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Added safety status feedback, disallow arming of a rotary wing with engaged safety

This commit is contained in:
Lorenz Meier 2013-06-09 14:09:09 +02:00
parent b12678014f
commit 1deced7629
8 changed files with 189 additions and 38 deletions
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31
src/drivers/px4io/px4io.cpp
View File

@ -80,6 +80,7 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/safety.h>
#include <debug.h>
#include <mavlink/mavlink_log.h>
@ -161,6 +162,7 @@ private:
orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
orb_advert_t _to_outputs; ///< mixed servo outputs topic
orb_advert_t _to_battery; ///< battery status / voltage
orb_advert_t _to_safety; ///< status of safety
actuator_outputs_s _outputs; ///< mixed outputs
actuator_controls_effective_s _controls_effective; ///< effective controls
@ -883,6 +885,25 @@ PX4IO::io_handle_status(uint16_t status)
_status = status;
}
/**
* Get and handle the safety status
*/
struct safety_s safety;
safety.timestamp = hrt_absolute_time();
if (status & PX4IO_P_STATUS_FLAGS_ARMED) {
safety.status = SAFETY_STATUS_UNLOCKED;
} else {
safety.status = SAFETY_STATUS_SAFE;
}
/* lazily publish the safety status */
if (_to_safety > 0) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
}
return ret;
}
@ -946,6 +967,7 @@ PX4IO::io_get_status()
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
}
}
return ret;
}
@ -1273,7 +1295,7 @@ PX4IO::print_status()
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n",
flags,
((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""),
((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " SAFETY_UNLOCKED" : ""),
((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
@ -1634,6 +1656,11 @@ test(void)
if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count))
err(1, "failed to get servo count");
/* tell IO that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");
if (ioctl(fd, PWM_SERVO_ARM, 0))
err(1, "failed to arm servos");
@ -1682,7 +1709,7 @@ test(void)
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
close(console);
exit(0);

80
src/modules/commander/commander.c
View File

@ -81,6 +81,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
@ -1281,6 +1282,8 @@ int commander_thread_main(int argc, char *argv[])
current_status.flag_vector_flight_mode_ok = false;
/* set battery warning flag */
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
/* set safety device detection flag */
current_status.flag_safety_present = false;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@ -1377,6 +1380,12 @@ int commander_thread_main(int argc, char *argv[])
memset(&battery, 0, sizeof(battery));
battery.voltage_v = 0.0f;
/* subscribe to safety topic */
int safety_sub = orb_subscribe(ORB_ID(safety));
struct safety_s safety;
memset(&safety, 0, sizeof(safety));
safety.status = SAFETY_STATUS_NOT_PRESENT;
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@ -1396,6 +1405,39 @@ int commander_thread_main(int argc, char *argv[])
/* Get current values */
bool new_data;
/* update parameters */
orb_check(param_changed_sub, &new_data);
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
/* update parameters */
if (!current_status.flag_system_armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
}
/* check and update system / component ID */
param_get(_param_system_id, &(current_status.system_id));
param_get(_param_component_id, &(current_status.component_id));
}
}
orb_check(sp_man_sub, &new_data);
if (new_data) {
@ -1431,36 +1473,17 @@ int commander_thread_main(int argc, char *argv[])
handle_command(stat_pub, &current_status, &cmd);
}
/* update parameters */
orb_check(param_changed_sub, &new_data);
orb_check(safety_sub, &new_data);
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
if (new_data) {
/* got safety change */
orb_copy(ORB_ID(safety), safety_sub, &safety);
/* handle it */
current_status.flag_safety_present = (safety.status != SAFETY_STATUS_NOT_PRESENT);
/* update parameters */
if (!current_status.flag_system_armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
}
/* check and update system / component ID */
param_get(_param_system_id, &(current_status.system_id));
param_get(_param_component_id, &(current_status.component_id));
}
if (current_status.flag_safety_present)
current_status.flag_safety_safe = (safety.status == SAFETY_STATUS_SAFE);
}
/* update global position estimate */
@ -1699,7 +1722,8 @@ int commander_thread_main(int argc, char *argv[])
state_changed = true;
}
if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
orb_check(ORB_ID(vehicle_gps_position), &new_data);
if (new_data) {
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);

35
src/modules/commander/state_machine_helper.c
View File

@ -65,6 +65,18 @@ static const char *system_state_txt[] = {
};
bool is_multirotor(const struct vehicle_status_s *current_status)
{
return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
{
return is_multirotor(current_status);
}
/**
* Transition from one state to another
*/
@ -513,6 +525,25 @@ void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
/* reject arming if safety status is wrong */
if (current_status->flag_safety_present) {
/*
* The operator should not touch the vehicle if
* its armed, so we don't allow arming in the
* first place
*/
if (is_rotary_wing(current_status)) {
/* safety is in safe position, disallow arming */
if (current_status->flag_safety_safe) {
mavlink_log_critical(mavlink_fd, "DISENGAGE SAFETY BEFORE ARMING!");
}
}
}
printf("[cmd] arming\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
}
@ -538,9 +569,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flag_control_manual_enabled = true;
/* set behaviour based on airframe */
if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
if (is_rotary_wing(current_status)) {
/* assuming a rotary wing, set to SAS */
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;

4
src/modules/commander/state_machine_helper.h
View File

@ -47,6 +47,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
bool is_multirotor(const struct vehicle_status_s *current_status);
bool is_rotary_wing(const struct vehicle_status_s *current_status);
/**
* Switch to new state with no checking.
*

4
src/modules/uORB/objects_common.cpp
View File

@ -154,3 +154,7 @@ ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
/* status of the system safety device */
#include "topics/safety.h"
ORB_DEFINE(safety, struct safety_s);

1
src/modules/uORB/topics/actuator_controls.h
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@ -70,6 +70,7 @@ ORB_DECLARE(actuator_controls_3);
struct actuator_armed_s {
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool throttle_locked; /**< Set to true if the trottle is locked to zero */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
};

60
src/modules/uORB/topics/safety.h Normal file
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@ -0,0 +1,60 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file safety.h
*
* Status of an attached safety device
*/
#ifndef TOPIC_SAFETY_H
#define TOPIC_SAFETY_H
#include <stdint.h>
#include "../uORB.h"
enum SAFETY_STATUS {
SAFETY_STATUS_NOT_PRESENT,
SAFETY_STATUS_SAFE,
SAFETY_STATUS_UNLOCKED
};
struct safety_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
enum SAFETY_STATUS status;
};
/* actuator output sets; this list can be expanded as more drivers emerge */
ORB_DECLARE(safety);
#endif /* TOPIC_SAFETY_H */

2
src/modules/uORB/topics/vehicle_status.h
View File

@ -214,6 +214,8 @@ struct vehicle_status_s
bool flag_valid_launch_position; /**< indicates a valid launch position */
bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */
bool flag_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
bool flag_safety_present; /**< indicates that a safety switch is present */
bool flag_safety_safe; /**< safety switch is in safe position */
};
/**