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Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

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This commit is contained in:
Anton Babushkin
2014-06-21 14:26:40 +02:00
parent da2f68a6a0 e0c78e51e3
commit 164f19176e
14 changed files with 341 additions and 153 deletions
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151
src/modules/commander/commander.cpp
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@@ -78,6 +78,7 @@
#include <uORB/topics/safety.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/telemetry_status.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
@@ -124,6 +125,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT (600 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000
#define DL_TIMEOUT 5 * 1000* 1000
#define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000
@@ -497,12 +499,12 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
unsigned int mav_goto = cmd->param1;
if (mav_goto == 0) { // MAV_GOTO_DO_HOLD
status->set_nav_state = NAVIGATION_STATE_AUTO_LOITER;
status->nav_state = NAVIGATION_STATE_AUTO_LOITER;
mavlink_log_critical(mavlink_fd, "#audio: pause mission cmd");
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
} else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE
status->set_nav_state = NAVIGATION_STATE_AUTO_MISSION;
status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
mavlink_log_critical(mavlink_fd, "#audio: continue mission cmd");
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
@@ -619,34 +621,41 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_component_id = param_find("MAV_COMP_ID");
param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
/* welcome user */
warnx("starting");
char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL";
main_states_str[1] = "ALTCTL";
main_states_str[2] = "POSCTL";
main_states_str[3] = "AUTO_MISSION";
main_states_str[4] = "AUTO_LOITER";
main_states_str[5] = "AUTO_RTL";
main_states_str[6] = "ACRO";
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
main_states_str[MAIN_STATE_POSCTL] = "POSCTL";
main_states_str[MAIN_STATE_AUTO_MISSION] = "AUTO_MISSION";
main_states_str[MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER";
main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL";
main_states_str[MAIN_STATE_ACRO] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
arming_states_str[1] = "STANDBY";
arming_states_str[2] = "ARMED";
arming_states_str[3] = "ARMED_ERROR";
arming_states_str[4] = "STANDBY_ERROR";
arming_states_str[5] = "REBOOT";
arming_states_str[6] = "IN_AIR_RESTORE";
arming_states_str[ARMING_STATE_INIT] = "INIT";
arming_states_str[ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[ARMING_STATE_ARMED] = "ARMED";
arming_states_str[ARMING_STATE_ARMED_ERROR] = "ARMED_ERROR";
arming_states_str[ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR";
arming_states_str[ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
char *failsafe_states_str[FAILSAFE_STATE_MAX];
failsafe_states_str[0] = "NORMAL";
failsafe_states_str[1] = "RTL_RC";
failsafe_states_str[2] = "RTL_DL";
failsafe_states_str[3] = "LAND";
failsafe_states_str[4] = "TERMINATION";
char *nav_states_str[NAVIGATION_STATE_MAX];
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION";
/* pthread for slow low prio thread */
pthread_t commander_low_prio_thread;
@@ -668,10 +677,10 @@ int commander_thread_main(int argc, char *argv[])
// We want to accept RC inputs as default
status.rc_input_blocked = false;
status.main_state = MAIN_STATE_MANUAL;
status.set_nav_state = NAVIGATION_STATE_MANUAL;
status.nav_state = NAVIGATION_STATE_MANUAL;
status.arming_state = ARMING_STATE_INIT;
status.hil_state = HIL_STATE_OFF;
status.failsafe_state = FAILSAFE_STATE_NORMAL;
status.failsafe = false;
/* neither manual nor offboard control commands have been received */
status.offboard_control_signal_found_once = false;
@@ -680,6 +689,7 @@ int commander_thread_main(int argc, char *argv[])
/* mark all signals lost as long as they haven't been found */
status.rc_signal_lost = true;
status.offboard_control_signal_lost = true;
status.data_link_lost = true;
/* set battery warning flag */
status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
@@ -795,6 +805,11 @@ int commander_thread_main(int argc, char *argv[])
struct offboard_control_setpoint_s sp_offboard;
memset(&sp_offboard, 0, sizeof(sp_offboard));
/* Subscribe to telemetry status */
int telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
/* Subscribe to global position */
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
struct vehicle_global_position_s global_position;
@@ -864,10 +879,12 @@ int commander_thread_main(int argc, char *argv[])
transition_result_t arming_ret;
int32_t datalink_loss_enabled = false;
/* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_state_changed = false;
bool failsafe_old = false;
while (!thread_should_exit) {
@@ -918,6 +935,7 @@ int commander_thread_main(int argc, char *argv[])
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
param_get(_param_enable_parachute, &parachute_enabled);
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
orb_check(sp_man_sub, &updated);
@@ -932,6 +950,12 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
}
orb_check(telemetry_sub, &updated);
if (updated) {
orb_copy(ORB_ID(telemetry_status), telemetry_sub, &telemetry);
}
orb_check(sensor_sub, &updated);
if (updated) {
@@ -1210,7 +1234,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
}
/* start RC input check */
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
@@ -1222,9 +1246,6 @@ int commander_thread_main(int argc, char *argv[])
if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "#audio: RC signal regained");
status_changed = true;
status.failsafe_state = FAILSAFE_STATE_NORMAL;
failsafe_state_changed = true;
}
}
@@ -1295,12 +1316,6 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
}
// if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
// /* recover from failsafe */
// (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
// }
/* evaluate the main state machine according to mode switches */
transition_result_t main_res = set_main_state_rc(&status, &sp_man);
@@ -1319,34 +1334,24 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
status.rc_signal_lost = true;
status_changed = true;
if (!(status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && !mission_result.finished)) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
} else {
status.failsafe_state = FAILSAFE_STATE_LAND;
}
failsafe_state_changed = true;
} else {
mavlink_log_info(mavlink_fd, "#audio: no RTL during Mission");
}
}
}
/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
mission_result.finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished");
} else {
/* this probably doesn't make sense since we are in mission and have global position */
status.failsafe_state = FAILSAFE_STATE_LAND;
/* data link check */
if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
/* handle the case where data link was regained */
if (status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: data link regained");
status.data_link_lost = false;
status_changed = true;
}
} else {
if (!status.data_link_lost) {
mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
status.data_link_lost = true;
status_changed = true;
}
failsafe_state_changed = true;
}
/* handle commands last, as the system needs to be updated to handle them */
@@ -1401,19 +1406,28 @@ int commander_thread_main(int argc, char *argv[])
was_armed = armed.armed;
/* now set nav state according to failsafe and main state */
set_nav_state(&status);
/* now set navigation state according to failsafe and main state */
bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled,
mission_result.mission_finished);
// TODO handle mode changes by commands
if (main_state_changed) {
status_changed = true;
warnx("main state: %s", main_states_str[status.main_state]);
mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]);
main_state_changed = false;
}
if (failsafe_state_changed) {
if (status.failsafe != failsafe_old) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %s", failsafe_states_str[status.failsafe_state]);
failsafe_state_changed = false;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe);
failsafe_old = status.failsafe;
}
if (nav_state_changed) {
status_changed = true;
warnx("nav state: %s", nav_states_str[status.nav_state]);
mavlink_log_info(mavlink_fd, "[cmd] nav state: %s", nav_states_str[status.nav_state]);
}
/* publish states (armed, control mode, vehicle status) at least with 5 Hz */
@@ -1439,7 +1453,7 @@ int commander_thread_main(int argc, char *argv[])
/* play tune on battery critical */
set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe_state != FAILSAFE_STATE_NORMAL) {
} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe) {
/* play tune on battery warning or failsafe */
set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
@@ -1544,7 +1558,7 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
if (set_normal_color) {
/* set color */
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe_state != FAILSAFE_STATE_NORMAL) {
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe) {
rgbled_set_color(RGBLED_COLOR_AMBER);
/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
@@ -1692,7 +1706,7 @@ set_control_mode()
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
switch (status.set_nav_state) {
switch (status.nav_state) {
case NAVIGATION_STATE_MANUAL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;
@@ -1744,8 +1758,7 @@ set_control_mode()
case NAVIGATION_STATE_AUTO_MISSION:
case NAVIGATION_STATE_AUTO_LOITER:
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
case NAVIGATION_STATE_AUTO_RTGS:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;