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Merge branch 'master' into offboard2_merge

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Conflicts:
	src/modules/uORB/topics/rc_channels.h
This commit is contained in:
Julian Oes
2014-07-02 15:15:26 +02:00
parent fdceb8b062 f428ebb04f
commit 73d6121a9d
89 changed files with 1952 additions and 1167 deletions
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72
src/modules/commander/commander.cpp
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@@ -52,6 +52,7 @@
#include <fcntl.h>
#include <errno.h>
#include <systemlib/err.h>
#include <systemlib/circuit_breaker.h>
#include <debug.h>
#include <sys/prctl.h>
#include <sys/stat.h>
@@ -76,6 +77,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/telemetry_status.h>
@@ -373,16 +375,16 @@ void print_status()
static orb_advert_t status_pub;
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy)
transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char *armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd_local);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
@@ -513,7 +515,14 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", cmd->param1, cmd->param2, cmd->param3, cmd->param4, cmd->param5, cmd->param6, cmd->param7);
mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
@@ -708,6 +717,12 @@ int commander_thread_main(int argc, char *argv[])
status.counter++;
status.timestamp = hrt_absolute_time();
status.condition_power_input_valid = true;
status.avionics_power_rail_voltage = -1.0f;
// CIRCUIT BREAKERS
status.circuit_breaker_engaged_power_check = false;
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -760,7 +775,6 @@ int commander_thread_main(int argc, char *argv[])
hrt_abstime last_idle_time = 0;
hrt_abstime start_time = 0;
hrt_abstime last_auto_state_valid = 0;
bool status_changed = true;
bool param_init_forced = true;
@@ -853,6 +867,11 @@ int commander_thread_main(int argc, char *argv[])
struct position_setpoint_triplet_s pos_sp_triplet;
memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
/* Subscribe to system power */
int system_power_sub = orb_subscribe(ORB_ID(system_power));
struct system_power_s system_power;
memset(&system_power, 0, sizeof(system_power));
control_status_leds(&status, &armed, true);
/* now initialized */
@@ -869,6 +888,7 @@ int commander_thread_main(int argc, char *argv[])
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_old = false;
bool system_checked = false;
while (!thread_should_exit) {
@@ -910,6 +930,9 @@ int commander_thread_main(int argc, char *argv[])
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id));
status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
status_changed = true;
/* re-check RC calibration */
@@ -922,6 +945,15 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
(void)rc_calibration_check(mavlink_fd);
system_checked = true;
}
orb_check(sp_man_sub, &updated);
if (updated) {
@@ -965,6 +997,26 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
}
orb_check(system_power_sub, &updated);
if (updated) {
orb_copy(ORB_ID(system_power), system_power_sub, &system_power);
if (hrt_elapsed_time(&system_power.timestamp) < 200000) {
if (system_power.servo_valid &&
!system_power.brick_valid &&
!system_power.usb_connected) {
/* flying only on servo rail, this is unsafe */
status.condition_power_input_valid = false;
} else {
status.condition_power_input_valid = true;
}
/* copy avionics voltage */
status.avionics_power_rail_voltage = system_power.voltage5V_v;
}
}
check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed);
/* update safety topic */
@@ -1274,12 +1326,13 @@ int commander_thread_main(int argc, char *argv[])
if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("#audio: NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {
/* we check outside of the transition function here because the requirement
* for being in manual mode only applies to manual arming actions.
* the system can be armed in auto if armed via the GCS.
*/
if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
@@ -1309,6 +1362,7 @@ int commander_thread_main(int argc, char *argv[])
} else if (arming_ret == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
tune_negative(true);
}
/* evaluate the main state machine according to mode switches */