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Merged IO feature branch

This commit is contained in:
Lorenz Meier 2012-12-13 11:12:34 +01:00
parent 26faab64e5 03076a72ca
commit 1fc0a6546e
13 changed files with 253 additions and 60 deletions
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96
apps/commander/commander.c
View File

@ -72,10 +72,12 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
@ -1167,6 +1169,8 @@ int commander_thread_main(int argc, char *argv[])
failsafe_lowlevel_timeout_ms = 0;
param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
param_t _param_sys_type = param_find("MAV_TYPE");
/* welcome user */
printf("[commander] I am in command now!\n");
@ -1199,6 +1203,8 @@ int commander_thread_main(int argc, char *argv[])
/* mark all signals lost as long as they haven't been found */
current_status.rc_signal_lost = true;
current_status.offboard_control_signal_lost = true;
/* allow manual override initially */
current_status.flag_external_manual_override_ok = true;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@ -1249,9 +1255,15 @@ int commander_thread_main(int argc, char *argv[])
struct offboard_control_setpoint_s sp_offboard;
memset(&sp_offboard, 0, sizeof(sp_offboard));
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
struct vehicle_global_position_s global_position;
memset(&global_position, 0, sizeof(global_position));
uint64_t last_global_position_time = 0;
int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
struct vehicle_local_position_s local_position;
memset(&local_position, 0, sizeof(local_position));
uint64_t last_local_position_time = 0;
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
@ -1262,6 +1274,11 @@ int commander_thread_main(int argc, char *argv[])
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
/* Subscribe to parameters changed topic */
int param_changed_sub = orb_subscribe(ORB_ID(parameter_update));
struct parameter_update_s param_changed;
memset(&param_changed, 0, sizeof(param_changed));
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@ -1288,7 +1305,6 @@ int commander_thread_main(int argc, char *argv[])
if (new_data) {
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
}
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
orb_check(cmd_sub, &new_data);
@ -1300,6 +1316,46 @@ int commander_thread_main(int argc, char *argv[])
handle_command(stat_pub, &current_status, &cmd);
}
/* update parameters */
orb_check(param_changed_sub, &new_data);
if (new_data) {
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
/* update parameters */
if (!current_status.flag_system_armed) {
current_status.system_type = param_get(_param_sys_type, &(current_status.system_type));
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == MAV_TYPE_QUADROTOR ||
current_status.system_type == MAV_TYPE_HEXAROTOR ||
current_status.system_type == MAV_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
}
printf("param changed, val: %d, override: %s\n", current_status.system_type, (current_status.flag_external_manual_override_ok) ? "ON" : "OFF");
} else {
printf("ARMED, rejecting sys type change\n");
}
}
/* update global position estimate */
orb_check(global_position_sub, &new_data);
if (new_data) {
/* position changed */
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
last_global_position_time = global_position.timestamp;
}
/* update local position estimate */
orb_check(local_position_sub, &new_data);
if (new_data) {
/* position changed */
orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
last_local_position_time = local_position.timestamp;
}
battery_voltage = sensors.battery_voltage_v;
battery_voltage_valid = sensors.battery_voltage_valid;
@ -1406,6 +1462,32 @@ int commander_thread_main(int argc, char *argv[])
/* End battery voltage check */
bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok;
bool global_pos_valid = current_status.flag_global_position_valid;
bool local_pos_valid = current_status.flag_local_position_valid;
/* check for global or local position updates, set a timeout of 2s */
if (hrt_absolute_time() - last_global_position_time < 2000000) {
current_status.flag_vector_flight_mode_ok = true;
current_status.flag_global_position_valid = true;
// XXX check for controller status and home position as well
}
if (hrt_absolute_time() - last_local_position_time < 2000000) {
current_status.flag_vector_flight_mode_ok = true;
current_status.flag_local_position_valid = true;
// XXX check for controller status and home position as well
}
/* consolidate state change, flag as changed if required */
if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok ||
global_pos_valid != current_status.flag_global_position_valid ||
local_pos_valid != current_status.flag_local_position_valid) {
state_changed = true;
}
/* Check if last transition deserved an audio event */
// #warning This code depends on state that is no longer? maintained
// #if 0
@ -1496,7 +1578,7 @@ int commander_thread_main(int argc, char *argv[])
}
//printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
if (sp_man.aux1_cam_pan_flaps < -STICK_ON_OFF_LIMIT) {
if (sp_man.aux1_cam_pan_flaps > STICK_ON_OFF_LIMIT) {
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else {
if (sp_man.override_mode_switch > STICK_ON_OFF_LIMIT) {
@ -1675,7 +1757,7 @@ int commander_thread_main(int argc, char *argv[])
buzzer_deinit();
close(sp_man_sub);
close(sp_offboard_sub);
close(gps_sub);
close(global_position_sub);
close(sensor_sub);
close(cmd_sub);

10
apps/drivers/px4fmu/fmu.cpp
View File

@ -341,8 +341,16 @@ PX4FMU::task_main()
/* handle update rate changes */
if (_current_update_rate != _update_rate) {
int update_rate_in_ms = int(1000 / _update_rate);
if (update_rate_in_ms < 2)
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
_update_rate = 500;
}
/* reject slower than 50 Hz updates */
if (update_rate_in_ms > 20) {
update_rate_in_ms = 20;
_update_rate = 50;
}
orb_set_interval(_t_actuators, update_rate_in_ms);
up_pwm_servo_set_rate(_update_rate);
_current_update_rate = _update_rate;

80
apps/drivers/px4io/px4io.cpp
View File

@ -55,6 +55,7 @@
#include <unistd.h>
#include <termios.h>
#include <fcntl.h>
#include <math.h>
#include <arch/board/board.h>
@ -73,6 +74,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/rc_channels.h>
#include <px4io/protocol.h>
@ -89,10 +91,17 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg);
/**
* Set the PWM via serial update rate
* @warning this directly affects CPU load
*/
int set_pwm_rate(int hz);
bool dump_one;
private:
static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS;
int _update_rate; ///< serial send rate in Hz
int _serial_fd; ///< serial interface to PX4IO
hx_stream_t _io_stream; ///< HX protocol stream
@ -109,6 +118,8 @@ private:
int _t_armed; ///< system armed control topic
actuator_armed_s _armed; ///< system armed state
int _t_vstatus; ///< system / vehicle status
vehicle_status_s _vstatus; ///< overall system state
orb_advert_t _to_input_rc; ///< rc inputs from io
rc_input_values _input_rc; ///< rc input values
@ -182,6 +193,7 @@ PX4IO *g_dev;
PX4IO::PX4IO() :
CDev("px4io", "/dev/px4io"),
dump_one(false),
_update_rate(50),
_serial_fd(-1),
_io_stream(nullptr),
_task(-1),
@ -190,6 +202,7 @@ PX4IO::PX4IO() :
_t_actuators(-1),
_t_actuators_effective(-1),
_t_armed(-1),
_t_vstatus(-1),
_t_outputs(-1),
_mixers(nullptr),
_primary_pwm_device(false),
@ -264,6 +277,17 @@ PX4IO::init()
return OK;
}
int
PX4IO::set_pwm_rate(int hz)
{
if (hz > 0 && hz <= 400) {
_update_rate = hz;
return OK;
} else {
return -EINVAL;
}
}
void
PX4IO::task_main_trampoline(int argc, char *argv[])
{
@ -274,6 +298,7 @@ void
PX4IO::task_main()
{
log("starting");
int update_rate_in_ms;
/* open the serial port */
_serial_fd = ::open("/dev/ttyS2", O_RDWR);
@ -311,12 +336,15 @@ PX4IO::task_main()
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1));
/* convert the update rate in hz to milliseconds, rounding down if necessary */
//int update_rate_in_ms = int(1000 / _update_rate);
orb_set_interval(_t_actuators, 20); /* XXX 50Hz hardcoded for now */
update_rate_in_ms = int(1000 / _update_rate);
orb_set_interval(_t_actuators, update_rate_in_ms);
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
_t_vstatus = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */
/* advertise the limited control inputs */
memset(&_controls_effective, 0, sizeof(_controls_effective));
_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_1),
@ -332,13 +360,15 @@ PX4IO::task_main()
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc);
/* poll descriptor */
pollfd fds[3];
pollfd fds[4];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
fds[1].fd = _t_actuators;
fds[1].events = POLLIN;
fds[2].fd = _t_armed;
fds[2].events = POLLIN;
fds[3].fd = _t_vstatus;
fds[3].events = POLLIN;
log("ready");
@ -367,7 +397,8 @@ PX4IO::task_main()
if (fds[1].revents & POLLIN) {
/* get controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1), _t_actuators, &_controls);
/* mix */
if (_mixers != nullptr) {
@ -381,8 +412,19 @@ PX4IO::task_main()
/* convert to PWM values */
for (unsigned i = 0; i < _max_actuators; i++)
_outputs.output[i] = 1500 + (600 * _outputs.output[i]);
for (unsigned i = 0; i < _max_actuators; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (isfinite(_outputs.output[i]) && _outputs.output[i] >= -1.0f && _outputs.output[i] <= 1.0f) {
_outputs.output[i] = 1500 + (600 * _outputs.output[i]);
} else {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
_outputs.output[i] = 900;
}
}
/* and flag for update */
_send_needed = true;
@ -394,6 +436,11 @@ PX4IO::task_main()
orb_copy(ORB_ID(actuator_armed), _t_armed, &_armed);
_send_needed = true;
}
if (fds[3].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_status), _t_vstatus, &_vstatus);
_send_needed = true;
}
}
/* send an update to IO if required */
@ -528,8 +575,14 @@ PX4IO::io_send()
// XXX relays
/* armed and not locked down */
/* armed and not locked down -> arming ok */
cmd.arm_ok = (_armed.armed && !_armed.lockdown);
/* indicate that full autonomous position control / vector flight mode is available */
cmd.vector_flight_mode_ok = _vstatus.flag_vector_flight_mode_ok;
/* allow manual override on IO (not allowed for multirotors or other systems with SAS) */
cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok;
/* set desired PWM output rate */
cmd.servo_rate = _update_rate;
ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
if (ret)
@ -697,7 +750,7 @@ test(void)
void
monitor(void)
{
unsigned cancels = 4;
unsigned cancels = 3;
printf("Hit <enter> three times to exit monitor mode\n");
for (;;) {
@ -718,6 +771,7 @@ monitor(void)
g_dev->dump_one = true;
}
}
}
int
@ -739,6 +793,16 @@ px4io_main(int argc, char *argv[])
errx(1, "driver init failed");
}
/* look for the optional pwm update rate for the supported modes */
if (strcmp(argv[2], "-u") == 0 || strcmp(argv[2], "--update-rate") == 0) {
if (argc > 2 + 1) {
g_dev->set_pwm_rate(atoi(argv[2 + 1]));
} else {
fprintf(stderr, "missing argument for pwm update rate (-u)\n");
return 1;
}
}
exit(0);
}

20
apps/fixedwing_att_control/fixedwing_att_control_main.c
View File

@ -183,13 +183,11 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
/* Control */
if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
/* control */
if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* publish rate setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
/* angular rate control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
@ -219,11 +217,9 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
att_sp.timestamp = hrt_absolute_time();
}
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* publish rate setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
/* angular rate control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
@ -242,8 +238,14 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
/* publish rates */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
/* publish actuator outputs */
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
/* sanity check and publish actuator outputs */
if (isfinite(actuators.control[0]) &&
isfinite(actuators.control[1]) &&
isfinite(actuators.control[2]) &&
isfinite(actuators.control[3]))
{
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
}
}
printf("[fixedwing_att_control] exiting, stopping all motors.\n");

6
apps/mavlink/mavlink_receiver.c
View File

@ -261,8 +261,8 @@ handle_message(mavlink_message_t *msg)
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1] / (float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
ml_armed = false;
@ -301,7 +301,7 @@ handle_message(mavlink_message_t *msg)
/* Calculate Rotation Matrix */
//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
if(mavlink_system.type == MAV_TYPE_FIXED_WING) {
if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
//TODO: assuming low pitch and roll values for now
hil_attitude.R[0][0] = cosf(hil_state.yaw);
hil_attitude.R[0][1] = sinf(hil_state.yaw);

33
apps/px4io/comms.c
View File

@ -130,8 +130,10 @@ comms_main(void)
last_report_time = now;
/* populate the report */
for (unsigned i = 0; i < system_state.rc_channels; i++)
for (unsigned i = 0; i < system_state.rc_channels; i++) {
report.rc_channel[i] = system_state.rc_channel_data[i];
}
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
@ -168,26 +170,41 @@ comms_handle_command(const void *buffer, size_t length)
irqstate_t flags = irqsave();
/* fetch new PWM output values */
for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++)
for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++) {
system_state.fmu_channel_data[i] = cmd->servo_command[i];
}
/* if the IO is armed and FMU gets disarmed, IO must also disarm */
if(system_state.arm_ok && !cmd->arm_ok) {
/* if IO is armed and FMU gets disarmed, IO must also disarm */
if (system_state.arm_ok && !cmd->arm_ok) {
system_state.armed = false;
}
system_state.arm_ok = cmd->arm_ok;
system_state.vector_flight_mode_ok = cmd->vector_flight_mode_ok;
system_state.manual_override_ok = cmd->manual_override_ok;
system_state.mixer_fmu_available = true;
system_state.fmu_data_received = true;
/* set PWM update rate if changed (after limiting) */
uint16_t new_servo_rate = cmd->servo_rate;
/* handle changes signalled by FMU */
// if (!system_state.arm_ok && system_state.armed)
// system_state.armed = false;
/* reject faster than 500 Hz updates */
if (new_servo_rate > 500) {
new_servo_rate = 500;
}
/* reject slower than 50 Hz updates */
if (new_servo_rate < 50) {
new_servo_rate = 50;
}
if (system_state.servo_rate != new_servo_rate) {
up_pwm_servo_set_rate(new_servo_rate);
system_state.servo_rate = new_servo_rate;
}
/* XXX do relay changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
system_state.relays[i] = cmd->relay_state[i];
}
irqrestore(flags);
}

7
apps/px4io/controls.c
View File

@ -110,12 +110,13 @@ controls_main(void)
if (!locked)
ppm_input();
/* force manual input override */
/* check for manual override status */
if (system_state.rc_channel_data[4] > RC_CHANNEL_HIGH_THRESH) {
system_state.mixer_use_fmu = false;
/* force manual input override */
system_state.mixer_manual_override = true;
} else {
/* override not engaged, use FMU */
system_state.mixer_use_fmu = true;
system_state.mixer_manual_override = false;
}
/*

11
apps/px4io/mixer.c
View File

@ -85,7 +85,7 @@ mixer_tick(void)
/*
* Decide which set of inputs we're using.
*/
if (system_state.mixer_use_fmu && system_state.mixer_fmu_available) {
if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
/* we have recent control data from the FMU */
control_count = PX4IO_OUTPUT_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
@ -96,21 +96,22 @@ mixer_tick(void)
/* too many frames without FMU input, time to go to failsafe */
if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
system_state.mixer_use_fmu = false;
system_state.mixer_manual_override = true;
system_state.mixer_fmu_available = false;
}
} else {
fmu_input_drops = 0;
system_state.fmu_data_received = false;
}
} else if (system_state.rc_channels > 0) {
} else if (system_state.rc_channels > 0 && system_state.manual_override_ok) {
/* we have control data from an R/C input */
control_count = system_state.rc_channels;
control_values = &system_state.rc_channel_data[0];
} else {
/* we have no control input */
/* XXX builtin failsafe would activate here */
// XXX builtin failsafe would activate here
control_count = 0;
}

9
apps/px4io/protocol.h
View File

@ -52,9 +52,12 @@ struct px4io_command {
uint16_t f2i_magic;
#define F2I_MAGIC 0x636d
uint16_t servo_command[PX4IO_OUTPUT_CHANNELS];
bool relay_state[PX4IO_RELAY_CHANNELS];
bool arm_ok;
uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; /**< servo output channels */
uint16_t servo_rate; /**< PWM output rate in Hz */
bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
};
/* config message from FMU to IO */

2
apps/px4io/px4io.c
View File

@ -61,6 +61,8 @@ int user_start(int argc, char *argv[])
{
/* reset all to zero */
memset(&system_state, 0, sizeof(system_state));
/* default to 50 Hz PWM outputs */
system_state.servo_rate = 50;
/* configure the high-resolution time/callout interface */
hrt_init();

13
apps/px4io/px4io.h
View File

@ -71,6 +71,7 @@ struct sys_state_s
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
uint16_t servo_rate; /* output rate of servos in Hz */
/**
* Data from the remote control input(s)
@ -92,7 +93,7 @@ struct sys_state_s
/**
* If true, we are using the FMU controls, else RC input if available.
*/
bool mixer_use_fmu;
bool mixer_manual_override;
/**
* If true, FMU input is available.
@ -124,6 +125,16 @@ struct sys_state_s
* If true, the connection to FMU has been lost for more than a timeout interval
*/
bool fmu_lost;
/**
* If true, FMU is ready for autonomous position control. Only used for LED indication
*/
bool vector_flight_mode_ok;
/**
* If true, IO performs an on-board manual override with the RC channel values
*/
bool manual_override_ok;
};
extern struct sys_state_s system_state;

19
apps/px4io/safety.c
View File

@ -63,15 +63,16 @@ static unsigned counter = 0;
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_SAFE 0xffff // always on
#define LED_PATTERN_FMU_ARMED 0x4444 // slow blinking
#define LED_PATTERN_IO_ARMED 0x5555 // fast blinking
#define LED_PATTERN_IO_FMU_ARMED 0x5050 // long off then double blink
#define LED_PATTERN_SAFE 0xffff /**< always on */
#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0x3000 /**< always on with short break */
#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */
#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */
static unsigned blink_counter = 0;
#define ARM_COUNTER_THRESHOLD 10
#define DISARM_COUNTER_THRESHOLD 2
#define DISARM_COUNTER_THRESHOLD 4
static bool safety_button_pressed;
@ -101,10 +102,6 @@ safety_check_button(void *arg)
*/
safety_button_pressed = BUTTON_SAFETY;
if(safety_button_pressed) {
//printf("Pressed, Arm counter: %d, Disarm counter: %d\n", arm_counter, disarm_counter);
}
/* Keep pressed for a while to arm */
if (safety_button_pressed && !system_state.armed) {
if (counter < ARM_COUNTER_THRESHOLD) {
@ -139,6 +136,8 @@ safety_check_button(void *arg)
}
} else if (system_state.arm_ok) {
pattern = LED_PATTERN_FMU_ARMED;
} else if (system_state.vector_flight_mode_ok) {
pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
}
/* Turn the LED on if we have a 1 at the current bit position */
@ -165,7 +164,7 @@ failsafe_blink(void *arg)
static bool failsafe = false;
/* blink the failsafe LED if we don't have FMU input */
if (!system_state.mixer_use_fmu) {
if (!system_state.mixer_fmu_available) {
failsafe = !failsafe;
} else {
failsafe = false;

7
apps/uORB/topics/vehicle_status.h
View File

@ -116,6 +116,7 @@ struct vehicle_status_s
commander_state_machine_t state_machine; /**< current flight state, main state machine */
enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */
enum VEHICLE_ATTITUDE_MODE attitute_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
int32_t system_type; /**< system type, inspired by MAVLinks MAV_TYPE enum */
// uint8_t mode;
@ -165,8 +166,10 @@ struct vehicle_status_s
uint16_t errors_count4;
// bool remote_manual; /**< set to true by the commander when the manual-switch on the remote is set to manual */
bool gps_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
bool flag_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
bool flag_local_position_valid;
bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
bool flag_external_manual_override_ok;
};
/**