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ThrowLaunch changes after PR 

Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
This commit is contained in:
Michał Barciś 2023-09-22 11:05:08 +04:00 committed by Matthias Grob
parent c2b4f051f9
commit 1a48f311ea
2 changed files with 40 additions and 25 deletions
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63
src/modules/commander/Commander.cpp
View File

@ -1776,7 +1776,7 @@ void Commander::run()
_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
_actuator_armed.lockdown = ((_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION)
|| (_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
|| !(_throw_launch_state == ThrowLaunchState::DISABLED || _throw_launch_state == ThrowLaunchState::FLYING));
|| isThrowLaunchInProgress());
// _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL
_actuator_armed.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
@ -2030,6 +2030,11 @@ void Commander::safetyButtonUpdate()
}
}
bool Commander::isThrowLaunchInProgress() const
{
return !(_throw_launch_state == ThrowLaunchState::DISABLED || _throw_launch_state == ThrowLaunchState::FLYING);
}
void Commander::throwLaunchUpdate()
{
if (_param_com_throw_en.get()) {
@ -2042,27 +2047,36 @@ void Commander::throwLaunchUpdate()
_throw_launch_state = ThrowLaunchState::IDLE;
}
if (_throw_launch_state == ThrowLaunchState::IDLE && isArmed()) {
mavlink_log_info(&_mavlink_log_pub, "The vehicle is ARMED with throw launch enabled. Throw the vehicle now.\t");
_throw_launch_state = ThrowLaunchState::ARMED;
}
switch (_throw_launch_state) {
case ThrowLaunchState::IDLE:
if (isArmed()) {
mavlink_log_info(&_mavlink_log_pub, "The vehicle is ARMED with throw launch enabled. Throw the vehicle now.\t");
_throw_launch_state = ThrowLaunchState::ARMED;
}
float vehicle_speed_squared = (
_vehicle_local_position.vx * _vehicle_local_position.vx +
_vehicle_local_position.vy * _vehicle_local_position.vy +
_vehicle_local_position.vz * _vehicle_local_position.vz
);
float min_launch_speed = _param_com_throw_min_speed.get();
break;
if (_throw_launch_state == ThrowLaunchState::ARMED &&
vehicle_speed_squared >= min_launch_speed * min_launch_speed) {
PX4_INFO("Minimum throw speed exceeded; the motors will start when the vehicle starts falling down.");
_throw_launch_state = ThrowLaunchState::UNSAFE;
}
case ThrowLaunchState::ARMED:
if (matrix::Vector3f(
_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz
).longerThan(_param_com_throw_min_speed.get())) {
PX4_INFO("Minimum throw speed exceeded; the motors will start when the vehicle starts falling down.");
_throw_launch_state = ThrowLaunchState::UNSAFE;
}
if (_throw_launch_state == ThrowLaunchState::UNSAFE && _vehicle_local_position.vz > 0) {
PX4_INFO("Throw successful, starting motors.");
_throw_launch_state = ThrowLaunchState::FLYING;
break;
case ThrowLaunchState::UNSAFE:
if (_vehicle_local_position.vz > 0) {
PX4_INFO("Throw successful, starting motors.");
_throw_launch_state = ThrowLaunchState::FLYING;
}
break;
default:
break;
}
} else if (_throw_launch_state != ThrowLaunchState::DISABLED) {
@ -2188,10 +2202,7 @@ void Commander::handleAutoDisarm()
_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
}
const bool throw_launch_in_progress = (_throw_launch_state == ThrowLaunchState::ARMED
|| _throw_launch_state == ThrowLaunchState::UNSAFE);
if (_auto_disarm_landed.get_state() && !throw_launch_in_progress) {
if (_auto_disarm_landed.get_state() && !isThrowLaunchInProgress()) {
if (_have_taken_off_since_arming) {
disarm(arm_disarm_reason_t::auto_disarm_land);
@ -2210,14 +2221,16 @@ void Commander::handleAutoDisarm()
auto_disarm |= _actuator_armed.lockdown;
}
//don't disarm if throw launch is in progress
auto_disarm &= !isThrowLaunchInProgress();
_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
if (_auto_disarm_killed.get_state()) {
if (_actuator_armed.manual_lockdown) {
disarm(arm_disarm_reason_t::kill_switch, true);
} else if (!_param_com_throw_en.get()) { // don't disarm if throw
// launch is enabled
} else {
disarm(arm_disarm_reason_t::lockdown, true);
}
}

2
src/modules/commander/Commander.hpp
View File

@ -174,6 +174,8 @@ private:
void safetyButtonUpdate();
bool isThrowLaunchInProgress() const;
void throwLaunchUpdate();
void vtolStatusUpdate();