mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 18:57:35 +08:00
Daniel Agar
139 lines
4.1 KiB
C++
139 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2014 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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/* @file enginefailure.cpp
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* Helper class for a fixedwing engine failure mode
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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#include <fcntl.h>
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#include <systemlib/mavlink_log.h>
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#include <systemlib/err.h>
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#include <lib/ecl/geo/geo.h>
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#include <navigator/navigation.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/mission.h>
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#include "navigator.h"
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#include "enginefailure.h"
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EngineFailure::EngineFailure(Navigator *navigator) :
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MissionBlock(navigator),
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_ef_state(EF_STATE_NONE)
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{
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}
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void
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EngineFailure::on_inactive()
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{
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_ef_state = EF_STATE_NONE;
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}
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void
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EngineFailure::on_activation()
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{
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_ef_state = EF_STATE_NONE;
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advance_ef();
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set_ef_item();
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}
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void
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EngineFailure::on_active()
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{
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if (is_mission_item_reached()) {
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advance_ef();
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set_ef_item();
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}
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}
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void
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EngineFailure::set_ef_item()
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{
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struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
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pos_sp_triplet->previous = pos_sp_triplet->current;
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_navigator->set_can_loiter_at_sp(false);
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switch (_ef_state) {
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case EF_STATE_LOITERDOWN: {
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//XXX create mission item at ground (below?) here
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_mission_item.lat = _navigator->get_global_position()->lat;
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_mission_item.lon = _navigator->get_global_position()->lon;
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_mission_item.altitude_is_relative = false;
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//XXX setting altitude to a very low value, evaluate other options
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_mission_item.altitude = _navigator->get_home_position()->alt - 1000.0f;
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_mission_item.yaw = NAN;
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_mission_item.loiter_radius = _navigator->get_loiter_radius();
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_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
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_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
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_mission_item.autocontinue = true;
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_mission_item.origin = ORIGIN_ONBOARD;
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_navigator->set_can_loiter_at_sp(true);
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break;
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}
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default:
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break;
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}
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reset_mission_item_reached();
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/* convert mission item to current position setpoint and make it valid */
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mission_apply_limitation(_mission_item);
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mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
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pos_sp_triplet->next.valid = false;
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_navigator->set_position_setpoint_triplet_updated();
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}
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void
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EngineFailure::advance_ef()
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{
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switch (_ef_state) {
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case EF_STATE_NONE:
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mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "Engine failure. Loitering down");
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_ef_state = EF_STATE_LOITERDOWN;
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break;
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default:
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break;
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}
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}
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