mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
fb3a91cc4f
added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
298 lines
12 KiB
C++
298 lines
12 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef COMMANDER_HPP_
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#define COMMANDER_HPP_
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#include "state_machine_helper.h"
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#include "failure_detector/FailureDetector.hpp"
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#include <lib/controllib/blocks.hpp>
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#include <lib/mathlib/mathlib.h>
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#include <px4_module.h>
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#include <px4_module_params.h>
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#include <lib/hysteresis/hysteresis.h>
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// publications
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationQueued.hpp>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_status_flags.h>
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// subscriptions
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/iridiumsbd_status.h>
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#include <uORB/topics/mission_result.h>
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#include <uORB/topics/offboard_control_mode.h>
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#include <uORB/topics/telemetry_status.h>
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#include <uORB/topics/vehicle_acceleration.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/esc_status.h>
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using math::constrain;
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using namespace time_literals;
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class Commander : public ModuleBase<Commander>, public ModuleParams
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{
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public:
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Commander();
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~Commander();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static Commander *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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void enable_hil();
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// TODO: only temporarily static until low priority thread is removed
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static bool preflight_check(bool report);
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void get_circuit_breaker_params();
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private:
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
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(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
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(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
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(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
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(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
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(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
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(ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
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(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
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(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
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(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv, /*Not realy used for now*/
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(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
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(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl, /* failsafe response to loss of navigation accuracy */
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(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
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(ParamInt<px4::params::COM_POS_FS_PROB>) _param_com_pos_fs_prob,
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(ParamInt<px4::params::COM_POS_FS_GAIN>) _param_com_pos_fs_gain,
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(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
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(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
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(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
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(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
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(ParamInt<px4::params::COM_OA_BOOT_T>) _param_com_oa_boot_t,
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(ParamFloat<px4::params::COM_TAS_FS_INNOV>) _tas_innov_threshold,
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(ParamFloat<px4::params::COM_TAS_FS_INTEG>) _tas_innov_integ_threshold,
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(ParamInt<px4::params::COM_TAS_FS_T1>) _tas_use_stop_delay,
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(ParamInt<px4::params::COM_TAS_FS_T2>) _tas_use_start_delay,
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(ParamInt<px4::params::COM_ASPD_FS_ACT>) _airspeed_fail_action,
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(ParamFloat<px4::params::COM_ASPD_STALL>) _airspeed_stall,
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(ParamInt<px4::params::COM_ASPD_FS_DLY>) _airspeed_rtl_delay,
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(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile,
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(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
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(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
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(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
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(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
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(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
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(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
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(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
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(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
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(ParamInt<px4::params::CBRK_GPSFAIL>) _param_cbrk_gpsfail,
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(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
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(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr
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)
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enum class PrearmedMode {
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DISABLED = 0,
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SAFETY_BUTTON = 1,
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ALWAYS = 2
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};
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const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
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const int64_t POSVEL_PROBATION_MAX = 100_s; /**< maximum probation duration (usec) */
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hrt_abstime _last_gpos_fail_time_us{0}; /**< Last time that the global position validity recovery check failed (usec) */
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hrt_abstime _last_lpos_fail_time_us{0}; /**< Last time that the local position validity recovery check failed (usec) */
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hrt_abstime _last_lvel_fail_time_us{0}; /**< Last time that the local velocity validity recovery check failed (usec) */
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// Probation times for position and velocity validity checks to pass if failed
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hrt_abstime _gpos_probation_time_us = POSVEL_PROBATION_MIN;
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hrt_abstime _lpos_probation_time_us = POSVEL_PROBATION_MIN;
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hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;
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/* class variables used to check for navigation failure after takeoff */
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hrt_abstime _time_at_takeoff{0}; /**< last time we were on the ground */
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hrt_abstime _time_last_innov_pass{0}; /**< last time velocity or position innovations passed */
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bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
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bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
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/* class variables used to check for airspeed sensor failure */
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bool _tas_check_fail{false}; /**< true when airspeed innovations have failed consistency checks */
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hrt_abstime _time_last_tas_pass{0}; /**< last time innovation checks passed */
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hrt_abstime _time_last_tas_fail{0}; /**< last time innovation checks failed */
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static constexpr hrt_abstime TAS_INNOV_FAIL_DELAY{1_s}; /**< time required for innovation levels to pass or fail (usec) */
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bool _tas_use_inhibit{false}; /**< true when the commander has instructed the control loops to not use airspeed data */
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hrt_abstime _time_tas_good_declared{0}; /**< time TAS use was started (uSec) */
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hrt_abstime _time_tas_bad_declared{0}; /**< time TAS use was stopped (uSec) */
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hrt_abstime _time_last_airspeed{0}; /**< time last airspeed measurement was received (uSec) */
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hrt_abstime _time_last_aspd_innov_check{0}; /**< time airspeed innovation was last checked (uSec) */
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char *_airspeed_fault_type = new char[7];
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float _load_factor_ratio{0.5f}; /**< ratio of maximum load factor predicted by stall speed to measured load factor */
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float _apsd_innov_integ_state{0.0f}; /**< inegral of excess normalised airspeed innovation (sec) */
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bool _geofence_loiter_on{false};
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bool _geofence_rtl_on{false};
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bool _geofence_warning_action_on{false};
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bool _geofence_violated_prev{false};
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FailureDetector _failure_detector;
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bool _flight_termination_triggered{false};
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bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
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uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub, bool *changed);
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bool set_home_position();
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bool set_home_position_alt_only();
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// Set the main system state based on RC and override device inputs
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transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
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// Enable override (manual reversion mode) on the system
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transition_result_t set_main_state_override_on(const vehicle_status_s &status, bool *changed);
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// Set the system main state based on the current RC inputs
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transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
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void update_control_mode();
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void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
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bool *changed);
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bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
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const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
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bool *validity_changed);
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void reset_posvel_validity(bool *changed);
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void mission_init();
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void estimator_check(bool *status_changed);
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void offboard_control_update(bool &status_changed);
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void airspeed_use_check();
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void battery_status_check();
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void esc_status_check(const esc_status_s &esc_status);
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/**
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* Checks the status of all available data links and handles switching between different system telemetry states.
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*/
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void data_link_check(bool &status_changed);
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uORB::Subscription _telemetry_status_sub{ORB_ID(telemetry_status)};
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hrt_abstime _datalink_last_heartbeat_gcs{0};
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hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
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bool _onboard_controller_lost{false};
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hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
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bool _avoidance_system_lost{false};
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bool _avoidance_system_status_change{false};
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uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT};
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uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
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hrt_abstime _high_latency_datalink_heartbeat{0};
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hrt_abstime _high_latency_datalink_lost{0};
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int _last_esc_online_flags{-1};
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uORB::Subscription _battery_sub{ORB_ID(battery_status)};
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uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
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float _battery_current{0.0f};
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systemlib::Hysteresis _auto_disarm_landed{false};
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systemlib::Hysteresis _auto_disarm_killed{false};
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bool _print_avoidance_msg_once{false};
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// Subscriptions
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uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
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uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
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uORB::SubscriptionData<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
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uORB::SubscriptionData<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
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uORB::SubscriptionData<offboard_control_mode_s> _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
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uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
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uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
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// Publications
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uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
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uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
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uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
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uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
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uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
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uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};
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};
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#endif /* COMMANDER_HPP_ */
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