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Merge branch master into dataman_state_nav_rewrite

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This commit is contained in:
Anton Babushkin
2014-07-10 14:11:25 +02:00
parent 9b2d444cc5 58cae259e4
commit fc1669b096
338 changed files with 916 additions and 115681 deletions
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83
src/modules/commander/commander.cpp
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@@ -128,6 +128,7 @@ extern struct system_load_s system_load;
#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 OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000
@@ -168,6 +169,7 @@ static struct vehicle_status_s status;
static struct actuator_armed_s armed;
static struct safety_s safety;
static struct vehicle_control_mode_s control_mode;
static struct offboard_control_setpoint_s sp_offboard;
/* tasks waiting for low prio thread */
typedef enum {
@@ -441,6 +443,10 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */
main_ret = main_state_transition(status, MAIN_STATE_ACRO);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
/* OFFBOARD */
main_ret = main_state_transition(status, MAIN_STATE_OFFBOARD);
}
} else {
@@ -644,6 +650,7 @@ int commander_thread_main(int argc, char *argv[])
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";
main_states_str[MAIN_STATE_OFFBOARD] = "OFFBOARD";
const char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[ARMING_STATE_INIT] = "INIT";
@@ -666,6 +673,7 @@ int commander_thread_main(int argc, char *argv[])
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION";
nav_states_str[NAVIGATION_STATE_OFFBOARD] = "OFFBOARD";
/* pthread for slow low prio thread */
pthread_t commander_low_prio_thread;
@@ -817,7 +825,6 @@ int commander_thread_main(int argc, char *argv[])
/* Subscribe to offboard control data */
int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
struct offboard_control_setpoint_s sp_offboard;
memset(&sp_offboard, 0, sizeof(sp_offboard));
/* Subscribe to telemetry status topics */
@@ -979,6 +986,19 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
}
if (sp_offboard.timestamp != 0 &&
sp_offboard.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
if (status.offboard_control_signal_lost) {
status.offboard_control_signal_lost = false;
status_changed = true;
}
} else {
if (!status.offboard_control_signal_lost) {
status.offboard_control_signal_lost = true;
status_changed = true;
}
}
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
orb_check(telemetry_subs[i], &updated);
@@ -1696,6 +1716,18 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
/* set main state according to RC switches */
transition_result_t res = TRANSITION_DENIED;
/* offboard switch overrides main switch */
if (sp_man->offboard_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status, "OFFBOARD");
} else {
return res;
}
}
/* offboard switched off or denied, check main mode switch */
switch (sp_man->mode_switch) {
case SWITCH_POS_NONE:
res = TRANSITION_NOT_CHANGED;
@@ -1815,6 +1847,7 @@ set_control_mode()
/* TODO: check this */
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
switch (status.nav_state) {
case NAVIGATION_STATE_MANUAL:
@@ -1853,6 +1886,54 @@ set_control_mode()
control_mode.flag_control_termination_enabled = false;
break;
case NAVIGATION_STATE_OFFBOARD:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_offboard_enabled = true;
switch (sp_offboard.mode) {
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true; /* XXX: hack for now */
control_mode.flag_control_velocity_enabled = true;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
break;
default:
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
}
break;
case NAVIGATION_STATE_POSCTL:
control_mode.flag_control_manual_enabled = true;
control_mode.flag_control_auto_enabled = false;