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Controllers should not access state machine anymore but access the vehicle_control_mode flags

This commit is contained in:
Julian Oes 2013-06-15 19:41:54 +02:00
parent e556649f2f
commit 9f5565de32
12 changed files with 180 additions and 166 deletions
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113
src/modules/commander/commander.c
View File

@ -1233,6 +1233,9 @@ int commander_thread_main(int argc, char *argv[])
// XXX for now just set sensors as initialized
current_status.condition_system_sensors_initialized = true;
// XXX just disable offboard control for now
control_mode.flag_control_offboard_enabled = false;
/* advertise to ORB */
status_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
/* publish current state machine */
@ -1240,6 +1243,8 @@ int commander_thread_main(int argc, char *argv[])
safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety);
control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);
/* home position */
orb_advert_t home_pub = -1;
struct home_position_s home;
@ -1824,7 +1829,7 @@ int commander_thread_main(int argc, char *argv[])
/* just manual, XXX this might depend on the return switch */
if (current_status.mode_switch == MODE_SWITCH_MANUAL) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
}
@ -1832,9 +1837,9 @@ int commander_thread_main(int argc, char *argv[])
/* Try seatbelt or fallback to manual */
} else if (current_status.mode_switch == MODE_SWITCH_SEATBELT) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
}
@ -1843,11 +1848,11 @@ int commander_thread_main(int argc, char *argv[])
/* Try auto or fallback to seatbelt or even manual */
} else if (current_status.mode_switch == MODE_SWITCH_AUTO) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_STANDBY, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// first fallback to SEATBELT_STANDY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// or fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL_STANDBY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
}
@ -1863,7 +1868,7 @@ int commander_thread_main(int argc, char *argv[])
/* Always accept manual mode */
if (current_status.mode_switch == MODE_SWITCH_MANUAL) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL rejected");
}
@ -1872,9 +1877,9 @@ int commander_thread_main(int argc, char *argv[])
} else if (current_status.mode_switch == MODE_SWITCH_SEATBELT
&& current_status.return_switch == RETURN_SWITCH_NONE) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL rejected");
}
@ -1884,9 +1889,9 @@ int commander_thread_main(int argc, char *argv[])
} else if (current_status.mode_switch == MODE_SWITCH_SEATBELT
&& current_status.return_switch == RETURN_SWITCH_RETURN) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL rejected");
}
@ -1898,19 +1903,19 @@ int commander_thread_main(int argc, char *argv[])
&& current_status.mission_switch == MISSION_SWITCH_NONE) {
/* we might come from the disarmed state AUTO_STANDBY */
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_READY, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_READY, control_mode_pub, &control_mode, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL rejected");
}
}
/* or from some other armed state like SEATBELT or MANUAL */
} else if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_LOITER, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
} else if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_LOITER, control_mode_pub, &control_mode, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL rejected");
}
@ -1922,10 +1927,10 @@ int commander_thread_main(int argc, char *argv[])
&& current_status.return_switch == RETURN_SWITCH_NONE
&& current_status.mission_switch == MISSION_SWITCH_MISSION) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_MISSION, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_MISSION, control_mode_pub, &control_mode, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL rejected");
}
@ -1937,10 +1942,10 @@ int commander_thread_main(int argc, char *argv[])
&& current_status.return_switch == RETURN_SWITCH_RETURN
&& (current_status.mission_switch == MISSION_SWITCH_NONE || current_status.mission_switch == MISSION_SWITCH_MISSION)) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_RTL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_AUTO_RTL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_SEATBELT_DESCENT, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// fallback to MANUAL_STANDBY
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, mavlink_fd) != OK) {
if (navigation_state_transition(status_pub, &current_status, NAVIGATION_STATE_MANUAL, control_mode_pub, &control_mode, mavlink_fd) != OK) {
// These is not supposed to happen
warnx("ERROR: Navigation state MANUAL rejected");
}
@ -2070,43 +2075,43 @@ int commander_thread_main(int argc, char *argv[])
if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) {
if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) {
/* decide about attitude control flag, enable in att/pos/vel */
bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
// /* decide about attitude control flag, enable in att/pos/vel */
// bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
// sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
// sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
/* decide about rate control flag, enable it always XXX (for now) */
bool rates_ctrl_enabled = true;
// /* decide about rate control flag, enable it always XXX (for now) */
// bool rates_ctrl_enabled = true;
/* set up control mode */
if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) {
current_status.flag_control_attitude_enabled = attitude_ctrl_enabled;
state_changed = true;
}
// /* set up control mode */
// if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) {
// current_status.flag_control_attitude_enabled = attitude_ctrl_enabled;
// state_changed = true;
// }
if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) {
current_status.flag_control_rates_enabled = rates_ctrl_enabled;
state_changed = true;
}
// if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) {
// current_status.flag_control_rates_enabled = rates_ctrl_enabled;
// state_changed = true;
// }
/* handle the case where offboard control signal was regained */
if (!current_status.offboard_control_signal_found_once) {
current_status.offboard_control_signal_found_once = true;
/* enable offboard control, disable manual input */
current_status.flag_control_manual_enabled = false;
current_status.flag_control_offboard_enabled = true;
state_changed = true;
tune_positive();
// /* handle the case where offboard control signal was regained */
// if (!current_status.offboard_control_signal_found_once) {
// current_status.offboard_control_signal_found_once = true;
// /* enable offboard control, disable manual input */
// current_status.flag_control_manual_enabled = false;
// current_status.flag_control_offboard_enabled = true;
// state_changed = true;
// tune_positive();
mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST");
// mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST");
} else {
if (current_status.offboard_control_signal_lost) {
mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL");
state_changed = true;
tune_positive();
}
}
// } else {
// if (current_status.offboard_control_signal_lost) {
// mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL");
// state_changed = true;
// tune_positive();
// }
// }
current_status.offboard_control_signal_weak = false;
current_status.offboard_control_signal_lost = false;

136
src/modules/commander/state_machine_helper.c
View File

@ -46,6 +46,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
@ -161,7 +162,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
* This functions does not evaluate any input flags but only checks if the transitions
* are valid.
*/
int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, const int mavlink_fd) {
int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd) {
int ret = ERROR;
@ -179,11 +180,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
|| current_state->navigation_state == NAVIGATION_STATE_AUTO_STANDBY) {
ret = OK;
current_state->flag_control_rates_enabled = false;
current_state->flag_control_attitude_enabled = false;
current_state->flag_control_velocity_enabled = false;
current_state->flag_control_position_enabled = false;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = false;
control_mode->flag_control_attitude_enabled = false;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
break;
@ -201,11 +202,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = false;
current_state->flag_control_position_enabled = false;
current_state->flag_control_manual_enabled = true;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = true;
}
}
break;
@ -218,11 +219,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = false;
current_state->flag_control_position_enabled = false;
current_state->flag_control_manual_enabled = true;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = false;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = true;
}
break;
@ -244,11 +245,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = false;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -275,11 +276,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = false;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -305,11 +306,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = false;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = false;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -334,11 +335,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -357,11 +358,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -372,11 +373,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
if (current_state->navigation_state == NAVIGATION_STATE_AUTO_READY) {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
break;
@ -398,11 +399,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -422,11 +423,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -449,11 +450,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -473,11 +474,11 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
tune_negative();
} else {
ret = OK;
current_state->flag_control_rates_enabled = true;
current_state->flag_control_attitude_enabled = true;
current_state->flag_control_velocity_enabled = true;
current_state->flag_control_position_enabled = true;
current_state->flag_control_manual_enabled = false;
control_mode->flag_control_rates_enabled = true;
control_mode->flag_control_attitude_enabled = true;
control_mode->flag_control_velocity_enabled = true;
control_mode->flag_control_position_enabled = true;
control_mode->flag_control_manual_enabled = false;
}
}
break;
@ -491,6 +492,9 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
current_state->counter++;
current_state->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_state);
control_mode->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, control_mode);
}
}

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

@ -47,6 +47,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/vehicle_control_mode.h>
void navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
@ -54,8 +55,7 @@ void navigation_state_update(int status_pub, struct vehicle_status_s *current_st
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd);
int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, const int mavlink_fd);
int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd);
int hil_state_transition(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state);

1
src/modules/mavlink/orb_topics.h
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@ -54,6 +54,7 @@
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>

12
src/modules/mavlink_onboard/mavlink.c
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@ -274,18 +274,18 @@ void mavlink_update_system(void)
}
void
get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety,
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
uint8_t *mavlink_state, uint8_t *mavlink_mode)
{
/* reset MAVLink mode bitfield */
*mavlink_mode = 0;
/* set mode flags independent of system state */
if (v_status->flag_control_manual_enabled) {
if (control_mode->flag_control_manual_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
if (v_status->flag_hil_enabled) {
if (safety->hil_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
@ -296,7 +296,7 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
if (v_status->flag_control_velocity_enabled) {
if (control_mode->flag_control_velocity_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED;
@ -368,7 +368,9 @@ int mavlink_thread_main(int argc, char *argv[])
char *device_name = "/dev/ttyS1";
baudrate = 57600;
/* XXX this is never written? */
struct vehicle_status_s v_status;
struct vehicle_control_mode_s control_mode;
struct actuator_safety_s safety;
/* work around some stupidity in task_create's argv handling */
@ -437,7 +439,7 @@ int mavlink_thread_main(int argc, char *argv[])
/* translate the current system state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&v_status, &safety, &mavlink_state, &mavlink_mode);
get_mavlink_mode_and_state(&control_mode, &safety, &mavlink_state, &mavlink_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);

1
src/modules/mavlink_onboard/orb_topics.h
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@ -52,6 +52,7 @@
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>

3
src/modules/mavlink_onboard/util.h
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@ -50,5 +50,6 @@ extern volatile bool thread_should_exit;
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety,
extern void
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
uint8_t *mavlink_state, uint8_t *mavlink_mode);

45
src/modules/multirotor_att_control/multirotor_att_control_main.c
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@ -57,7 +57,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <drivers/drv_gyro.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@ -91,8 +91,8 @@ static int
mc_thread_main(int argc, char *argv[])
{
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct actuator_safety_s safety;
memset(&safety, 0, sizeof(safety));
struct vehicle_attitude_s att;
@ -116,7 +116,7 @@ mc_thread_main(int argc, char *argv[])
int param_sub = orb_subscribe(ORB_ID(parameter_update));
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@ -181,7 +181,6 @@ mc_thread_main(int argc, char *argv[])
} else if (ret == 0) {
/* no return value, ignore */
} else {
/* only update parameters if they changed */
if (fds[1].revents & POLLIN) {
/* read from param to clear updated flag */
@ -199,10 +198,10 @@ mc_thread_main(int argc, char *argv[])
/* get a local copy of system state */
bool updated;
orb_check(state_sub, &updated);
orb_check(control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
}
orb_check(safety_sub, &updated);
@ -227,9 +226,8 @@ mc_thread_main(int argc, char *argv[])
/* get a local copy of the current sensor values */
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
/** STEP 1: Define which input is the dominating control input */
if (state.flag_control_offboard_enabled) {
if (control_mode.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
@ -252,13 +250,11 @@ mc_thread_main(int argc, char *argv[])
}
} else if (state.flag_control_manual_enabled) {
if (state.flag_control_attitude_enabled) {
} else if (control_mode.flag_control_manual_enabled) {
if (control_mode.flag_control_attitude_enabled) {
/* initialize to current yaw if switching to manual or att control */
if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
state.flag_control_manual_enabled != flag_control_manual_enabled ||
if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled ||
control_mode.flag_control_manual_enabled != flag_control_manual_enabled ||
safety.armed != flag_armed) {
att_sp.yaw_body = att.yaw;
}
@ -266,6 +262,8 @@ mc_thread_main(int argc, char *argv[])
static bool rc_loss_first_time = true;
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
/* XXX fix this */
#if 0
if (state.rc_signal_lost) {
/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
param_get(failsafe_throttle_handle, &failsafe_throttle);
@ -297,6 +295,7 @@ mc_thread_main(int argc, char *argv[])
rc_loss_first_time = false;
} else {
#endif
rc_loss_first_time = true;
att_sp.roll_body = manual.roll;
@ -344,7 +343,9 @@ mc_thread_main(int argc, char *argv[])
att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time();
#if 0
}
#endif
/* STEP 2: publish the controller output */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
@ -378,7 +379,7 @@ mc_thread_main(int argc, char *argv[])
}
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
if (state.flag_control_attitude_enabled) {
if (control_mode.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
@ -405,11 +406,11 @@ mc_thread_main(int argc, char *argv[])
multirotor_control_rates(&rates_sp, gyro, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
/* update state */
flag_control_attitude_enabled = state.flag_control_attitude_enabled;
flag_control_manual_enabled = state.flag_control_manual_enabled;
flag_control_position_enabled = state.flag_control_position_enabled;
flag_control_velocity_enabled = state.flag_control_velocity_enabled;
/* update control_mode */
flag_control_attitude_enabled = control_mode.flag_control_attitude_enabled;
flag_control_manual_enabled = control_mode.flag_control_manual_enabled;
flag_control_position_enabled = control_mode.flag_control_position_enabled;
flag_control_velocity_enabled = control_mode.flag_control_velocity_enabled;
flag_armed = safety.armed;
perf_end(mc_loop_perf);
@ -427,7 +428,7 @@ mc_thread_main(int argc, char *argv[])
close(att_sub);
close(state_sub);
close(control_mode_sub);
close(manual_sub);
close(actuator_pub);
close(att_sp_pub);

3
src/modules/uORB/objects_common.cpp
View File

@ -98,6 +98,9 @@ ORB_DEFINE(rc_channels, struct rc_channels_s);
#include "topics/vehicle_command.h"
ORB_DEFINE(vehicle_command, struct vehicle_command_s);
#include "topics/vehicle_control_mode.h"
ORB_DEFINE(vehicle_control_mode, struct vehicle_control_mode_s);
#include "topics/vehicle_local_position_setpoint.h"
ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);

1
src/modules/uORB/topics/actuator_safety.h
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@ -58,6 +58,7 @@ struct actuator_safety_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 lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
bool hil_enabled; /**< Set to true if hardware-in-the-loop (HIL) is enabled */
};
ORB_DECLARE(actuator_safety);

9
src/modules/uORB/topics/vehicle_control_mode.h
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@ -61,16 +61,11 @@
*/
struct vehicle_control_mode_s
{
/* use of a counter and timestamp recommended (but not necessary) */
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
bool flag_armed; /**< true is motors / actuators are armed */
bool flag_safety_off; /**< true if safety is off */
bool flag_system_emergency;
bool flag_preflight_calibration;
@ -83,7 +78,7 @@ struct vehicle_control_mode_s
bool flag_control_position_enabled; /**< true if position is controlled */
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
bool failsave_highlevel;
bool failsave_highlevel; /**< Set to true if high-level failsafe mode is enabled */
};
/**
@ -91,6 +86,6 @@ struct vehicle_control_mode_s
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_status);
ORB_DECLARE(vehicle_control_mode);
#endif

18
src/modules/uORB/topics/vehicle_status.h
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@ -199,18 +199,18 @@ struct vehicle_status_s
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
bool flag_armed; /**< true is motors / actuators are armed */
bool flag_safety_off; /**< true if safety is off */
//bool flag_armed; /**< true is motors / actuators are armed */
//bool flag_safety_off; /**< true if safety is off */
bool flag_system_emergency;
bool flag_preflight_calibration;
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled; /**< true if offboard control input is on */
bool flag_auto_enabled;
bool flag_control_rates_enabled; /**< true if rates are stabilized */
bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */
bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */
bool flag_control_position_enabled; /**< true if position is controlled */
// bool flag_control_manual_enabled; /**< true if manual input is mixed in */
// bool flag_control_offboard_enabled; /**< true if offboard control input is on */
// bool flag_auto_enabled;
// bool flag_control_rates_enabled; /**< true if rates are stabilized */
// bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */
// bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */
// bool flag_control_position_enabled; /**< true if position is controlled */
// bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */
// bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */