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refactor commander: move vehicle control mode to ModeUtil

This commit is contained in:
Beat Küng 2022-08-15 09:07:47 +02:00 committed by Daniel Agar
parent f197c8884d
commit dcb9b712bb
8 changed files with 241 additions and 139 deletions
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139
src/modules/commander/Commander.cpp
View File

@ -50,6 +50,7 @@
#include "esc_calibration.h"
#include "px4_custom_mode.h"
#include "state_machine_helper.h"
#include "ModeUtil/control_mode.hpp"
/* PX4 headers */
#include <drivers/drv_hrt.h>
@ -2869,146 +2870,12 @@ void
Commander::update_control_mode()
{
_vehicle_control_mode = {};
/* set vehicle_control_mode according to set_navigation_state */
_vehicle_control_mode.flag_armed = _arm_state_machine.isArmed();
switch (_vehicle_status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
_vehicle_control_mode.flag_control_manual_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = stabilization_required();
_vehicle_control_mode.flag_control_attitude_enabled = stabilization_required();
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
_vehicle_control_mode.flag_control_manual_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
_vehicle_control_mode.flag_control_manual_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
_vehicle_control_mode.flag_control_manual_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = true;
_vehicle_control_mode.flag_control_velocity_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
_vehicle_control_mode.flag_control_auto_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = true;
_vehicle_control_mode.flag_control_velocity_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
_vehicle_control_mode.flag_control_manual_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
_vehicle_control_mode.flag_control_auto_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
/* disable all controllers on termination */
_vehicle_control_mode.flag_control_termination_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
_vehicle_control_mode.flag_control_offboard_enabled = true;
if (_offboard_control_mode_sub.get().position) {
_vehicle_control_mode.flag_control_position_enabled = true;
_vehicle_control_mode.flag_control_velocity_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_acceleration_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (_offboard_control_mode_sub.get().velocity) {
_vehicle_control_mode.flag_control_velocity_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_acceleration_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (_offboard_control_mode_sub.get().acceleration) {
_vehicle_control_mode.flag_control_acceleration_enabled = true;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (_offboard_control_mode_sub.get().attitude) {
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (_offboard_control_mode_sub.get().body_rate) {
_vehicle_control_mode.flag_control_rates_enabled = true;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
// Follow Target supports RC adjustment, so disable auto control mode to disable
// the Flight Task from exiting itself when RC stick movement is detected.
case vehicle_status_s::NAVIGATION_STATE_ORBIT:
_vehicle_control_mode.flag_control_manual_enabled = false;
_vehicle_control_mode.flag_control_auto_enabled = false;
_vehicle_control_mode.flag_control_rates_enabled = true;
_vehicle_control_mode.flag_control_attitude_enabled = true;
_vehicle_control_mode.flag_control_altitude_enabled = true;
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = true;
_vehicle_control_mode.flag_control_velocity_enabled = true;
break;
default:
break;
}
_vehicle_control_mode.flag_multicopter_position_control_enabled =
(_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& (_vehicle_control_mode.flag_control_altitude_enabled
|| _vehicle_control_mode.flag_control_climb_rate_enabled
|| _vehicle_control_mode.flag_control_position_enabled
|| _vehicle_control_mode.flag_control_velocity_enabled
|| _vehicle_control_mode.flag_control_acceleration_enabled);
mode_util::getVehicleControlMode(_arm_state_machine.isArmed(), _vehicle_status.nav_state,
_vehicle_status.vehicle_type, _offboard_control_mode_sub.get(), _vehicle_control_mode);
_vehicle_control_mode.timestamp = hrt_absolute_time();
_vehicle_control_mode_pub.publish(_vehicle_control_mode);
}
bool
Commander::stabilization_required()
{
return _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
}
void
Commander::print_reject_mode(uint8_t main_state)
{

2
src/modules/commander/Commander.hpp
View File

@ -152,8 +152,6 @@ private:
bool shutdown_if_allowed();
bool stabilization_required();
void send_parachute_command();
void checkWindSpeedThresholds();

2
src/modules/commander/HealthAndArmingChecks/Common.cpp
View File

@ -177,7 +177,7 @@ void Report::reset()
void Report::prepare(uint8_t vehicle_type)
{
// Get mode requirements before running any checks (in particular the mode checks require them)
getModeRequirements(vehicle_type, _status_flags);
mode_util::getModeRequirements(vehicle_type, _status_flags);
}
NavModes Report::getModeGroup(uint8_t nav_state) const

1
src/modules/commander/ModeUtil/CMakeLists.txt
View File

@ -32,5 +32,6 @@
############################################################################
px4_add_library(mode_util
control_mode.cpp
mode_requirements.cpp
)

178
src/modules/commander/ModeUtil/control_mode.cpp Normal file
View File

@ -0,0 +1,178 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "control_mode.hpp"
#include <uORB/topics/vehicle_status.h>
namespace mode_util
{
static bool stabilization_required(uint8_t vehicle_type)
{
return vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
}
void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type,
const offboard_control_mode_s &offboard_control_mode,
vehicle_control_mode_s &vehicle_control_mode)
{
vehicle_control_mode.flag_armed = armed;
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type);
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
vehicle_control_mode.flag_control_manual_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
/* disable all controllers on termination */
vehicle_control_mode.flag_control_termination_enabled = true;
break;
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
vehicle_control_mode.flag_control_offboard_enabled = true;
if (offboard_control_mode.position) {
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (offboard_control_mode.velocity) {
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (offboard_control_mode.acceleration) {
vehicle_control_mode.flag_control_acceleration_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (offboard_control_mode.attitude) {
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
} else if (offboard_control_mode.body_rate) {
vehicle_control_mode.flag_control_rates_enabled = true;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
// Follow Target supports RC adjustment, so disable auto control mode to disable
// the Flight Task from exiting itself when RC stick movement is detected.
case vehicle_status_s::NAVIGATION_STATE_ORBIT:
vehicle_control_mode.flag_control_manual_enabled = false;
vehicle_control_mode.flag_control_auto_enabled = false;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
break;
default:
break;
}
vehicle_control_mode.flag_multicopter_position_control_enabled =
(vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& (vehicle_control_mode.flag_control_altitude_enabled
|| vehicle_control_mode.flag_control_climb_rate_enabled
|| vehicle_control_mode.flag_control_position_enabled
|| vehicle_control_mode.flag_control_velocity_enabled
|| vehicle_control_mode.flag_control_acceleration_enabled);
}
} // namespace mode_util

48
src/modules/commander/ModeUtil/control_mode.hpp Normal file
View File

@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <stdint.h>
namespace mode_util
{
void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type,
const offboard_control_mode_s &offboard_control_mode,
vehicle_control_mode_s &vehicle_control_mode);
} // namespace mode_util

5
src/modules/commander/ModeUtil/mode_requirements.cpp
View File

@ -34,6 +34,9 @@
#include "mode_requirements.hpp"
#include <uORB/topics/vehicle_status.h>
namespace mode_util
{
static inline void setRequirement(uint8_t nav_state, uint32_t &mode_requirement)
{
mode_requirement |= 1u << nav_state;
@ -159,3 +162,5 @@ void getModeRequirements(uint8_t vehicle_type, vehicle_status_flags_s &flags)
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 23, "update mode requirements");
}
} // namespace mode_util

5
src/modules/commander/ModeUtil/mode_requirements.hpp
View File

@ -35,6 +35,9 @@
#include <uORB/topics/vehicle_status_flags.h>
namespace mode_util
{
/**
* Get per-mode requirements
* @param vehicle_type one of vehicle_status_s::VEHICLE_TYPE_*
@ -42,3 +45,5 @@
*/
void getModeRequirements(uint8_t vehicle_type, vehicle_status_flags_s &flags);
} // namespace mode_util