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px4-firmware/apps/commander/commander.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* 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.
*
****************************************************************************/
/**
* @file commander.c
* Main system state machine implementation.
*/
#include "commander.h"
#include <nuttx/config.h>
#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <sys/prctl.h>
#include <v1.0/common/mavlink.h>
#include <string.h>
#include <arch/board/drv_led.h>
#include <arch/board/up_hrt.h>
#include <arch/board/drv_tone_alarm.h>
#include <arch/board/up_hrt.h>
#include "state_machine_helper.h"
#include "systemlib/systemlib.h"
#include <math.h>
#include <poll.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_cpuload.h>
extern struct system_load_s system_load;
/* Decouple update interval and hysteris counters, all depends on intervals */
#define COMMANDER_MONITORING_INTERVAL 50000
#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define STICK_ON_OFF_LIMIT 7500
#define STICK_THRUST_RANGE 20000
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define GPS_FIX_TYPE_2D 2
#define GPS_FIX_TYPE_3D 3
#define GPS_QUALITY_GOOD_COUNTER_LIMIT 50
/* File descriptors */
static int leds;
static int buzzer;
static int mavlink_fd;
static bool commander_initialized = false;
static struct vehicle_status_s current_status; /**< Main state machine */
static orb_advert_t stat_pub;
static uint16_t nofix_counter = 0;
static uint16_t gotfix_counter = 0;
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/* pthread loops */
static void *command_handling_loop(void *arg);
static void *orb_receive_loop(void *arg);
__EXPORT int commander_main(int argc, char *argv[]);
/**
* Mainloop of commander.
*/
int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void);
static void buzzer_deinit(void);
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
/**
* Sort calibration values.
*
* Sorts the calibration values with bubble sort.
*
* @param a The array to sort
* @param n The number of entries in the array
*/
static void cal_bsort(int16_t a[], int n);
static int buzzer_init()
{
buzzer = open("/dev/tone_alarm", O_WRONLY);
if (buzzer < 0) {
fprintf(stderr, "[commander] Buzzer: open fail\n");
return ERROR;
}
return 0;
}
static void buzzer_deinit()
{
close(buzzer);
}
static int led_init()
{
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
if (leds < 0) {
fprintf(stderr, "[commander] LED: open fail\n");
return ERROR;
}
if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
fprintf(stderr, "[commander] LED: ioctl fail\n");
return ERROR;
}
return 0;
}
static void led_deinit()
{
close(leds);
}
static int led_toggle(int led)
{
static int last_blue = LED_ON;
static int last_amber = LED_ON;
if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
}
static int led_on(int led)
{
return ioctl(leds, LED_ON, led);
}
static int led_off(int led)
{
return ioctl(leds, LED_OFF, led);
}
enum AUDIO_PATTERN {
AUDIO_PATTERN_ERROR = 1,
AUDIO_PATTERN_NOTIFY_POSITIVE = 2,
AUDIO_PATTERN_NOTIFY_NEUTRAL = 3,
AUDIO_PATTERN_NOTIFY_NEGATIVE = 4,
AUDIO_PATTERN_TETRIS = 5
};
int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) {
/* Trigger alarm if going into any error state */
if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
}
/* Trigger neutral on arming / disarming */
if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) {
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL);
}
/* Trigger Tetris on being bored */
return 0;
}
static void cal_bsort(int16_t a[], int n)
{
int i,j,t;
for(i=0;i<n-1;i++)
{
for(j=0;j<n-i-1;j++)
{
if(a[j]>a[j+1]) {
t=a[j];
a[j]=a[j+1];
a[j+1]=t;
}
}
}
}
void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
{
/* set to mag calibration mode */
status->preflight_mag_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
/* 30 seconds */
const uint64_t calibration_interval_us = 45 * 1000000;
unsigned int calibration_counter = 0;
const int peak_samples = 2000;
/* Get rid of 10% */
const int outlier_margin = (peak_samples) / 10;
int16_t *mag_maxima[3];
mag_maxima[0] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_maxima[1] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_maxima[2] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
int16_t *mag_minima[3];
mag_minima[0] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_minima[1] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_minima[2] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
/* initialize data table */
for (int i = 0; i < peak_samples; i++) {
mag_maxima[0][i] = INT16_MIN;
mag_maxima[1][i] = INT16_MIN;
mag_maxima[2][i] = INT16_MIN;
mag_minima[0][i] = INT16_MAX;
mag_minima[1][i] = INT16_MAX;
mag_minima[2][i] = INT16_MAX;
}
mavlink_log_info(mavlink_fd, "[commander] Please rotate in all directions.");
uint64_t calibration_start = hrt_absolute_time();
while ((hrt_absolute_time() - calibration_start) < calibration_interval_us) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
if (poll(fds, 1, 1000)) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
/* get min/max values */
/* iterate through full list */
for (int i = 0; i < peak_samples; i++) {
/* x minimum */
if (raw.magnetometer_raw[0] < mag_minima[0][i])
mag_minima[0][i] = raw.magnetometer_raw[0];
/* y minimum */
if (raw.magnetometer_raw[1] < mag_minima[1][i])
mag_minima[1][i] = raw.magnetometer_raw[1];
/* z minimum */
if (raw.magnetometer_raw[2] < mag_minima[2][i])
mag_minima[2][i] = raw.magnetometer_raw[2];
/* x maximum */
if (raw.magnetometer_raw[0] > mag_maxima[0][i])
mag_maxima[0][i] = raw.magnetometer_raw[0];
/* y maximum */
if (raw.magnetometer_raw[1] > mag_maxima[1][i])
mag_maxima[1][i] = raw.magnetometer_raw[1];
/* z maximum */
if (raw.magnetometer_raw[2] > mag_maxima[2][i])
mag_maxima[2][i] = raw.magnetometer_raw[2];
}
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
//mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
//break;
}
}
/* disable calibration mode */
status->preflight_mag_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
/* sort values */
cal_bsort(mag_minima[0], peak_samples);
cal_bsort(mag_minima[1], peak_samples);
cal_bsort(mag_minima[2], peak_samples);
cal_bsort(mag_maxima[0], peak_samples);
cal_bsort(mag_maxima[1], peak_samples);
cal_bsort(mag_maxima[2], peak_samples);
float min_avg[3] = { 0.0f, 0.0f, 0.0f };
float max_avg[3] = { 0.0f, 0.0f, 0.0f };
printf("start:\n");
for (int i = 0; i < 10; i++) {
printf("mag min: %d\t%d\t%d\tmag max: %d\t%d\t%d\n",
mag_minima[0][i],
mag_minima[1][i],
mag_minima[2][i],
mag_maxima[0][i],
mag_maxima[1][i],
mag_maxima[2][i]);
usleep(10000);
}
printf("-----\n");
for (int i = (peak_samples - outlier_margin)-10; i < (peak_samples - outlier_margin); i++) {
printf("mag min: %d\t%d\t%d\tmag max: %d\t%d\t%d\n",
mag_minima[0][i],
mag_minima[1][i],
mag_minima[2][i],
mag_maxima[0][i],
mag_maxima[1][i],
mag_maxima[2][i]);
usleep(10000);
}
printf("end\n");
/* take average of center value group */
for (int i = 0; i < (peak_samples - outlier_margin); i++) {
min_avg[0] += mag_minima[0][i+outlier_margin];
min_avg[1] += mag_minima[1][i+outlier_margin];
min_avg[2] += mag_minima[2][i+outlier_margin];
max_avg[0] += mag_maxima[0][i];
max_avg[1] += mag_maxima[1][i];
max_avg[2] += mag_maxima[2][i];
}
min_avg[0] /= (peak_samples - outlier_margin);
min_avg[1] /= (peak_samples - outlier_margin);
min_avg[2] /= (peak_samples - outlier_margin);
max_avg[0] /= (peak_samples - outlier_margin);
max_avg[1] /= (peak_samples - outlier_margin);
max_avg[2] /= (peak_samples - outlier_margin);
printf("\nFINAL:\nmag min: %d\t%d\t%d\nmag max: %d\t%d\t%d\n", (int)min_avg[0], (int)min_avg[1], (int)min_avg[2], (int)max_avg[0], (int)max_avg[1], (int)max_avg[2]);
float mag_offset[3];
/**
* The offset is subtracted from the sensor values, so the result is the
* POSITIVE number that has to be subtracted from the sensor data
* to shift the center to zero
*
* offset = max - ((max - min) / 2.0f)
*
* which reduces to
*
* offset = (max + min) / 2.0f
*/
mag_offset[0] = (max_avg[0] + min_avg[0]) / 2.0f;
mag_offset[1] = (max_avg[1] + min_avg[1]) / 2.0f;
mag_offset[2] = (max_avg[2] + min_avg[2]) / 2.0f;
if (param_set(param_find("SENSOR_MAG_XOFF"), &(mag_offset[0]))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENSOR_MAG_YOFF"), &(mag_offset[1]))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENSOR_MAG_ZOFF"), &(mag_offset[2]))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
free(mag_maxima[0]);
free(mag_maxima[1]);
free(mag_maxima[2]);
free(mag_minima[0]);
free(mag_minima[1]);
free(mag_minima[2]);
char offset_output[50];
sprintf(offset_output, "[commander] mag cal: x:%8.4f y:%8.4f z:%8.4f", (double)mag_offset[0], (double)mag_offset[1], (double)mag_offset[2]);
mavlink_log_info(mavlink_fd, offset_output);
close(sub_sensor_combined);
}
void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status)
{
const int calibration_count = 3000;
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int calibration_counter = 0;
float gyro_offset[3] = {0.0f, 0.0f, 0.0f};
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
if (poll(fds, 1, 1000)) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
gyro_offset[0] += raw.gyro_raw[0];
gyro_offset[1] += raw.gyro_raw[1];
gyro_offset[2] += raw.gyro_raw[2];
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "[commander] gyro calibration aborted, please retry.");
return;
}
}
gyro_offset[0] = gyro_offset[0] / calibration_count;
gyro_offset[1] = gyro_offset[1] / calibration_count;
gyro_offset[2] = gyro_offset[2] / calibration_count;
if (param_set(param_find("SENSOR_GYRO_XOFF"), &(gyro_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
}
if (param_set(param_find("SENSOR_GYRO_YOFF"), &(gyro_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
}
if (param_set(param_find("SENSOR_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
}
char offset_output[50];
sprintf(offset_output, "[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
mavlink_log_info(mavlink_fd, offset_output);
close(sub_sensor_combined);
// XXX Add a parameter changed broadcast notification
}
void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd)
{
/* result of the command */
uint8_t result = MAV_RESULT_UNSUPPORTED;
/* supported command handling start */
/* request to set different system mode */
switch (cmd->command) {
case MAV_CMD_DO_SET_MODE:
{
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_DENIED;
}
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM: {
/* request to arm */
if ((int)cmd->param1 == 1) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_DENIED;
}
/* request to disarm */
} else if ((int)cmd->param1 == 0) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_DENIED;
}
}
}
break;
/* request for an autopilot reboot */
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
if ((int)cmd->param1 == 1) {
if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
result = MAV_RESULT_ACCEPTED;
} else {
/* system may return here */
result = MAV_RESULT_DENIED;
}
}
}
break;
// /* request to land */
// case MAV_CMD_NAV_LAND:
// {
// //TODO: add check if landing possible
// //TODO: add landing maneuver
//
// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) {
// result = MAV_RESULT_ACCEPTED;
// } }
// break;
//
// /* request to takeoff */
// case MAV_CMD_NAV_TAKEOFF:
// {
// //TODO: add check if takeoff possible
// //TODO: add takeoff maneuver
//
// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) {
// result = MAV_RESULT_ACCEPTED;
// }
// }
// break;
//
/* preflight calibration */
case MAV_CMD_PREFLIGHT_CALIBRATION: {
bool handled = false;
/* gyro calibration */
if ((int)(cmd->param1) == 1) {
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[commander] REJECTING gyro calibration");
result = MAV_RESULT_DENIED;
}
handled = true;
}
/* magnetometer calibration */
if ((int)(cmd->param2) == 1) {
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[commander] CMD REJECTING mag calibration");
result = MAV_RESULT_DENIED;
}
handled = true;
}
/* none found */
if (!handled) {
//fprintf(stderr, "[commander] refusing unsupported calibration request\n");
mavlink_log_critical(mavlink_fd, "[commander] CMD refusing unsupported calibration request");
result = MAV_RESULT_UNSUPPORTED;
}
}
break;
/*
* do not report an error for commands that are
* handled directly by MAVLink.
*/
case MAV_CMD_PREFLIGHT_STORAGE:
break;
default: {
mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;
}
break;
}
/* supported command handling stop */
/* send any requested ACKs */
if (cmd->confirmation > 0) {
/* send acknowledge command */
// XXX TODO
}
}
/**
* Handle commands sent by the ground control station via MAVLink.
*/
static void *command_handling_loop(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "commander cmd handler", getpid());
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = cmd_sub, .events = POLLIN } };
if (poll(fds, 1, 5000) == 0) {
/* timeout, but this is no problem, silently ignore */
} else {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
}
close(cmd_sub);
return NULL;
}
static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
{
/* Set thread name */
prctl(PR_SET_NAME, "commander orb rcv", getpid());
/* Subscribe to command topic */
int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
struct subsystem_info_s info;
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
if (poll(fds, 1, 5000) == 0) {
/* timeout, but this is no problem, silently ignore */
} else {
/* got command */
orb_copy(ORB_ID(subsystem_info), subsys_sub, &info);
printf("Subsys changed: %d\n", (int)info.subsystem_type);
}
}
close(subsys_sub);
return NULL;
}
enum BAT_CHEM {
BAT_CHEM_LITHIUM_POLYMERE = 0,
};
/*
* Provides a coarse estimate of remaining battery power.
*
* The estimate is very basic and based on decharging voltage curves.
*
* @return the estimated remaining capacity in 0..1
*/
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
{
float ret = 0;
static param_t bat_volt_empty;
static param_t bat_volt_full;
static bool initialized = false;
static unsigned int counter = 0;
if (!initialized) {
bat_volt_empty = param_find("BAT_V_EMPTY");
bat_volt_full = param_find("BAT_V_FULL");
initialized = true;
}
float chemistry_voltage_empty[1];
float chemistry_voltage_full[1];
if (counter % 100 == 0) {
param_get(bat_volt_empty, chemistry_voltage_empty+0);
param_get(bat_volt_full, chemistry_voltage_full+0);
}
counter++;
ret = (voltage - cells * chemistry_voltage_empty[chemistry]) / (cells * (chemistry_voltage_full[chemistry] - chemistry_voltage_empty[chemistry]));
/* limit to sane values */
ret = (ret < 0) ? 0 : ret;
ret = (ret > 1) ? 1 : ret;
return ret;
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int commander_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("commander already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_create("commander", SCHED_PRIORITY_MAX - 50, 4096, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tcommander is running\n");
} else {
printf("\tcommander not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */
commander_initialized = false;
/* welcome user */
printf("[commander] I am in command now!\n");
/* pthreads for command and subsystem info handling */
pthread_t command_handling_thread;
pthread_t subsystem_info_thread;
/* initialize */
if (led_init() != 0) {
fprintf(stderr, "[commander] ERROR: Failed to initialize leds\n");
}
if (buzzer_init() != 0) {
fprintf(stderr, "[commander] ERROR: Failed to initialize buzzer\n");
}
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
fprintf(stderr, "[commander] ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
}
/* make sure we are in preflight state */
memset(&current_status, 0, sizeof(current_status));
current_status.state_machine = SYSTEM_STATE_PREFLIGHT;
current_status.flag_system_armed = false;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
/* publish current state machine */
state_machine_publish(stat_pub, &current_status, mavlink_fd);
if (stat_pub < 0) {
printf("[commander] ERROR: orb_advertise for topic vehicle_status failed.\n");
exit(ERROR);
}
mavlink_log_info(mavlink_fd, "[commander] system is running");
/* create pthreads */
pthread_attr_t command_handling_attr;
pthread_attr_init(&command_handling_attr);
pthread_attr_setstacksize(&command_handling_attr, 4096);
pthread_create(&command_handling_thread, &command_handling_attr, command_handling_loop, NULL);
pthread_attr_t subsystem_info_attr;
pthread_attr_init(&subsystem_info_attr);
pthread_attr_setstacksize(&subsystem_info_attr, 2048);
pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, NULL);
/* Start monitoring loop */
uint16_t counter = 0;
uint8_t flight_env;
/* Initialize to 3.0V to make sure the low-pass loads below valid threshold */
float battery_voltage = VOLTAGE_BATTERY_HIGH_VOLTS;
bool battery_voltage_valid = true;
bool low_battery_voltage_actions_done = false;
bool critical_battery_voltage_actions_done = false;
uint8_t low_voltage_counter = 0;
uint16_t critical_voltage_counter = 0;
int16_t mode_switch_rc_value;
float bat_remain = 1.0f;
uint16_t stick_off_counter = 0;
uint16_t stick_on_counter = 0;
float hdop = 65535.0f;
int gps_quality_good_counter = 0;
/* Subscribe to RC data */
int rc_sub = orb_subscribe(ORB_ID(rc_channels));
struct rc_channels_s rc;
memset(&rc, 0, sizeof(rc));
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
uint64_t last_idle_time = 0;
/* now initialized */
commander_initialized = true;
while (!thread_should_exit) {
/* Get current values */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
battery_voltage = sensors.battery_voltage_v;
battery_voltage_valid = sensors.battery_voltage_valid;
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
/* Slow but important 8 Hz checks */
if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
current_status.state_machine == SYSTEM_STATE_AUTO ||
current_status.state_machine == SYSTEM_STATE_MANUAL)) {
/* armed */
led_toggle(LED_BLUE);
} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* not armed */
led_toggle(LED_BLUE);
}
/* toggle error led at 5 Hz in HIL mode */
if (current_status.flag_hil_enabled) {
/* hil enabled */
led_toggle(LED_AMBER);
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
/* toggle error (red) at 5 Hz on low battery or error */
led_toggle(LED_AMBER);
} else {
/* Constant error indication in standby mode without GPS */
if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR && !current_status.gps_valid) {
led_on(LED_AMBER);
} else {
led_off(LED_AMBER);
}
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* compute system load */
uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
if (last_idle_time > 0)
current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle
last_idle_time = system_load.tasks[0].total_runtime;
}
}
// // XXX Export patterns and threshold to parameters
/* Trigger audio event for low battery */
if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) {
/* For less than 10%, start be really annoying at 5 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, 3);
} else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) {
/* For less than 20%, start be slightly annoying at 1 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, 2);
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
}
/* Check if last transition deserved an audio event */
#warning This code depends on state that is no longer? maintained
#if 0
trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
#endif
/* only check gps fix if we are outdoor */
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
//
// hdop = (float)(gps.eph) / 100.0f;
//
// /* check if gps fix is ok */
// if (gps.fix_type == GPS_FIX_TYPE_3D) { //TODO: is 2d-fix ok? //see http://en.wikipedia.org/wiki/Dilution_of_precision_%28GPS%29
//
// if (gotfix_counter >= GPS_GOTFIX_COUNTER_REQUIRED) { //TODO: add also a required time?
// update_state_machine_got_position_fix(stat_pub, &current_status);
// gotfix_counter = 0;
// } else {
// gotfix_counter++;
// }
// nofix_counter = 0;
//
// if (hdop < 5.0f) { //TODO: this should be a parameter
// if (gps_quality_good_counter > GPS_QUALITY_GOOD_COUNTER_LIMIT) {
// current_status.gps_valid = true;//--> position estimator can use the gps measurements
// }
//
// gps_quality_good_counter++;
//
//
//// if(counter%10 == 0)//for testing only
//// printf("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only
//
// } else {
// gps_quality_good_counter = 0;
// current_status.gps_valid = false;//--> position estimator can not use the gps measurements
// }
//
// } else {
// gps_quality_good_counter = 0;
// current_status.gps_valid = false;//--> position estimator can not use the gps measurements
//
// if (nofix_counter > GPS_NOFIX_COUNTER_LIMIT) { //TODO: add also a timer limit?
// update_state_machine_no_position_fix(stat_pub, &current_status);
// nofix_counter = 0;
// } else {
// nofix_counter++;
// }
// gotfix_counter = 0;
// }
//
// }
//
//
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
//update_state_machine_got_position_fix(stat_pub, &current_status, mavlink_fd);
/* end: check gps */
/* Check battery voltage */
/* write to sys_status */
current_status.voltage_battery = battery_voltage;
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (battery_voltage_valid && (battery_voltage < VOLTAGE_BATTERY_LOW_VOLTS && 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, "[commander] WARNING! LOW BATTERY!");
}
low_voltage_counter++;
}
/* Critical, this is rather an emergency, kill signal to sdlog and change state machine */
else if (battery_voltage_valid && (battery_voltage < VOLTAGE_BATTERY_CRITICAL_VOLTS && 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, "[commander] EMERGENCY! CIRITICAL BATTERY!");
state_machine_emergency(stat_pub, &current_status, mavlink_fd);
}
critical_voltage_counter++;
} else {
low_voltage_counter = 0;
critical_voltage_counter = 0;
}
/* End battery voltage check */
/* Start RC state check */
if (rc.chan_count > 4 && (hrt_absolute_time() - rc.timestamp) < 100000) {
/* quadrotor specific logic - check against system type in the future */
int16_t rc_yaw_scale = rc.chan[rc.function[YAW]].scale;
int16_t rc_throttle_scale = rc.chan[rc.function[THROTTLE]].scale;
int16_t mode_switch_rc_value = rc.chan[rc.function[OVERRIDE]].scale;
/* Check the value of the rc channel of the mode switch */
mode_switch_rc_value = rc.chan[rc.function[OVERRIDE]].scale;
/* check if left stick is in lower left position --> switch to standby state */
if (rc_yaw_scale < -STICK_ON_OFF_LIMIT && rc_throttle_scale < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
stick_on_counter = 0;
} else {
stick_off_counter++;
stick_on_counter = 0;
}
}
/* check if left stick is in lower right position --> arm */
if (rc_yaw_scale > STICK_ON_OFF_LIMIT && rc_throttle_scale < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
stick_on_counter = 0;
} else {
stick_on_counter++;
stick_off_counter = 0;
}
}
//printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
if (mode_switch_rc_value > STICK_ON_OFF_LIMIT) {
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (mode_switch_rc_value < -STICK_ON_OFF_LIMIT) {
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
} else {
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}
/* Publish RC signal */
/* handle the case where RC signal was regained */
if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[commander] RECOVERY - RC SIGNAL GAINED!");
current_status.rc_signal_lost = false;
current_status.rc_signal_lost_interval = 0;
} else {
static uint64_t last_print_time = 0;
/* print error message for first RC glitch and then every 5 s / 5000 ms) */
if (!current_status.rc_signal_lost || ((hrt_absolute_time() - last_print_time) > 5000000)) {
mavlink_log_critical(mavlink_fd, "[commander] CRITICAL - NO REMOTE SIGNAL!");
last_print_time = hrt_absolute_time();
}
/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
current_status.rc_signal_cutting_off = true;
current_status.rc_signal_lost_interval = hrt_absolute_time() - rc.timestamp;
/* if the RC signal is gone for a full second, consider it lost */
if (current_status.rc_signal_lost_interval > 1000000) current_status.rc_signal_lost = true;
}
/* End mode switch */
/* END RC state check */
current_status.counter++;
current_status.timestamp = hrt_absolute_time();
/* If full run came back clean, transition to standby */
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
current_status.preflight_gyro_calibration == false &&
current_status.preflight_mag_calibration == false) {
/* All ok, no calibration going on, go to standby */
do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
}
/* publish at least with 1 Hz */
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
}
/* Store old modes to detect and act on state transitions */
voltage_previous = current_status.voltage_battery;
fflush(stdout);
counter++;
usleep(COMMANDER_MONITORING_INTERVAL);
}
/* wait for threads to complete */
pthread_join(command_handling_thread, NULL);
pthread_join(subsystem_info_thread, NULL);
/* close fds */
led_deinit();
buzzer_deinit();
close(rc_sub);
close(gps_sub);
close(sensor_sub);
printf("[commander] exiting..\n");
fflush(stdout);
thread_running = false;
return 0;
}
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