forked from Archive/PX4-Autopilot
commander cleanup home position handling
This commit is contained in:
Daniel Agar
Nuno Marques
parent
f387fe7e65
commit
d4f713b286
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@ -156,7 +156,6 @@ static struct actuator_armed_s armed = {};
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static struct safety_s safety = {};
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static struct vehicle_control_mode_s control_mode = {};
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static struct offboard_control_mode_s offboard_control_mode = {};
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static struct home_position_s _home = {};
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static int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_MAX];
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static struct commander_state_s internal_state = {};
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@ -500,19 +499,9 @@ void usage(const char *reason)
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void print_status()
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{
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PX4_INFO("type: %s", (status.is_rotary_wing) ? "symmetric motion" : "forward motion");
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PX4_INFO("safety: USB enabled: %s, power state valid: %s", (status_flags.usb_connected) ? "[OK]" : "[NO]",
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(status_flags.condition_power_input_valid) ? " [OK]" : "[NO]");
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PX4_INFO("home: lat = %.7f, lon = %.7f, alt = %.2f, yaw: %.2f", _home.lat, _home.lon, (double)_home.alt, (double)_home.yaw);
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PX4_INFO("home: x = %.7f, y = %.7f, z = %.2f ", (double)_home.x, (double)_home.y, (double)_home.z);
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PX4_INFO("datalink: %s %s", (status.data_link_lost) ? "LOST" : "OK", (status.high_latency_data_link_active) ? "(high latency)" : " ");
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PX4_INFO("main state: %d", internal_state.main_state);
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PX4_INFO("nav state: %d", status.nav_state);
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PX4_INFO("arming: %s", arming_state_names[status.arming_state]);
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}
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static orb_advert_t status_pub;
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transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, const char *armedBy)
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{
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transition_result_t arming_res = TRANSITION_NOT_CHANGED;
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@ -546,9 +535,14 @@ Commander::Commander() :
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_battery_sub = orb_subscribe(ORB_ID(battery_status));
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}
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Commander::~Commander()
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{
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orb_unsubscribe(_battery_sub);
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}
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bool
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Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_s& cmd, actuator_armed_s *armed_local,
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home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed)
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orb_advert_t *command_ack_pub, bool *changed)
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{
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/* only handle commands that are meant to be handled by this system and component */
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if (cmd.target_system != status_local->system_id || ((cmd.target_component != status_local->component_id)
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@ -760,10 +754,9 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
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/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
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if (cmd_arms && (arming_res == TRANSITION_CHANGED) &&
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(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) &&
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!home->manual_home) {
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(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) && !_home_pub.get().manual_home) {
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set_home_position(*home_pub, *home, false);
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set_home_position();
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}
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}
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}
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@ -800,7 +793,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
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if (use_current) {
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/* use current position */
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if (set_home_position(*home_pub, *home, false)) {
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if (set_home_position()) {
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cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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@ -817,32 +810,25 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
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if (local_pos.xy_global && local_pos.z_global) {
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/* use specified position */
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home->timestamp = hrt_absolute_time();
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home_position_s home{};
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home.timestamp = hrt_absolute_time();
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home->lat = lat;
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home->lon = lon;
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home->alt = alt;
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home.lat = lat;
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home.lon = lon;
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home.alt = alt;
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home->manual_home = true;
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home->valid_alt = true;
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home->valid_hpos = true;
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home.manual_home = true;
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home.valid_alt = true;
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home.valid_hpos = true;
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// update local projection reference including altitude
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struct map_projection_reference_s ref_pos;
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map_projection_init(&ref_pos, local_pos.ref_lat, local_pos.ref_lon);
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map_projection_project(&ref_pos, lat, lon, &home->x, &home->y);
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home->z = -(alt - local_pos.ref_alt);
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/* announce new home position */
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if (*home_pub != nullptr) {
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orb_publish(ORB_ID(home_position), *home_pub, home);
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} else {
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*home_pub = orb_advertise(ORB_ID(home_position), home);
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}
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map_projection_project(&ref_pos, lat, lon, &home.x, &home.y);
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home.z = -(alt - local_pos.ref_alt);
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/* mark home position as set */
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status_flags.condition_home_position_valid = true;
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status_flags.condition_home_position_valid = _home_pub.update(home);
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cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
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@ -1041,65 +1027,69 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
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* time the vehicle is armed with a good GPS fix.
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**/
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bool
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Commander::set_home_position(orb_advert_t &homePub, home_position_s &home, bool set_alt_only_to_lpos_ref)
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Commander::set_home_position()
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{
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const vehicle_local_position_s &localPosition = _local_position_sub.get();
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const vehicle_global_position_s &globalPosition = _global_position_sub.get();
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// Need global and local position fix to be able to set home
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if (status_flags.condition_global_position_valid && status_flags.condition_local_position_valid) {
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if (!set_alt_only_to_lpos_ref) {
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//Need global and local position fix to be able to set home
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if (!status_flags.condition_global_position_valid || !status_flags.condition_local_position_valid) {
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return false;
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const vehicle_global_position_s &gpos = _global_position_sub.get();
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// Ensure that the GPS accuracy is good enough for intializing home
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if ((gpos.eph <= _home_eph_threshold.get()) && (gpos.epv <= _home_epv_threshold.get())) {
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const vehicle_local_position_s &lpos = _local_position_sub.get();
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// Set home position
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home_position_s &home = _home_pub.get();
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home.lat = gpos.lat;
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home.lon = gpos.lon;
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home.valid_hpos = true;
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home.alt = gpos.alt;
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home.valid_alt = true;
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home.x = lpos.x;
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home.y = lpos.y;
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home.z = lpos.z;
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home.yaw = lpos.yaw;
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//Play tune first time we initialize HOME
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if (!status_flags.condition_home_position_valid) {
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tune_home_set(true);
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}
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/* mark home position as set */
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status_flags.condition_home_position_valid = _home_pub.update();
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home.timestamp = hrt_absolute_time();
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home.manual_home = false;
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return status_flags.condition_home_position_valid;
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}
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}
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//Ensure that the GPS accuracy is good enough for intializing home
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if (globalPosition.eph > _home_eph_threshold.get() || globalPosition.epv > _home_epv_threshold.get()) {
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return false;
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}
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return false;
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}
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// Set home position
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home.lat = globalPosition.lat;
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home.lon = globalPosition.lon;
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home.valid_hpos = true;
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bool
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Commander::set_home_position_alt_only()
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{
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const vehicle_local_position_s &lpos = _local_position_sub.get();
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home.alt = globalPosition.alt;
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home.valid_alt = true;
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home.x = localPosition.x;
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home.y = localPosition.y;
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home.z = localPosition.z;
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home.yaw = localPosition.yaw;
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//Play tune first time we initialize HOME
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if (!status_flags.condition_home_position_valid) {
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tune_home_set(true);
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}
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/* mark home position as set */
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status_flags.condition_home_position_valid = true;
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} else if (!home.valid_alt && localPosition.z_global) {
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if (!_home_pub.get().valid_alt && lpos.z_global) {
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// handle special case where we are setting only altitude using local position reference
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home.alt = localPosition.ref_alt;
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home_position_s home{};
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home.alt = lpos.ref_alt;
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home.valid_alt = true;
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} else {
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return false;
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home.timestamp = hrt_absolute_time();
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return _home_pub.update(home);
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}
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home.timestamp = hrt_absolute_time();
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home.manual_home = false;
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/* announce new home position */
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if (homePub != nullptr) {
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orb_publish(ORB_ID(home_position), homePub, &home);
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} else {
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homePub = orb_advertise(ORB_ID(home_position), &home);
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}
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return true;
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return false;
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}
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void
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@ -1180,50 +1170,28 @@ Commander::run()
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}
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// We want to accept RC inputs as default
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status_flags.rc_input_blocked = false;
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status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
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internal_state.main_state = commander_state_s::MAIN_STATE_MANUAL;
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internal_state.timestamp = hrt_absolute_time();
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status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
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status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
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status.failsafe = false;
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/* neither manual nor offboard control commands have been received */
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status_flags.offboard_control_signal_found_once = false;
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status_flags.rc_signal_found_once = false;
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/* mark all signals lost as long as they haven't been found */
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status.rc_signal_lost = true;
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status_flags.offboard_control_signal_lost = true;
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status.data_link_lost = true;
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status_flags.offboard_control_loss_timeout = false;
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status_flags.condition_system_hotplug_timeout = false;
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status.timestamp = hrt_absolute_time();
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status_flags.condition_power_input_valid = true;
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status_flags.usb_connected = false;
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status_flags.rc_calibration_valid = true;
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// CIRCUIT BREAKERS
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status_flags.circuit_breaker_engaged_power_check = false;
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status_flags.circuit_breaker_engaged_airspd_check = false;
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status_flags.circuit_breaker_engaged_enginefailure_check = false;
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status_flags.circuit_breaker_engaged_gpsfailure_check = false;
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get_circuit_breaker_params();
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/* Set position and velocity validty to false */
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status_flags.condition_global_position_valid = false;
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status_flags.condition_local_position_valid = false;
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status_flags.condition_local_velocity_valid = false;
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status_flags.condition_local_altitude_valid = false;
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/* publish initial state */
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status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
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_status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
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if (status_pub == nullptr) {
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if (_status_pub == nullptr) {
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warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
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warnx("exiting.");
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px4_task_exit(PX4_ERROR);
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@ -1239,10 +1207,6 @@ Commander::run()
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memset(&control_mode, 0, sizeof(control_mode));
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orb_advert_t control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);
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/* home position */
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orb_advert_t home_pub = nullptr;
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memset(&_home, 0, sizeof(_home));
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/* command ack */
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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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@ -1379,7 +1343,6 @@ Commander::run()
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uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
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/* check which state machines for changes, clear "changed" flag */
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bool main_state_changed = false;
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bool failsafe_old = false;
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bool have_taken_off_since_arming = false;
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@ -2080,7 +2043,7 @@ Commander::run()
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/* play tune on mode change only if armed, blink LED always */
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if (main_res == TRANSITION_CHANGED || first_rc_eval) {
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tune_positive(armed.armed);
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main_state_changed = true;
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status_changed = true;
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} else if (main_res == TRANSITION_DENIED) {
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/* DENIED here indicates bug in the commander */
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@ -2207,7 +2170,7 @@ Commander::run()
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orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
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/* handle it */
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if (handle_command(&status, cmd, &armed, &_home, &home_pub, &command_ack_pub, &status_changed)) {
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if (handle_command(&status, cmd, &armed, &command_ack_pub, &status_changed)) {
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status_changed = true;
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}
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}
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@ -2296,7 +2259,7 @@ Commander::run()
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const hrt_abstime now = hrt_absolute_time();
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// automatically set or update home position
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if (!_home.manual_home) {
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if (!_home_pub.get().manual_home) {
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const vehicle_local_position_s &local_position = _local_position_sub.get();
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if (armed.armed) {
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@ -2304,7 +2267,7 @@ Commander::run()
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(hrt_elapsed_time(&commander_boot_timestamp) > INAIR_RESTART_HOLDOFF_INTERVAL)) {
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/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
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set_home_position(home_pub, _home, false);
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set_home_position();
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}
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} else {
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@ -2313,30 +2276,29 @@ Commander::run()
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/* distance from home */
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float home_dist_xy = -1.0f;
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float home_dist_z = -1.0f;
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mavlink_wpm_distance_to_point_local(_home.x, _home.y, _home.z,
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mavlink_wpm_distance_to_point_local(_home_pub.get().x, _home_pub.get().y, _home_pub.get().z,
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local_position.x, local_position.y, local_position.z,
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&home_dist_xy, &home_dist_z);
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if ((home_dist_xy > local_position.eph * 2) || (home_dist_z > local_position.epv * 2)) {
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if ((home_dist_xy > local_position.eph * 2.0f) || (home_dist_z > local_position.epv * 2.0f)) {
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/* update when disarmed, landed and moved away from current home position */
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set_home_position(home_pub, _home, false);
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set_home_position();
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}
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}
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} else {
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/* First time home position update - but only if disarmed */
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set_home_position(home_pub, _home, false);
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set_home_position();
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/* Set home position altitude to EKF origin height if home is not set and the EKF has a global origin.
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* This allows home altitude to be used in the calculation of height above takeoff location when GPS
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* use has commenced after takeoff. */
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if (!status_flags.condition_home_position_valid) {
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set_home_position_alt_only();
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}
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}
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}
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/* Set home position altitude to EKF origin height if home is not set and the EKF has a global origin.
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* This allows home altitude to be used in the calculation of height above takeoff location when GPS
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* use has commenced after takeoff. */
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if (!_home.valid_alt && local_position.z_global) {
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set_home_position(home_pub, _home, true);
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}
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}
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// check for arming state change
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@ -2381,21 +2343,15 @@ Commander::run()
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failsafe_old = status.failsafe;
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}
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// TODO handle mode changes by commands
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if (main_state_changed || nav_state_changed) {
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status_changed = true;
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main_state_changed = false;
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}
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/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 1 Hz or immediately when changed */
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if (hrt_elapsed_time(&status.timestamp) >= 1_s || status_changed) {
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if (hrt_elapsed_time(&status.timestamp) >= 1_s || status_changed || nav_state_changed) {
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set_control_mode();
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control_mode.timestamp = now;
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orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode);
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status.timestamp = now;
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orb_publish(ORB_ID(vehicle_status), status_pub, &status);
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orb_publish(ORB_ID(vehicle_status), _status_pub, &status);
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armed.timestamp = now;
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@ -2523,13 +2479,13 @@ Commander::run()
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/* close fds */
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led_deinit();
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buzzer_deinit();
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px4_close(sp_man_sub);
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px4_close(offboard_control_mode_sub);
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px4_close(safety_sub);
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px4_close(cmd_sub);
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px4_close(subsys_sub);
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px4_close(param_changed_sub);
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px4_close(land_detector_sub);
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orb_unsubscribe(sp_man_sub);
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orb_unsubscribe(offboard_control_mode_sub);
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orb_unsubscribe(safety_sub);
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||||
orb_unsubscribe(cmd_sub);
|
||||
orb_unsubscribe(subsys_sub);
|
||||
orb_unsubscribe(param_changed_sub);
|
||||
orb_unsubscribe(land_detector_sub);
|
||||
|
||||
thread_running = false;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -37,16 +37,16 @@
|
|||
#include "state_machine_helper.h"
|
||||
#include "failure_detector/FailureDetector.hpp"
|
||||
|
||||
#include <controllib/blocks.hpp>
|
||||
#include <lib/controllib/blocks.hpp>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <systemlib/hysteresis/hysteresis.h>
|
||||
|
||||
// publications
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <uORB/topics/home_position.h>
|
||||
#include <uORB/topics/iridiumsbd_status.h>
|
||||
#include <uORB/topics/vehicle_command_ack.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
|
|
@ -56,6 +56,7 @@
|
|||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/estimator_status.h>
|
||||
#include <uORB/topics/geofence_result.h>
|
||||
#include <uORB/topics/iridiumsbd_status.h>
|
||||
#include <uORB/topics/mission_result.h>
|
||||
#include <uORB/topics/safety.h>
|
||||
#include <uORB/topics/vehicle_command.h>
|
||||
|
|
@ -72,6 +73,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
|
|||
{
|
||||
public:
|
||||
Commander();
|
||||
~Commander();
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
|
@ -132,10 +134,11 @@ private:
|
|||
FailureDetector _failure_detector;
|
||||
bool _failure_detector_termination_printed{false};
|
||||
|
||||
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd,
|
||||
actuator_armed_s *armed, home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
|
||||
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
|
||||
orb_advert_t *command_ack_pub, bool *changed);
|
||||
|
||||
bool set_home_position(orb_advert_t &homePub, home_position_s &home, bool set_alt_only_to_lpos_ref);
|
||||
bool set_home_position();
|
||||
bool set_home_position_alt_only();
|
||||
|
||||
// Set the main system state based on RC and override device inputs
|
||||
transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
|
||||
|
|
@ -146,7 +149,8 @@ private:
|
|||
// Set the system main state based on the current RC inputs
|
||||
transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
|
||||
|
||||
void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out, bool *changed);
|
||||
void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
|
||||
bool *changed);
|
||||
|
||||
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
|
||||
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
|
||||
|
|
@ -192,6 +196,10 @@ private:
|
|||
Subscription<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
|
||||
Subscription<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
|
||||
Subscription<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
|
||||
|
||||
Publication<home_position_s> _home_pub{ORB_ID(home_position)};
|
||||
|
||||
orb_advert_t _status_pub{nullptr};
|
||||
};
|
||||
|
||||
#endif /* COMMANDER_HPP_ */
|
||||
|
|
|
|||
|
|
@ -158,6 +158,12 @@ public:
|
|||
return PublicationBase::update((void *)(&_data));
|
||||
}
|
||||
|
||||
bool update(const T &data)
|
||||
{
|
||||
_data = data;
|
||||
return update();
|
||||
}
|
||||
|
||||
private:
|
||||
T _data;
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue