forked from Archive/PX4-Autopilot
Changed location of lots of flags and conditions, needs testing and more work
This commit is contained in:
Julian Oes
parent
6e44a486c1
commit
bcdedd9a35
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@ -536,7 +536,7 @@ BlinkM::led()
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/* looking for lipo cells that are connected */
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printf("<blinkm> checking cells\n");
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for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
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if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
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if(vehicle_status_raw.battery_voltage < num_of_cells * MAX_CELL_VOLTAGE) break;
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}
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printf("<blinkm> cells found:%d\n", num_of_cells);
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@ -77,7 +77,7 @@
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#include <uORB/topics/actuator_outputs.h>
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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/vehicle_status.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/battery_status.h>
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@ -180,7 +180,7 @@ private:
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/* subscribed topics */
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int _t_actuators; ///< actuator controls topic
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int _t_actuator_armed; ///< system armed control topic
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int _t_vstatus; ///< system / vehicle status
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int _t_vehicle_control_mode; ///< vehicle control mode topic
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int _t_param; ///< parameter update topic
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/* advertised topics */
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@ -362,7 +362,7 @@ PX4IO::PX4IO() :
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_alarms(0),
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_t_actuators(-1),
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_t_actuator_armed(-1),
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_t_vstatus(-1),
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_t_vehicle_control_mode(-1),
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_t_param(-1),
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_to_input_rc(0),
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_to_actuators_effective(0),
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@ -647,8 +647,8 @@ PX4IO::task_main()
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_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
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orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */
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_t_vstatus = orb_subscribe(ORB_ID(vehicle_status));
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orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */
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_t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
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orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */
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_t_param = orb_subscribe(ORB_ID(parameter_update));
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orb_set_interval(_t_param, 500); /* 2Hz update rate max. */
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@ -659,7 +659,7 @@ PX4IO::task_main()
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fds[0].events = POLLIN;
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fds[1].fd = _t_actuator_armed;
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fds[1].events = POLLIN;
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fds[2].fd = _t_vstatus;
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fds[2].fd = _t_vehicle_control_mode;
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fds[2].events = POLLIN;
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fds[3].fd = _t_param;
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fds[3].events = POLLIN;
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@ -834,10 +834,10 @@ int
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PX4IO::io_set_arming_state()
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{
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actuator_armed_s armed; ///< system armed state
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vehicle_status_s vstatus; ///< overall system state
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vehicle_control_mode_s control_mode; ///< vehicle_control_mode
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orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
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orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus);
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orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
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uint16_t set = 0;
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uint16_t clear = 0;
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@ -853,7 +853,7 @@ PX4IO::io_set_arming_state()
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clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
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}
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if (vstatus.flag_external_manual_override_ok) {
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if (control_mode.flag_external_manual_override_ok) {
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set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
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} else {
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clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
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@ -57,7 +57,7 @@
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#include <uORB/topics/debug_key_value.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/parameter_update.h>
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#include <drivers/drv_hrt.h>
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@ -214,8 +214,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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memset(&raw, 0, sizeof(raw));
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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struct vehicle_status_s state;
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memset(&state, 0, sizeof(state));
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struct vehicle_control_mode_s control_mode;
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memset(&control_mode, 0, sizeof(control_mode));
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uint64_t last_data = 0;
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uint64_t last_measurement = 0;
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@ -228,8 +228,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* subscribe to param changes */
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int sub_params = orb_subscribe(ORB_ID(parameter_update));
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/* subscribe to system state*/
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int sub_state = orb_subscribe(ORB_ID(vehicle_status));
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/* subscribe to control mode*/
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int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
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/* advertise attitude */
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orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
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@ -281,9 +281,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* XXX this is seriously bad - should be an emergency */
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} else if (ret == 0) {
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/* check if we're in HIL - not getting sensor data is fine then */
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orb_copy(ORB_ID(vehicle_status), sub_state, &state);
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orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode);
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if (!state.flag_hil_enabled) {
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if (!control_mode.flag_system_hil_enabled) {
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fprintf(stderr,
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"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
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}
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@ -35,7 +35,7 @@
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#include <uORB/topics/debug_key_value.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/parameter_update.h>
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#include <drivers/drv_hrt.h>
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@ -545,8 +545,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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struct vehicle_status_s state;
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memset(&state, 0, sizeof(state));
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struct vehicle_control_mode_s control_mode;
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memset(&control_mode, 0, sizeof(control_mode));
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uint64_t last_data = 0;
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uint64_t last_measurement = 0;
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@ -559,8 +559,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* subscribe to param changes */
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int sub_params = orb_subscribe(ORB_ID(parameter_update));
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/* subscribe to system state*/
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int sub_state = orb_subscribe(ORB_ID(vehicle_status));
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/* subscribe to control mode */
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int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
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/* advertise attitude */
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orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
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@ -610,9 +610,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* XXX this is seriously bad - should be an emergency */
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} else if (ret == 0) {
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/* check if we're in HIL - not getting sensor data is fine then */
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orb_copy(ORB_ID(vehicle_status), sub_state, &state);
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orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode);
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if (!state.flag_hil_enabled) {
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if (!control_mode.flag_system_hil_enabled) {
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fprintf(stderr,
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"[att so3_comp] WARNING: Not getting sensors - sensor app running?\n");
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}
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@ -171,7 +171,7 @@ void usage(const char *reason);
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/**
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* React to commands that are sent e.g. from the mavlink module.
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*/
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void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed);
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void handle_command(int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed);
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/**
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* Mainloop of commander.
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@ -236,7 +236,7 @@ void usage(const char *reason)
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exit(1);
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}
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void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed)
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void handle_command(int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed)
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{
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/* result of the command */
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uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
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@ -248,7 +248,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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/* request to activate HIL */
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if ((int)cmd->param1 & VEHICLE_MODE_FLAG_HIL_ENABLED) {
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if (OK == hil_state_transition(status_pub, current_vehicle_status, mavlink_fd, HIL_STATE_ON)) {
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if (OK == hil_state_transition(HIL_STATE_ON, status_pub, current_status, control_mode_pub, current_control_mode, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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result = VEHICLE_CMD_RESULT_DENIED;
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@ -256,13 +256,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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}
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if ((int)cmd->param1 & VEHICLE_MODE_FLAG_SAFETY_ARMED) {
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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result = VEHICLE_CMD_RESULT_DENIED;
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}
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} else {
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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result = VEHICLE_CMD_RESULT_DENIED;
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@ -275,14 +275,14 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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/* request to arm */
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if ((int)cmd->param1 == 1) {
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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result = VEHICLE_CMD_RESULT_DENIED;
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}
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/* request to disarm */
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} else if ((int)cmd->param1 == 0) {
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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result = VEHICLE_CMD_RESULT_DENIED;
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@ -295,7 +295,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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/* request for an autopilot reboot */
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if ((int)cmd->param1 == 1) {
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_REBOOT, armed_pub, armed, mavlink_fd)) {
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/* reboot is executed later, after positive tune is sent */
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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tune_positive();
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@ -346,7 +346,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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if(low_prio_task == LOW_PRIO_TASK_NONE) {
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/* try to go to INIT/PREFLIGHT arming state */
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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/* now set the task for the low prio thread */
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low_prio_task = LOW_PRIO_TASK_GYRO_CALIBRATION;
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@ -365,7 +365,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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if(low_prio_task == LOW_PRIO_TASK_NONE) {
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/* try to go to INIT/PREFLIGHT arming state */
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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/* now set the task for the low prio thread */
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low_prio_task = LOW_PRIO_TASK_MAG_CALIBRATION;
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@ -426,7 +426,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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if(low_prio_task == LOW_PRIO_TASK_NONE) {
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/* try to go to INIT/PREFLIGHT arming state */
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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/* now set the task for the low prio thread */
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low_prio_task = LOW_PRIO_TASK_ACCEL_CALIBRATION;
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@ -445,7 +445,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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if(low_prio_task == LOW_PRIO_TASK_NONE) {
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/* try to go to INIT/PREFLIGHT arming state */
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if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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if (OK == arming_state_transition(status_pub, current_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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/* now set the task for the low prio thread */
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low_prio_task = LOW_PRIO_TASK_AIRSPEED_CALIBRATION;
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@ -580,7 +580,7 @@ int commander_thread_main(int argc, char *argv[])
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current_status.offboard_control_signal_lost = true;
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/* allow manual override initially */
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current_status.flag_external_manual_override_ok = true;
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control_mode.flag_external_manual_override_ok = true;
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/* flag position info as bad, do not allow auto mode */
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// current_status.flag_vector_flight_mode_ok = false;
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@ -637,32 +637,24 @@ int commander_thread_main(int argc, char *argv[])
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pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL);
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/* Start monitoring loop */
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uint16_t counter = 0;
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/* Initialize to 0.0V */
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float battery_voltage = 0.0f;
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bool battery_voltage_valid = false;
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bool low_battery_voltage_actions_done = false;
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bool critical_battery_voltage_actions_done = false;
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uint8_t low_voltage_counter = 0;
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uint16_t critical_voltage_counter = 0;
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float bat_remain = 1.0f;
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uint16_t stick_off_counter = 0;
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uint16_t stick_on_counter = 0;
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unsigned counter = 0;
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unsigned low_voltage_counter = 0;
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unsigned critical_voltage_counter = 0;
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unsigned stick_off_counter = 0;
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unsigned stick_on_counter = 0;
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/* To remember when last notification was sent */
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uint64_t last_print_time = 0;
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float voltage_previous = 0.0f;
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bool low_battery_voltage_actions_done;
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bool critical_battery_voltage_actions_done;
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uint64_t last_idle_time = 0;
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uint64_t start_time = 0;
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/* XXX use this! */
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//uint64_t failsave_ll_start_time = 0;
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bool state_changed = true;
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bool param_init_forced = true;
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@ -764,10 +756,10 @@ int commander_thread_main(int argc, char *argv[])
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if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
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current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
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current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
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current_status.flag_external_manual_override_ok = false;
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control_mode.flag_external_manual_override_ok = false;
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} else {
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current_status.flag_external_manual_override_ok = true;
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control_mode.flag_external_manual_override_ok = true;
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}
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/* check and update system / component ID */
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@ -809,7 +801,7 @@ int commander_thread_main(int argc, char *argv[])
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orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
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/* handle it */
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handle_command(status_pub, ¤t_status, &cmd, armed_pub, &armed);
|
||||
handle_command(status_pub, ¤t_status, control_mode_pub, &control_mode, &cmd, armed_pub, &armed);
|
||||
}
|
||||
|
||||
/* update safety topic */
|
||||
|
|
@ -848,16 +840,20 @@ int commander_thread_main(int argc, char *argv[])
|
|||
orb_check(battery_sub, &new_data);
|
||||
if (new_data) {
|
||||
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
|
||||
battery_voltage = battery.voltage_v;
|
||||
battery_voltage_valid = true;
|
||||
current_status.battery_voltage = battery.voltage_v;
|
||||
current_status.condition_battery_voltage_valid = true;
|
||||
|
||||
/*
|
||||
* Only update battery voltage estimate if system has
|
||||
* been running for two and a half seconds.
|
||||
*/
|
||||
if (hrt_absolute_time() - start_time > 2500000) {
|
||||
bat_remain = battery_remaining_estimate_voltage(battery_voltage);
|
||||
|
||||
}
|
||||
|
||||
if (hrt_absolute_time() - start_time > 2500000 && current_status.condition_battery_voltage_valid) {
|
||||
current_status.battery_remaining = battery_remaining_estimate_voltage(current_status.battery_voltage);
|
||||
} else {
|
||||
current_status.battery_voltage = 0.0f;
|
||||
}
|
||||
|
||||
/* update subsystem */
|
||||
|
|
@ -897,14 +893,15 @@ int commander_thread_main(int argc, char *argv[])
|
|||
if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
|
||||
|
||||
/* XXX if armed */
|
||||
if ((false /*current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
|
||||
current_status.state_machine == SYSTEM_STATE_AUTO ||
|
||||
current_status.state_machine == SYSTEM_STATE_MANUAL*/)) {
|
||||
if (armed.armed) {
|
||||
/* armed, solid */
|
||||
led_on(LED_AMBER);
|
||||
|
||||
} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
|
||||
/* not armed */
|
||||
} else if (armed.ready_to_arm && (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0)) {
|
||||
/* ready to arm */
|
||||
led_toggle(LED_AMBER);
|
||||
} else if (counter % (100000 / COMMANDER_MONITORING_INTERVAL) == 0) {
|
||||
/* not ready to arm, something is wrong */
|
||||
led_toggle(LED_AMBER);
|
||||
}
|
||||
|
||||
|
|
@ -926,15 +923,16 @@ int commander_thread_main(int argc, char *argv[])
|
|||
led_off(LED_BLUE);
|
||||
}
|
||||
|
||||
/* toggle GPS led at 5 Hz in HIL mode */
|
||||
if (current_status.flag_hil_enabled) {
|
||||
/* hil enabled */
|
||||
led_toggle(LED_BLUE);
|
||||
|
||||
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
|
||||
/* toggle arming (red) at 5 Hz on low battery or error */
|
||||
led_toggle(LED_AMBER);
|
||||
}
|
||||
// /* toggle GPS led at 5 Hz in HIL mode */
|
||||
// if (current_status.flag_hil_enabled) {
|
||||
// /* hil enabled */
|
||||
// led_toggle(LED_BLUE);
|
||||
|
||||
// } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
|
||||
// /* toggle arming (red) at 5 Hz on low battery or error */
|
||||
// led_toggle(LED_AMBER);
|
||||
// }
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -948,35 +946,29 @@ int commander_thread_main(int argc, char *argv[])
|
|||
last_idle_time = system_load.tasks[0].total_runtime;
|
||||
}
|
||||
|
||||
/* Check battery voltage */
|
||||
/* write to sys_status */
|
||||
if (battery_voltage_valid) {
|
||||
current_status.voltage_battery = battery_voltage;
|
||||
|
||||
} else {
|
||||
current_status.voltage_battery = 0.0f;
|
||||
}
|
||||
|
||||
/* if battery voltage is getting lower, warn using buzzer, etc. */
|
||||
if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
|
||||
if (current_status.condition_battery_voltage_valid && (current_status.battery_remaining < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
|
||||
|
||||
if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
|
||||
low_battery_voltage_actions_done = true;
|
||||
mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!");
|
||||
current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING;
|
||||
tune_low_bat();
|
||||
}
|
||||
|
||||
low_voltage_counter++;
|
||||
}
|
||||
|
||||
/* Critical, this is rather an emergency, change state machine */
|
||||
else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
|
||||
else if (current_status.condition_battery_voltage_valid && (current_status.battery_remaining < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
|
||||
if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
|
||||
critical_battery_voltage_actions_done = true;
|
||||
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!");
|
||||
current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
|
||||
// XXX implement this
|
||||
// state_machine_emergency(status_pub, ¤t_status, mavlink_fd);
|
||||
tune_critical_bat();
|
||||
// XXX implement state change here
|
||||
}
|
||||
|
||||
critical_voltage_counter++;
|
||||
|
|
@ -1585,7 +1577,7 @@ int commander_thread_main(int argc, char *argv[])
|
|||
|
||||
|
||||
/* Store old modes to detect and act on state transitions */
|
||||
voltage_previous = current_status.voltage_battery;
|
||||
voltage_previous = current_status.battery_voltage;
|
||||
|
||||
|
||||
/* play tone according to evaluation result */
|
||||
|
|
@ -1595,10 +1587,10 @@ int commander_thread_main(int argc, char *argv[])
|
|||
arm_tune_played = true;
|
||||
|
||||
/* Trigger audio event for low battery */
|
||||
} else if (bat_remain < 0.1f && battery_voltage_valid) {
|
||||
} else if (current_status.battery_remaining < 0.1f && current_status.condition_battery_voltage_valid) {
|
||||
if (tune_critical_bat() == OK)
|
||||
battery_tune_played = true;
|
||||
} else if (bat_remain < 0.2f && battery_voltage_valid) {
|
||||
} else if (current_status.battery_remaining < 0.2f && current_status.condition_battery_voltage_valid) {
|
||||
if (tune_low_bat() == OK)
|
||||
battery_tune_played = true;
|
||||
} else if(battery_tune_played) {
|
||||
|
|
|
|||
|
|
@ -510,7 +510,7 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
|
|||
/**
|
||||
* Transition from one hil state to another
|
||||
*/
|
||||
int hil_state_transition(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state)
|
||||
int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd)
|
||||
{
|
||||
bool valid_transition = false;
|
||||
int ret = ERROR;
|
||||
|
|
@ -530,7 +530,7 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status
|
|||
if (current_status->arming_state == ARMING_STATE_INIT
|
||||
|| current_status->arming_state == ARMING_STATE_STANDBY) {
|
||||
|
||||
current_status->flag_hil_enabled = false;
|
||||
current_control_mode->flag_system_hil_enabled = false;
|
||||
mavlink_log_critical(mavlink_fd, "Switched to OFF hil state");
|
||||
valid_transition = true;
|
||||
}
|
||||
|
|
@ -541,7 +541,7 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status
|
|||
if (current_status->arming_state == ARMING_STATE_INIT
|
||||
|| current_status->arming_state == ARMING_STATE_STANDBY) {
|
||||
|
||||
current_status->flag_hil_enabled = true;
|
||||
current_control_mode->flag_system_hil_enabled = true;
|
||||
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
|
||||
valid_transition = true;
|
||||
}
|
||||
|
|
@ -558,8 +558,11 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status
|
|||
|
||||
current_status->counter++;
|
||||
current_status->timestamp = hrt_absolute_time();
|
||||
|
||||
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
|
||||
|
||||
current_control_mode->timestamp = hrt_absolute_time();
|
||||
orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode);
|
||||
|
||||
ret = OK;
|
||||
} else {
|
||||
mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition");
|
||||
|
|
|
|||
|
|
@ -54,6 +54,6 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
|
|||
|
||||
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);
|
||||
int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd);
|
||||
|
||||
#endif /* STATE_MACHINE_HELPER_H_ */
|
||||
|
|
|
|||
|
|
@ -39,6 +39,7 @@
|
|||
|
||||
#include "fixedwing.hpp"
|
||||
|
||||
#if 0
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
|
@ -277,11 +278,12 @@ void BlockMultiModeBacksideAutopilot::update()
|
|||
// This is not a hack, but a design choice.
|
||||
|
||||
/* do not limit in HIL */
|
||||
if (!_status.flag_hil_enabled) {
|
||||
/* limit to value of manual throttle */
|
||||
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
|
||||
_actuators.control[CH_THR] : _manual.throttle;
|
||||
}
|
||||
#warning fix this
|
||||
// if (!_status.flag_hil_enabled) {
|
||||
// /* limit to value of manual throttle */
|
||||
// _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
|
||||
// _actuators.control[CH_THR] : _manual.throttle;
|
||||
// }
|
||||
|
||||
} else if (_status.navigation_state == NAVIGATION_STATE_MANUAL) {
|
||||
|
||||
|
|
@ -343,11 +345,12 @@ void BlockMultiModeBacksideAutopilot::update()
|
|||
// This is not a hack, but a design choice.
|
||||
|
||||
/* do not limit in HIL */
|
||||
if (!_status.flag_hil_enabled) {
|
||||
/* limit to value of manual throttle */
|
||||
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
|
||||
_actuators.control[CH_THR] : _manual.throttle;
|
||||
}
|
||||
#warning fix this
|
||||
// if (!_status.flag_hil_enabled) {
|
||||
// /* limit to value of manual throttle */
|
||||
// _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
|
||||
// _actuators.control[CH_THR] : _manual.throttle;
|
||||
// }
|
||||
#warning fix this
|
||||
// }
|
||||
|
||||
|
|
@ -382,3 +385,4 @@ BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
|
|||
|
||||
} // namespace control
|
||||
|
||||
#endif
|
||||
|
|
@ -150,12 +150,14 @@ int control_demo_thread_main(int argc, char *argv[])
|
|||
|
||||
using namespace control;
|
||||
|
||||
fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB");
|
||||
#warning fix this
|
||||
// fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB");
|
||||
|
||||
thread_running = true;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
autopilot.update();
|
||||
#warning fix this
|
||||
// autopilot.update();
|
||||
}
|
||||
|
||||
warnx("exiting.");
|
||||
|
|
|
|||
|
|
@ -191,7 +191,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
|
|||
**/
|
||||
|
||||
/* HIL */
|
||||
if (v_status.flag_hil_enabled) {
|
||||
if (v_status.hil_state == HIL_STATE_ON) {
|
||||
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
|
||||
}
|
||||
|
||||
|
|
@ -234,11 +234,11 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
|
|||
**/
|
||||
|
||||
/* set calibration state */
|
||||
if (v_status.flag_preflight_calibration) {
|
||||
if (v_status.preflight_calibration) {
|
||||
|
||||
*mavlink_state = MAV_STATE_CALIBRATING;
|
||||
|
||||
} else if (v_status.flag_system_emergency) {
|
||||
} else if (v_status.system_emergency) {
|
||||
|
||||
*mavlink_state = MAV_STATE_EMERGENCY;
|
||||
|
||||
|
|
@ -677,7 +677,10 @@ int mavlink_thread_main(int argc, char *argv[])
|
|||
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
|
||||
|
||||
/* switch HIL mode if required */
|
||||
set_hil_on_off(v_status.flag_hil_enabled);
|
||||
if (v_status.hil_state == HIL_STATE_ON)
|
||||
set_hil_on_off(true);
|
||||
else if (v_status.hil_state == HIL_STATE_OFF)
|
||||
set_hil_on_off(false);
|
||||
|
||||
/* send status (values already copied in the section above) */
|
||||
mavlink_msg_sys_status_send(chan,
|
||||
|
|
@ -685,8 +688,8 @@ int mavlink_thread_main(int argc, char *argv[])
|
|||
v_status.onboard_control_sensors_enabled,
|
||||
v_status.onboard_control_sensors_health,
|
||||
v_status.load,
|
||||
v_status.voltage_battery * 1000.0f,
|
||||
v_status.current_battery * 1000.0f,
|
||||
v_status.battery_voltage * 1000.0f,
|
||||
v_status.battery_current * 1000.0f,
|
||||
v_status.battery_remaining,
|
||||
v_status.drop_rate_comm,
|
||||
v_status.errors_comm,
|
||||
|
|
|
|||
|
|
@ -272,7 +272,10 @@ l_vehicle_status(const struct listener *l)
|
|||
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
|
||||
|
||||
/* enable or disable HIL */
|
||||
set_hil_on_off(v_status.flag_hil_enabled);
|
||||
if (v_status.hil_state == HIL_STATE_ON)
|
||||
set_hil_on_off(true);
|
||||
else if (v_status.hil_state == HIL_STATE_OFF)
|
||||
set_hil_on_off(false);
|
||||
|
||||
/* translate the current syste state to mavlink state and mode */
|
||||
uint8_t mavlink_state = 0;
|
||||
|
|
|
|||
|
|
@ -449,8 +449,8 @@ int mavlink_thread_main(int argc, char *argv[])
|
|||
v_status.onboard_control_sensors_enabled,
|
||||
v_status.onboard_control_sensors_health,
|
||||
v_status.load,
|
||||
v_status.voltage_battery * 1000.0f,
|
||||
v_status.current_battery * 1000.0f,
|
||||
v_status.battery_voltage * 1000.0f,
|
||||
v_status.battery_current * 1000.0f,
|
||||
v_status.battery_remaining,
|
||||
v_status.drop_rate_comm,
|
||||
v_status.errors_comm,
|
||||
|
|
|
|||
|
|
@ -945,8 +945,8 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
log_msg.body.log_STAT.manual_control_mode = 0;
|
||||
log_msg.body.log_STAT.manual_sas_mode = 0;
|
||||
log_msg.body.log_STAT.armed = (unsigned char) buf_armed.armed; /* XXX fmu armed correct? */
|
||||
log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery;
|
||||
log_msg.body.log_STAT.battery_current = buf_status.current_battery;
|
||||
log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
|
||||
log_msg.body.log_STAT.battery_current = buf_status.battery_current;
|
||||
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
|
||||
log_msg.body.log_STAT.battery_warning = (unsigned char) buf_status.battery_warning;
|
||||
LOGBUFFER_WRITE_AND_COUNT(STAT);
|
||||
|
|
|
|||
|
|
@ -73,7 +73,7 @@
|
|||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/rc_channels.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
|
|
@ -165,7 +165,7 @@ private:
|
|||
int _baro_sub; /**< raw baro data subscription */
|
||||
int _airspeed_sub; /**< airspeed subscription */
|
||||
int _diff_pres_sub; /**< raw differential pressure subscription */
|
||||
int _vstatus_sub; /**< vehicle status subscription */
|
||||
int _vcontrol_mode_sub; /**< vehicle control mode subscription */
|
||||
int _params_sub; /**< notification of parameter updates */
|
||||
int _manual_control_sub; /**< notification of manual control updates */
|
||||
|
||||
|
|
@ -352,9 +352,9 @@ private:
|
|||
void diff_pres_poll(struct sensor_combined_s &raw);
|
||||
|
||||
/**
|
||||
* Check for changes in vehicle status.
|
||||
* Check for changes in vehicle control mode.
|
||||
*/
|
||||
void vehicle_status_poll();
|
||||
void vehicle_control_mode_poll();
|
||||
|
||||
/**
|
||||
* Check for changes in parameters.
|
||||
|
|
@ -411,7 +411,7 @@ Sensors::Sensors() :
|
|||
_mag_sub(-1),
|
||||
_rc_sub(-1),
|
||||
_baro_sub(-1),
|
||||
_vstatus_sub(-1),
|
||||
_vcontrol_mode_sub(-1),
|
||||
_params_sub(-1),
|
||||
_manual_control_sub(-1),
|
||||
|
||||
|
|
@ -941,21 +941,21 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
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}
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void
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Sensors::vehicle_status_poll()
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Sensors::vehicle_control_mode_poll()
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{
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struct vehicle_status_s vstatus;
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bool vstatus_updated;
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struct vehicle_control_mode_s vcontrol_mode;
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bool vcontrol_mode_updated;
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/* Check HIL state if vehicle status has changed */
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orb_check(_vstatus_sub, &vstatus_updated);
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/* Check HIL state if vehicle control mode has changed */
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orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
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||||
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if (vstatus_updated) {
|
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if (vcontrol_mode_updated) {
|
||||
|
||||
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
|
||||
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode);
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||||
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/* switching from non-HIL to HIL mode */
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||||
//printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
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||||
if (vstatus.flag_hil_enabled && !_hil_enabled) {
|
||||
if (vcontrol_mode.flag_system_hil_enabled && !_hil_enabled) {
|
||||
_hil_enabled = true;
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||||
_publishing = false;
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||||
|
|
@ -1348,12 +1348,12 @@ Sensors::task_main()
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|||
_rc_sub = orb_subscribe(ORB_ID(input_rc));
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_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
|
||||
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
|
||||
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
|
||||
_params_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
||||
|
||||
/* rate limit vehicle status updates to 5Hz */
|
||||
orb_set_interval(_vstatus_sub, 200);
|
||||
orb_set_interval(_vcontrol_mode_sub, 200);
|
||||
|
||||
/*
|
||||
* do advertisements
|
||||
|
|
@ -1406,7 +1406,7 @@ Sensors::task_main()
|
|||
perf_begin(_loop_perf);
|
||||
|
||||
/* check vehicle status for changes to publication state */
|
||||
vehicle_status_poll();
|
||||
vehicle_control_mode_poll();
|
||||
|
||||
/* check parameters for updates */
|
||||
parameter_update_poll();
|
||||
|
|
|
|||
|
|
@ -66,9 +66,6 @@ struct vehicle_control_mode_s
|
|||
|
||||
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
|
||||
|
||||
bool flag_system_emergency;
|
||||
bool flag_preflight_calibration;
|
||||
|
||||
// XXX needs yet to be set by state machine helper
|
||||
bool flag_system_hil_enabled;
|
||||
|
||||
|
|
|
|||
|
|
@ -177,14 +177,11 @@ struct vehicle_status_s
|
|||
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
|
||||
int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */
|
||||
|
||||
/* system flags - these represent the state predicates */
|
||||
|
||||
mode_switch_pos_t mode_switch;
|
||||
return_switch_pos_t return_switch;
|
||||
mission_switch_pos_t mission_switch;
|
||||
|
||||
|
||||
bool condition_system_emergency;
|
||||
bool condition_battery_voltage_valid;
|
||||
bool condition_system_in_air_restore; /**< true if we can restore in mid air */
|
||||
bool condition_system_sensors_initialized;
|
||||
bool condition_system_returned_to_home;
|
||||
|
|
@ -195,28 +192,6 @@ struct vehicle_status_s
|
|||
bool condition_local_position_valid;
|
||||
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
|
||||
|
||||
// bool condition_auto_flight_mode_ok; /**< conditions of auto flight mode apply plus a valid takeoff position lock has been aquired */
|
||||
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;
|
||||
|
||||
// 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 */
|
||||
// bool flag_preflight_accel_calibration;
|
||||
// bool flag_preflight_airspeed_calibration;
|
||||
|
||||
bool rc_signal_found_once;
|
||||
bool rc_signal_lost; /**< true if RC reception is terminally lost */
|
||||
bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */
|
||||
|
|
@ -230,14 +205,20 @@ struct vehicle_status_s
|
|||
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
|
||||
bool failsave_highlevel;
|
||||
|
||||
bool preflight_calibration;
|
||||
|
||||
bool system_emergency;
|
||||
|
||||
/* see SYS_STATUS mavlink message for the following */
|
||||
uint32_t onboard_control_sensors_present;
|
||||
uint32_t onboard_control_sensors_enabled;
|
||||
uint32_t onboard_control_sensors_health;
|
||||
|
||||
float load;
|
||||
float voltage_battery;
|
||||
float current_battery;
|
||||
float battery_voltage;
|
||||
float battery_current;
|
||||
float battery_remaining;
|
||||
|
||||
enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
|
||||
uint16_t drop_rate_comm;
|
||||
uint16_t errors_comm;
|
||||
|
|
|
|||
Loading…
Reference in New Issue