_home_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LOITER: no home pos");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_AUTO_MISSION:
/* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL) {
/* need to have a mission ready */
if (!current_state-> condition_auto_mission_available) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_MISSION: no mission available");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_AUTO_RTL:
/* from everywhere flying except AUTO_LAND and SEATBELT_DESCENT */
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER
|| current_state->navigation_state == NAVIGATION_STATE_SEATBELT
|| current_state->navigation_state == NAVIGATION_STATE_MANUAL) {
/* need to have a position and home lock */
if (!current_state->condition_global_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_RTL: no pos lock");
tune_negative();
} else if (!current_state->condition_home_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_RTL: no home pos");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
case NAVIGATION_STATE_AUTO_LAND:
/* after AUTO_RTL or when in AUTO_LOITER or AUTO_MISSION */
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_RTL
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_MISSION
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER) {
/* need to have a position and home lock */
if (!current_state->condition_global_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LAND: no pos lock");
tune_negative();
} else if (!current_state->condition_home_position_valid) {
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LAND: no home pos");
tune_negative();
} else {
ret = OK;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
default:
break;
}
if (ret == OK) {
current_state->navigation_state = new_navigation_state;
current_state->counter++;
current_state->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_state);
control_mode->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, control_mode);
}
}
return ret;
}
/**
* Transition from one hil state to another
*/
int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd)
{
bool valid_transition = false;
int ret = ERROR;
warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state);
if (current_status->hil_state == new_state) {
warnx("Hil state not changed");
valid_transition = true;
} else {
switch (new_state) {
case HIL_STATE_OFF:
if (current_status->arming_state == ARMING_STATE_INIT
|| current_status->arming_state == ARMING_STATE_STANDBY) {
current_control_mode->flag_system_hil_enabled = false;
mavlink_log_critical(mavlink_fd, "Switched to OFF hil state");
valid_transition = true;
}
break;
case HIL_STATE_ON:
if (current_status->arming_state == ARMING_STATE_INIT
|| current_status->arming_state == ARMING_STATE_STANDBY) {
current_control_mode->flag_system_hil_enabled = true;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
valid_transition = true;
}
break;
default:
warnx("Unknown hil state");
break;
}
}
if (valid_transition) {
current_status->hil_state = new_state;
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
current_control_mode->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode);
ret = OK;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition");
}
return ret;
}
// /*
// * Wrapper functions (to be used in the commander), all functions assume lock on current_status
// */
// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR
// *
// * START SUBSYSTEM/EMERGENCY FUNCTIONS
// * */
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was removed something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV];
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was disabled something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
//
//int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
//{
// int ret = 1;
//
//// /* Switch on HIL if in standby and not already in HIL mode */
//// if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
//// && !current_status->flag_hil_enabled) {
//// if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
//// /* Enable HIL on request */
//// current_status->flag_hil_enabled = true;
//// ret = OK;
//// state_machine_publish(status_pub, current_status, mavlink_fd);
//// publish_armed_status(current_status);
//// printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
////
//// } else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
//// current_status->flag_fmu_armed) {
////
//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
////
//// } else {
////
//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
//// }
//// }
//
// /* switch manual / auto */
// if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
// update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
// update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
// update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
// update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
// }
//
// /* vehicle is disarmed, mode requests arming */
// if (!(current_status->flag_fmu_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
// /* only arm in standby state */
// // XXX REMOVE
// if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
// ret = OK;
// printf("[cmd] arming due to command request\n");
// }
// }
//
// /* vehicle is armed, mode requests disarming */
// if (current_status->flag_fmu_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
// /* only disarm in ground ready */
// if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
// ret = OK;
// printf("[cmd] disarming due to command request\n");
// }
// }
//
// /* NEVER actually switch off HIL without reboot */
// if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
// warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
// mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
// ret = ERROR;
// }
//
// return ret;
//}
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