mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
e0cdcdb436
In an effort to reduce configuration space. I've not seen use for this option. If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference. Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
105 lines
4.1 KiB
C++
105 lines
4.1 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2022 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <uORB/topics/vehicle_status.h>
|
|
#include "HealthAndArmingChecks/HealthAndArmingChecks.hpp"
|
|
|
|
enum class ModeChangeSource {
|
|
User, ///< RC or MAVLink
|
|
ModeExecutor,
|
|
};
|
|
|
|
class ModeChangeHandler
|
|
{
|
|
public:
|
|
virtual void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) = 0;
|
|
|
|
/**
|
|
* Get the replaced (internal) mode for a given (external) mode
|
|
* @param nav_state
|
|
* @return nav_state or the mode that nav_state replaces
|
|
*/
|
|
virtual uint8_t getReplacedModeIfAny(uint8_t nav_state) = 0;
|
|
|
|
virtual uint8_t onDisarm(uint8_t stored_nav_state) = 0;
|
|
};
|
|
|
|
|
|
class UserModeIntention
|
|
{
|
|
public:
|
|
UserModeIntention(const vehicle_status_s &vehicle_status,
|
|
const HealthAndArmingChecks &health_and_arming_checks, ModeChangeHandler *handler);
|
|
~UserModeIntention() = default;
|
|
|
|
/**
|
|
* Change the user intended mode
|
|
* @param user_intended_nav_state new mode
|
|
* @param source calling reason
|
|
* @param allow_fallback allow to fallback to a lower mode if current mode cannot run
|
|
* @param force always set if true
|
|
* @return true if successfully set (also if unchanged)
|
|
*/
|
|
bool change(uint8_t user_intended_nav_state, ModeChangeSource source = ModeChangeSource::User,
|
|
bool allow_fallback = false, bool force = false);
|
|
|
|
uint8_t get() const { return _user_intented_nav_state; }
|
|
|
|
/**
|
|
* Change the user intention to the last user intended mode where arming is possible
|
|
*/
|
|
void onDisarm();
|
|
|
|
/**
|
|
* Returns false if there has not been any mode change yet
|
|
*/
|
|
bool everHadModeChange() const { return _ever_had_mode_change; }
|
|
|
|
bool getHadModeChangeAndClear() { bool ret = _had_mode_change; _had_mode_change = false; return ret; }
|
|
|
|
private:
|
|
bool isArmed() const { return _vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED; }
|
|
|
|
const vehicle_status_s &_vehicle_status;
|
|
const HealthAndArmingChecks &_health_and_arming_checks;
|
|
ModeChangeHandler *const _handler{nullptr};
|
|
|
|
uint8_t _user_intented_nav_state{vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER}; ///< Current user intended mode
|
|
uint8_t _nav_state_after_disarming{vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER}; ///< Mode that is switched into after landing/disarming
|
|
|
|
bool _ever_had_mode_change{false}; ///< true if there was ever a mode change call (also if the same mode as already set)
|
|
bool _had_mode_change{false}; ///< true if there was a mode change call since the last getHadModeChangeAndClear()
|
|
};
|