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Merged master

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Lorenz Meier
2014-12-30 11:01:09 +01:00
parent d8eefa3053 4942883ddc
commit ef065808a3
117 changed files with 1607 additions and 209 deletions
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53
src/modules/commander/commander.cpp
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@@ -81,6 +81,7 @@
#include <uORB/topics/system_power.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vtol_vehicle_status.h>
@@ -267,7 +268,7 @@ int commander_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 40,
3200,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
while (!thread_running) {
usleep(200);
@@ -926,6 +927,11 @@ int commander_thread_main(int argc, char *argv[])
struct mission_result_s mission_result;
memset(&mission_result, 0, sizeof(mission_result));
/* Subscribe to geofence result topic */
int geofence_result_sub = orb_subscribe(ORB_ID(geofence_result));
struct geofence_result_s geofence_result;
memset(&geofence_result, 0, sizeof(geofence_result));
/* Subscribe to manual control data */
int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp_man;
@@ -1553,27 +1559,34 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
/* Check for geofence violation */
if (armed.armed && (mission_result.geofence_violated || mission_result.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes)
/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of navigator request or geofence");
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
}
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
}
/* start geofence result check */
orb_check(geofence_result_sub, &updated);
if (updated) {
orb_copy(ORB_ID(geofence_result), geofence_result_sub, &geofence_result);
}
/* Check for geofence violation */
if (armed.armed && (geofence_result.geofence_violated || mission_result.flight_termination)) {
//XXX: make this configurable to select different actions (e.g. navigation modes)
/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of navigator request or geofence");
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
}
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {