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Merge pull request #907 from PX4/failsafe_fix 

commander: Fix the position failsafe to a) use proper logic to determine...
This commit is contained in:
Lorenz Meier 2014-05-07 01:45:33 -07:00
parent 6c1a035d6b 0c318f9ad7
commit 3f57aea8e0
1 changed files with 20 additions and 6 deletions
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22
src/modules/commander/commander.cpp
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@ -117,7 +117,8 @@ extern struct system_load_s system_load;
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define POSITION_TIMEOUT 100000 /**< consider the local or global position estimate invalid after 100ms */ #define POSITION_TIMEOUT (600 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000 #define RC_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000 #define DIFFPRESS_TIMEOUT 2000000
@ -746,8 +747,9 @@ int commander_thread_main(int argc, char *argv[])
bool low_battery_voltage_actions_done = false; bool low_battery_voltage_actions_done = false;
bool critical_battery_voltage_actions_done = false; bool critical_battery_voltage_actions_done = false;
uint64_t last_idle_time = 0; hrt_abstime last_idle_time = 0;
uint64_t start_time = 0; hrt_abstime start_time = 0;
hrt_abstime last_auto_state_valid = 0;
bool status_changed = true; bool status_changed = true;
bool param_init_forced = true; bool param_init_forced = true;
@ -776,6 +778,9 @@ int commander_thread_main(int argc, char *argv[])
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
struct vehicle_global_position_s global_position; struct vehicle_global_position_s global_position;
memset(&global_position, 0, sizeof(global_position)); memset(&global_position, 0, sizeof(global_position));
/* Init EPH and EPV */
global_position.eph = 1000.0f;
global_position.epv = 1000.0f;
/* Subscribe to local position data */ /* Subscribe to local position data */
int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
@ -938,11 +943,15 @@ int commander_thread_main(int argc, char *argv[])
if (status.condition_global_position_valid) { if (status.condition_global_position_valid) {
if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) {
eph_epv_good = false; eph_epv_good = false;
} else {
eph_epv_good = true;
} }
} else { } else {
if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) { if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) {
eph_epv_good = true; eph_epv_good = true;
} else {
eph_epv_good = false;
} }
} }
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed); check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed);
@ -1264,7 +1273,12 @@ int commander_thread_main(int argc, char *argv[])
/* check if AUTO mode still allowed */ /* check if AUTO mode still allowed */
transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO); transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
if (res == TRANSITION_DENIED) { if (res == TRANSITION_NOT_CHANGED) {
last_auto_state_valid = hrt_absolute_time();
}
/* still invalid state after the timeout interval, execute failsafe */
if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (res == TRANSITION_DENIED)) {
/* AUTO mode denied, don't try RTL, switch to failsafe state LAND */ /* AUTO mode denied, don't try RTL, switch to failsafe state LAND */
res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);