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px4-firmware
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commander RTL failsafe should be sticky

This commit is contained in:
Daniel Agar 2017-07-09 22:32:54 -04:00 committed by Lorenz Meier
parent 11508e080a
commit d5a890041b
2 changed files with 31 additions and 27 deletions
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45
src/modules/commander/state_machine_helper.cpp
View File

@ -104,9 +104,10 @@ static const char *const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately
static int last_prearm_ret = 1; ///< initialize to fail static int last_prearm_ret = 1; ///< initialize to fail
void set_link_loss_nav_state(struct vehicle_status_s *status, void set_link_loss_nav_state(vehicle_status_s *status,
struct actuator_armed_s *armed, actuator_armed_s *armed,
status_flags_s *status_flags, status_flags_s *status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act, const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state); uint8_t auto_recovery_nav_state);
@ -114,11 +115,11 @@ void reset_link_loss_globals(struct actuator_armed_s *armed,
const bool old_failsafe, const bool old_failsafe,
const link_loss_actions_t link_loss_act); const link_loss_actions_t link_loss_act);
transition_result_t arming_state_transition(struct vehicle_status_s *status, transition_result_t arming_state_transition(vehicle_status_s *status,
struct battery_status_s *battery, battery_status_s *battery,
const struct safety_s *safety, const struct safety_s *safety,
arming_state_t new_arming_state, arming_state_t new_arming_state,
struct actuator_armed_s *armed, actuator_armed_s *armed,
bool fRunPreArmChecks, bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags, status_flags_s *status_flags,
@ -583,7 +584,7 @@ bool set_nav_state(struct vehicle_status_s *status,
if (rc_lost && is_armed) { if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act); set_rc_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
} else { } else {
switch (internal_state->main_state) { switch (internal_state->main_state) {
@ -620,7 +621,7 @@ bool set_nav_state(struct vehicle_status_s *status,
if (rc_lost && is_armed) { if (rc_lost && is_armed) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act); set_rc_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
/* As long as there is RC, we can fallback to ALTCTL, or STAB. */ /* As long as there is RC, we can fallback to ALTCTL, or STAB. */
/* A local position estimate is enough for POSCTL for multirotors, /* A local position estimate is enough for POSCTL for multirotors,
@ -683,7 +684,7 @@ bool set_nav_state(struct vehicle_status_s *status,
} else if (data_link_loss_act_configured && status->data_link_lost) { } else if (data_link_loss_act_configured && status->data_link_lost) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_data_link_loss_nav_state(status, armed, status_flags, data_link_loss_act); set_data_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act);
/* datalink loss DISABLED: /* datalink loss DISABLED:
* check if both, RC and datalink are lost during the mission * check if both, RC and datalink are lost during the mission
@ -694,7 +695,7 @@ bool set_nav_state(struct vehicle_status_s *status,
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act); set_rc_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
/* stay where you are if you should stay in failsafe, otherwise everything is perfect */ /* stay where you are if you should stay in failsafe, otherwise everything is perfect */
@ -721,14 +722,14 @@ bool set_nav_state(struct vehicle_status_s *status,
// nothing to do - everything done in check_invalid_pos_nav_state // nothing to do - everything done in check_invalid_pos_nav_state
} else if (status->data_link_lost && data_link_loss_act_configured && !landed) { } else if (status->data_link_lost && data_link_loss_act_configured && !landed) {
set_data_link_loss_nav_state(status, armed, status_flags, data_link_loss_act); set_data_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act);
/* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not DISABLED */ /* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not DISABLED */
} else if (rc_lost && !data_link_loss_act_configured) { } else if (rc_lost && !data_link_loss_act_configured) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
set_rc_loss_nav_state(status, armed, status_flags, rc_loss_act); set_rc_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act);
/* don't bother if RC is lost if datalink is connected */ /* don't bother if RC is lost if datalink is connected */
@ -900,12 +901,13 @@ bool set_nav_state(struct vehicle_status_s *status,
return status->nav_state != nav_state_old; return status->nav_state != nav_state_old;
} }
void set_rc_loss_nav_state(struct vehicle_status_s *status, void set_rc_loss_nav_state(vehicle_status_s *status,
struct actuator_armed_s *armed, actuator_armed_s *armed,
status_flags_s *status_flags, status_flags_s *status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act) const link_loss_actions_t link_loss_act)
{ {
set_link_loss_nav_state(status, armed, status_flags, link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER); set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
} }
bool check_invalid_pos_nav_state(struct vehicle_status_s *status, bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
@ -956,17 +958,19 @@ bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
} }
void set_data_link_loss_nav_state(struct vehicle_status_s *status, void set_data_link_loss_nav_state(vehicle_status_s *status,
struct actuator_armed_s *armed, actuator_armed_s *armed,
status_flags_s *status_flags, status_flags_s *status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act) const link_loss_actions_t link_loss_act)
{ {
set_link_loss_nav_state(status, armed, status_flags, link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS); set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_act, vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS);
} }
void set_link_loss_nav_state(struct vehicle_status_s *status, void set_link_loss_nav_state(vehicle_status_s *status,
struct actuator_armed_s *armed, actuator_armed_s *armed,
status_flags_s *status_flags, status_flags_s *status_flags,
commander_state_s *internal_state,
const link_loss_actions_t link_loss_act, const link_loss_actions_t link_loss_act,
uint8_t auto_recovery_nav_state) uint8_t auto_recovery_nav_state)
{ {
@ -980,6 +984,9 @@ void set_link_loss_nav_state(struct vehicle_status_s *status,
} else if (link_loss_act == link_loss_actions_t::AUTO_RTL } else if (link_loss_act == link_loss_actions_t::AUTO_RTL
&& status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) { && status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
uint8_t main_state_prev = 0;
main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, status_flags, internal_state);
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (link_loss_act == link_loss_actions_t::AUTO_LAND && status_flags->condition_local_position_valid) { } else if (link_loss_act == link_loss_actions_t::AUTO_LAND && status_flags->condition_local_position_valid) {

13
src/modules/commander/state_machine_helper.h
View File

@ -145,10 +145,6 @@ bool set_nav_state(struct vehicle_status_s *status,
const int offb_loss_rc_act, const int offb_loss_rc_act,
const int posctl_nav_loss_act); const int posctl_nav_loss_act);
void set_rc_loss_nav_state(struct vehicle_status_s *status,
struct actuator_armed_s *armed,
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act);
/* /*
* Checks the validty of position data aaainst the requirements of the current navigation * Checks the validty of position data aaainst the requirements of the current navigation
* mode and switches mode if position data required is not available. * mode and switches mode if position data required is not available.
@ -160,10 +156,11 @@ bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
const bool use_rc, // true if a mode using RC control can be used as a fallback const bool use_rc, // true if a mode using RC control can be used as a fallback
const bool using_global_pos); // true when the current mode requires a global position estimate const bool using_global_pos); // true when the current mode requires a global position estimate
void set_data_link_loss_nav_state(struct vehicle_status_s *status, void set_rc_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
struct actuator_armed_s *armed, commander_state_s *internal_state, const link_loss_actions_t link_loss_act);
status_flags_s *status_flags,
const link_loss_actions_t link_loss_act); void set_data_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
commander_state_s *internal_state, const link_loss_actions_t link_loss_act);
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
bool force_report, status_flags_s *status_flags, battery_status_s *battery, bool force_report, status_flags_s *status_flags, battery_status_s *battery,