mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
92 lines
3.6 KiB
C++
92 lines
3.6 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
|
|
#include "UserModeIntention.hpp"
|
|
|
|
UserModeIntention::UserModeIntention(ModuleParams *parent, const vehicle_status_s &vehicle_status,
|
|
const HealthAndArmingChecks &health_and_arming_checks, ModeChangeHandler *handler)
|
|
: ModuleParams(parent), _vehicle_status(vehicle_status), _health_and_arming_checks(health_and_arming_checks),
|
|
_handler(handler)
|
|
{
|
|
}
|
|
|
|
bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource source, bool allow_fallback,
|
|
bool force)
|
|
{
|
|
_ever_had_mode_change = true;
|
|
_had_mode_change = true;
|
|
|
|
if (_handler) {
|
|
// If a replacement mode is selected, select the internal one instead. The replacement will be selected after.
|
|
user_intended_nav_state = _handler->getReplacedModeIfAny(user_intended_nav_state);
|
|
}
|
|
|
|
// Always allow mode change while disarmed
|
|
bool always_allow = force || !isArmed();
|
|
bool allow_change = true;
|
|
|
|
if (!always_allow) {
|
|
allow_change = _health_and_arming_checks.canRun(user_intended_nav_state);
|
|
|
|
// Check fallback
|
|
if (!allow_change && allow_fallback && _param_com_posctl_navl.get() == 0) {
|
|
if (user_intended_nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL) {
|
|
allow_change = _health_and_arming_checks.canRun(vehicle_status_s::NAVIGATION_STATE_ALTCTL);
|
|
// We still use the original user intended mode. The failsafe state machine will then set the
|
|
// fallback and once can_run becomes true, the actual user intended mode will be selected.
|
|
}
|
|
}
|
|
}
|
|
|
|
if (allow_change) {
|
|
_had_mode_change = true;
|
|
_user_intented_nav_state = user_intended_nav_state;
|
|
|
|
if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)) {
|
|
_nav_state_after_disarming = user_intended_nav_state;
|
|
}
|
|
|
|
if (_handler) {
|
|
_handler->onUserIntendedNavStateChange(source, user_intended_nav_state);
|
|
}
|
|
}
|
|
|
|
return allow_change;
|
|
}
|
|
|
|
void UserModeIntention::onDisarm()
|
|
{
|
|
_user_intented_nav_state = _nav_state_after_disarming;
|
|
}
|