forked from Archive/PX4-Autopilot
commander log full status flags
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
dc2d6e8aab
commit
8b0ba3c34c
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@ -1,61 +1,35 @@
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# define mask for conditions flags
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uint16 CONDITION_CALIBRATION_ENABLE_MASK = 1
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uint16 CONDITION_SYSTEM_SENSORS_INITIALIZED_MASK = 2
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uint16 CONDITION_SYSTEM_PREARM_ERROR_REPORTED_MASK = 4
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uint16 CONDITION_SYSTEM_HOTPLUG_TIMEOUT_MASK = 8
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uint16 CONDITION_SYSTEM_RETURNED_TO_HOME_MASK = 16
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uint16 CONDITION_AUTO_MISSION_AVAILABLE_MASK = 32
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uint16 CONDITION_GLOBAL_POSITION_VALID_MASK = 64
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uint16 CONDITION_HOME_POSITION_VALID_MASK = 128
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uint16 CONDITION_LOCAL_POSITION_VALID_MASK = 256
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uint16 CONDITION_LOCAL_ALTITUDE_VALID_MASK = 512
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uint16 CONDITION_AIRSPEED_VALID_MASK = 1024
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uint16 CONDITION_POWER_INPUT_VALID_MASK = 2048
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# uint16 reserved for future implementation
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# uint16 reserved for future implementation
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# uint16 reserved for future implementation
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# uint16 reserved for future implementation
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# This is a struct used by the commander internally.
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uint16 conditions
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bool condition_calibration_enabled
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bool condition_system_sensors_initialized
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bool condition_system_prearm_error_reported # true if errors have already been reported
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bool condition_system_hotplug_timeout # true if the hotplug sensor search is over
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bool condition_system_returned_to_home
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bool condition_auto_mission_available
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bool condition_global_position_valid # set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
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bool condition_global_velocity_valid # set to true by the commander app if the quality of the global horizontal velocity data is good enough to use for navigation
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bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)
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bool condition_local_position_valid # set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
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bool condition_local_velocity_valid # set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
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bool condition_local_altitude_valid
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bool condition_airspeed_valid # set to true by the commander app if there is a valid airspeed measurement available
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bool condition_power_input_valid # set if input power is valid
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# define mask for circuit breaker flags
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uint8 CIRCUIT_BREAKER_ENGAGED_POWER_CHECK_MASK = 1
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uint8 CIRCUIT_BREAKER_ENGAGED_AIRSPD_CHECK_MASK = 2
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uint8 CIRCUIT_BREAKER_ENGAGED_ENGINEFAILURE_CHECK_MASK = 4
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uint8 CIRCUIT_BREAKER_ENGAGED_GPSFAILURE_CHECK_MASK = 8
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uint8 CIRCUIT_BREAKER_FLIGHT_TERMINATION_DISABLED_MASK = 16
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uint8 CIRCUIT_BREAKER_ENGAGED_USB_CHECK_MASK = 32
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bool circuit_breaker_engaged_power_check
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bool circuit_breaker_engaged_airspd_check
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bool circuit_breaker_engaged_enginefailure_check
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bool circuit_breaker_engaged_gpsfailure_check
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bool circuit_breaker_flight_termination_disabled
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bool circuit_breaker_engaged_usb_check
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bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled
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# 0x0001 circuit_breaker_engaged_power_check
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# 0x0002 circuit_breaker_engaged_airspd_check
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# 0x0004 circuit_breaker_engaged_enginefailure_check
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# 0x0008 circuit_breaker_engaged_gpsfailure_check
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# 0x0010 circuit_breaker_flight_termination_disabled
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# 0x0020 circuit_breaker_engaged_usb_check
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bool offboard_control_signal_found_once
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bool offboard_control_signal_lost
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bool offboard_control_set_by_command # true if the offboard mode was set by a mavlink command and should not be overridden by RC
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bool offboard_control_loss_timeout # true if offboard is lost for a certain amount of time
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uint8 circuit_breakers
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# define mask for other flags
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uint16 USB_CONNECTED_MASK = 1
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uint16 OFFBOARD_CONTROL_SIGNAL_FOUND_ONCE_MASK = 2
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uint16 OFFBOARD_CONTROL_SIGNAL_LOST_MASK = 4
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uint16 OFFBOARD_CONTROL_SIGNAL_WEAK_MASK = 8
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uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16
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uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
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uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
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uint16 RC_INPUT_BLOCKED_MASK = 256
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uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
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uint16 GPS_FAILURE_MASK = 4096
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# 0x0001 usb_connected: status of the USB power supply
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# 0x0002 offboard_control_signal_found_once
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# 0x0004 offboard_control_signal_lost
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# 0x0008 offboard_control_signal_weak
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# 0x0010 offboard_control_set_by_command: true if the offboard mode was set by a mavlink command and should not be overridden by RC
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# 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time
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# 0x0040 rc_signal_found_once
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# 0x0100 rc_input_blocked: set if RC input should be ignored temporarily
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# 0x0400 vtol_transition_failure: Set to true if vtol transition failed
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# 0x1000 gps_failure: Set to true if a gps failure is detected
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uint16 other_flags
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bool rc_signal_found_once
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bool rc_input_blocked # set if RC input should be ignored temporarily
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bool vtol_transition_failure # Set to true if vtol transition failed
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bool gps_failure # Set to true if a gps failure is detected
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bool usb_connected # status of the USB power supply
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@ -240,7 +240,7 @@ static uint8_t main_state_prev = 0;
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static bool warning_action_on = false;
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static bool last_overload = false;
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static struct status_flags_s status_flags = {};
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static struct vehicle_status_flags_s status_flags = {};
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static uint64_t rc_signal_lost_timestamp; // Time at which the RC reception was lost
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@ -312,12 +312,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const ch
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*/
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void *commander_low_prio_loop(void *arg);
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static void answer_command(struct vehicle_command_s &cmd, unsigned result,
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orb_advert_t &command_ack_pub);
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/* publish vehicle status flags from the global variable status_flags*/
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static void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status_flags_s& vehicle_status_flags);
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static void answer_command(struct vehicle_command_s &cmd, unsigned result, orb_advert_t &command_ack_pub);
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static int power_button_state_notification_cb(board_power_button_state_notification_e request)
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{
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@ -1382,7 +1377,6 @@ Commander::run()
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orb_advert_t command_ack_pub = nullptr;
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orb_advert_t commander_state_pub = nullptr;
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orb_advert_t vehicle_status_flags_pub = nullptr;
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vehicle_status_flags_s vehicle_status_flags = {};
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/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
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mission_init();
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@ -3062,7 +3056,13 @@ Commander::run()
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}
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/* publish vehicle_status_flags */
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publish_status_flags(vehicle_status_flags_pub, vehicle_status_flags);
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status_flags.timestamp = hrt_absolute_time();
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if (vehicle_status_flags_pub != nullptr) {
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orb_publish(ORB_ID(vehicle_status_flags), vehicle_status_flags_pub, &status_flags);
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} else {
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vehicle_status_flags_pub = orb_advertise(ORB_ID(vehicle_status_flags), &status_flags);
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}
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}
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/* play arming and battery warning tunes */
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@ -4368,116 +4368,6 @@ void *commander_low_prio_loop(void *arg)
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return nullptr;
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}
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void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status_flags_s& vehicle_status_flags) {
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vehicle_status_flags_s v_flags = {};
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/* set condition status flags */
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if (status_flags.condition_calibration_enabled) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_CALIBRATION_ENABLE_MASK;
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}
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if (status_flags.condition_system_sensors_initialized) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_SENSORS_INITIALIZED_MASK;
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}
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if (status_flags.condition_system_prearm_error_reported) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_PREARM_ERROR_REPORTED_MASK;
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}
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if (status_flags.condition_system_hotplug_timeout) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_HOTPLUG_TIMEOUT_MASK;
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}
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if (status_flags.condition_system_returned_to_home) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_SYSTEM_RETURNED_TO_HOME_MASK;
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}
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if (status_flags.condition_auto_mission_available) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_AUTO_MISSION_AVAILABLE_MASK;
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}
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if (status_flags.condition_global_position_valid) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_GLOBAL_POSITION_VALID_MASK;
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}
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if (status_flags.condition_home_position_valid) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_HOME_POSITION_VALID_MASK;
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}
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if (status_flags.condition_local_position_valid) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_LOCAL_POSITION_VALID_MASK;
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}
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if (status_flags.condition_local_altitude_valid) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_LOCAL_ALTITUDE_VALID_MASK;
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}
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if (status_flags.condition_local_altitude_valid) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_LOCAL_ALTITUDE_VALID_MASK;
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}
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if (status_flags.condition_airspeed_valid) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_AIRSPEED_VALID_MASK;
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}
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if (status_flags.condition_power_input_valid) {
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v_flags.conditions |= vehicle_status_flags_s::CONDITION_POWER_INPUT_VALID_MASK;
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}
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/* set circuit breaker status flags */
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if (status_flags.circuit_breaker_engaged_power_check) {
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v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_POWER_CHECK_MASK;
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}
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if (status_flags.circuit_breaker_engaged_airspd_check) {
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v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_AIRSPD_CHECK_MASK;
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}
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if (status_flags.circuit_breaker_engaged_enginefailure_check) {
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v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_ENGINEFAILURE_CHECK_MASK;
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}
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if (status_flags.circuit_breaker_engaged_gpsfailure_check) {
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v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_GPSFAILURE_CHECK_MASK;
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}
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if (status_flags.circuit_breaker_flight_termination_disabled) {
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v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_FLIGHT_TERMINATION_DISABLED_MASK;
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}
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if (status_flags.circuit_breaker_engaged_usb_check) {
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v_flags.circuit_breakers |= vehicle_status_flags_s::CIRCUIT_BREAKER_ENGAGED_USB_CHECK_MASK;
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}
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/* set other status flags */
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if (status_flags.usb_connected) {
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v_flags.other_flags |= vehicle_status_flags_s::USB_CONNECTED_MASK;
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}
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if (status_flags.offboard_control_signal_found_once) {
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v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_SIGNAL_FOUND_ONCE_MASK;
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}
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if (status_flags.offboard_control_signal_lost) {
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v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_SIGNAL_LOST_MASK;
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}
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if (status_flags.offboard_control_set_by_command) {
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v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_SET_BY_COMMAND_MASK;
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}
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if (status_flags.offboard_control_loss_timeout) {
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v_flags.other_flags |= vehicle_status_flags_s::OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK;
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}
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if (status_flags.rc_signal_found_once) {
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v_flags.other_flags |= vehicle_status_flags_s::RC_SIGNAL_FOUND_ONCE_MASK;
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}
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if (status_flags.rc_input_blocked) {
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v_flags.other_flags |= vehicle_status_flags_s::RC_INPUT_BLOCKED_MASK;
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}
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if (status_flags.vtol_transition_failure) {
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v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_MASK;
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}
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if (status_flags.gps_failure) {
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v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK;
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}
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if ((v_flags.conditions != vehicle_status_flags.conditions) ||
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(v_flags.other_flags != vehicle_status_flags.other_flags) ||
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(v_flags.circuit_breakers != vehicle_status_flags.circuit_breakers)) {
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/* publish vehicle_status_flags */
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vehicle_status_flags = v_flags;
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vehicle_status_flags.timestamp = hrt_absolute_time();
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if (vehicle_status_flags_pub != nullptr) {
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orb_publish(ORB_ID(vehicle_status_flags), vehicle_status_flags_pub, &vehicle_status_flags);
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} else {
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vehicle_status_flags_pub = orb_advertise(ORB_ID(vehicle_status_flags), &vehicle_status_flags);
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}
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}
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}
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int Commander::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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@ -269,7 +269,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
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};
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struct vehicle_status_s status = {};
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struct status_flags_s status_flags = {};
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struct vehicle_status_flags_s status_flags = {};
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struct safety_s safety = {};
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struct actuator_armed_s armed = {};
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struct battery_status_s battery = {};
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@ -446,7 +446,7 @@ bool StateMachineHelperTest::mainStateTransitionTest()
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// Setup initial machine state
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struct vehicle_status_s current_vehicle_status = {};
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struct commander_state_s current_commander_state = {};
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struct status_flags_s current_status_flags = {};
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struct vehicle_status_flags_s current_status_flags = {};
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uint8_t main_state_prev = 0;
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@ -108,7 +108,7 @@ static int last_prearm_ret = 1; ///< initialize to fail
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void set_link_loss_nav_state(vehicle_status_s *status,
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actuator_armed_s *armed,
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status_flags_s *status_flags,
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vehicle_status_flags_s *status_flags,
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commander_state_s *internal_state,
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const link_loss_actions_t link_loss_act,
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uint8_t auto_recovery_nav_state);
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@ -124,7 +124,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
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actuator_armed_s *armed,
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bool fRunPreArmChecks,
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orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
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status_flags_s *status_flags,
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vehicle_status_flags_s *status_flags,
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float avionics_power_rail_voltage,
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uint8_t arm_requirements,
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hrt_abstime time_since_boot)
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@ -395,7 +395,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
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transition_result_t
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main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
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status_flags_s *status_flags, struct commander_state_s *internal_state)
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vehicle_status_flags_s *status_flags, struct commander_state_s *internal_state)
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{
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// IMPORTANT: The assumption of callers of this function is that the execution of
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// this check if essentially "free". Therefore any runtime checking in here has to be
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@ -601,7 +601,7 @@ bool set_nav_state(struct vehicle_status_s *status,
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const link_loss_actions_t data_link_loss_act,
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const bool mission_finished,
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const bool stay_in_failsafe,
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status_flags_s *status_flags,
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vehicle_status_flags_s *status_flags,
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bool landed,
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const link_loss_actions_t rc_loss_act,
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const int offb_loss_act,
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@ -983,7 +983,7 @@ bool set_nav_state(struct vehicle_status_s *status,
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void set_rc_loss_nav_state(vehicle_status_s *status,
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actuator_armed_s *armed,
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status_flags_s *status_flags,
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vehicle_status_flags_s *status_flags,
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commander_state_s *internal_state,
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const link_loss_actions_t link_loss_act)
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{
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@ -993,7 +993,7 @@ void set_rc_loss_nav_state(vehicle_status_s *status,
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bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
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bool old_failsafe,
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orb_advert_t *mavlink_log_pub,
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status_flags_s *status_flags,
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vehicle_status_flags_s *status_flags,
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const bool use_rc, // true if we can fallback to a mode that uses RC inputs
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const bool using_global_pos) // true if the current flight mode requires a global position
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{
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@ -1051,7 +1051,7 @@ bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
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void set_data_link_loss_nav_state(vehicle_status_s *status,
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actuator_armed_s *armed,
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status_flags_s *status_flags,
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vehicle_status_flags_s *status_flags,
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commander_state_s *internal_state,
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const link_loss_actions_t link_loss_act)
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{
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@ -1060,7 +1060,7 @@ void set_data_link_loss_nav_state(vehicle_status_s *status,
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void set_link_loss_nav_state(vehicle_status_s *status,
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actuator_armed_s *armed,
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status_flags_s *status_flags,
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vehicle_status_flags_s *status_flags,
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commander_state_s *internal_state,
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const link_loss_actions_t link_loss_act,
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uint8_t auto_recovery_nav_state)
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@ -1126,7 +1126,7 @@ void reset_link_loss_globals(struct actuator_armed_s *armed, const bool old_fail
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}
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int prearm_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report,
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status_flags_s *status_flags, battery_status_s *battery, uint8_t arm_requirements,
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vehicle_status_flags_s *status_flags, battery_status_s *battery, uint8_t arm_requirements,
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hrt_abstime time_since_boot)
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{
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bool reportFailures = force_report || (!status_flags->condition_system_prearm_error_reported &&
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@ -50,6 +50,7 @@
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/safety.h>
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#include <uORB/topics/commander_state.h>
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#include <uORB/topics/vehicle_status_flags.h>
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typedef enum {
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TRANSITION_DENIED = -1,
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|
@ -74,40 +75,6 @@ typedef enum {
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ARM_REQ_GPS_BIT = (1 << 2),
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} arm_requirements_t;
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// This is a struct used by the commander internally.
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struct status_flags_s {
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bool condition_calibration_enabled;
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bool condition_system_sensors_initialized;
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bool condition_system_prearm_error_reported; // true if errors have already been reported
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||||
bool condition_system_hotplug_timeout; // true if the hotplug sensor search is over
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bool condition_system_returned_to_home;
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bool condition_auto_mission_available;
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bool condition_global_position_valid; // set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
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bool condition_global_velocity_valid; // set to true by the commander app if the quality of the global horizontal velocity data is good enough to use for navigation
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bool condition_home_position_valid; // indicates a valid home position (a valid home position is not always a valid launch)
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||||
bool condition_local_position_valid; // set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
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||||
bool condition_local_velocity_valid; // set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
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bool condition_local_altitude_valid;
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bool condition_airspeed_valid; // set to true by the commander app if there is a valid airspeed measurement available
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bool condition_power_input_valid; // set if input power is valid
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||||
bool usb_connected; // status of the USB power supply
|
||||
bool circuit_breaker_engaged_power_check;
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||||
bool circuit_breaker_engaged_airspd_check;
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||||
bool circuit_breaker_engaged_enginefailure_check;
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||||
bool circuit_breaker_engaged_gpsfailure_check;
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||||
bool circuit_breaker_flight_termination_disabled;
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||||
bool circuit_breaker_engaged_usb_check;
|
||||
bool circuit_breaker_engaged_posfailure_check; // set to true when the position valid checks have been disabled
|
||||
bool offboard_control_signal_found_once;
|
||||
bool offboard_control_signal_lost;
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||||
bool offboard_control_set_by_command; // true if the offboard mode was set by a mavlink command and should not be overridden by RC
|
||||
bool offboard_control_loss_timeout; // true if offboard is lost for a certain amount of time
|
||||
bool rc_signal_found_once;
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||||
bool rc_input_blocked; // set if RC input should be ignored temporarily
|
||||
bool vtol_transition_failure; // Set to true if vtol transition failed
|
||||
bool gps_failure; // Set to true if a gps failure is detected
|
||||
};
|
||||
|
||||
extern const char *const arming_state_names[];
|
||||
|
||||
bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);
|
||||
|
|
@ -119,14 +86,14 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
|
|||
struct actuator_armed_s *armed,
|
||||
bool fRunPreArmChecks,
|
||||
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
|
||||
status_flags_s *status_flags,
|
||||
vehicle_status_flags_s *status_flags,
|
||||
float avionics_power_rail_voltage,
|
||||
uint8_t arm_requirements,
|
||||
hrt_abstime time_since_boot);
|
||||
|
||||
transition_result_t
|
||||
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
|
||||
status_flags_s *status_flags, struct commander_state_s *internal_state);
|
||||
vehicle_status_flags_s *status_flags, struct commander_state_s *internal_state);
|
||||
|
||||
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub);
|
||||
|
||||
|
|
@ -140,7 +107,7 @@ bool set_nav_state(struct vehicle_status_s *status,
|
|||
const link_loss_actions_t data_link_loss_act,
|
||||
const bool mission_finished,
|
||||
const bool stay_in_failsafe,
|
||||
status_flags_s *status_flags,
|
||||
vehicle_status_flags_s *status_flags,
|
||||
bool landed,
|
||||
const link_loss_actions_t rc_loss_act,
|
||||
const int offb_loss_act,
|
||||
|
|
@ -154,18 +121,18 @@ bool set_nav_state(struct vehicle_status_s *status,
|
|||
bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
|
||||
bool old_failsafe,
|
||||
orb_advert_t *mavlink_log_pub,
|
||||
status_flags_s *status_flags,
|
||||
vehicle_status_flags_s *status_flags,
|
||||
const bool use_rc, // true if a mode using RC control can be used as a fallback
|
||||
const bool using_global_pos); // true when the current mode requires a global position estimate
|
||||
|
||||
void set_rc_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
|
||||
void set_rc_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, vehicle_status_flags_s *status_flags,
|
||||
commander_state_s *internal_state, const link_loss_actions_t link_loss_act);
|
||||
|
||||
void set_data_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
|
||||
void set_data_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, vehicle_status_flags_s *status_flags,
|
||||
commander_state_s *internal_state, const link_loss_actions_t link_loss_act);
|
||||
|
||||
int prearm_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
|
||||
bool force_report, status_flags_s *status_flags, battery_status_s *battery,
|
||||
bool force_report, vehicle_status_flags_s *status_flags, battery_status_s *battery,
|
||||
uint8_t arm_requirements, hrt_abstime time_since_boot);
|
||||
|
||||
#endif /* STATE_MACHINE_HELPER_H_ */
|
||||
|
|
|
|||
Loading…
Reference in New Issue