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commander.cpp
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commander.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2016 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.
*
****************************************************************************/
/**
* @file commander.cpp
*
* Main state machine / business logic
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton@px4.io>
* @author Sander Smeets <sander@droneslab.com>
*/
#include <cmath> // NAN
/* commander module headers */
#include "accelerometer_calibration.h"
#include "airspeed_calibration.h"
#include "baro_calibration.h"
#include "calibration_routines.h"
#include "commander_helper.h"
#include "esc_calibration.h"
#include "gyro_calibration.h"
#include "mag_calibration.h"
#include "PreflightCheck.h"
#include "px4_custom_mode.h"
#include "rc_calibration.h"
#include "state_machine_helper.h"
/* PX4 headers */
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
#include <drivers/drv_tone_alarm.h>
#include <geo/geo.h>
#include <navigator/navigation.h>
#include <px4_defines.h>
#include <px4_config.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <systemlib/circuit_breaker.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/rc_check.h>
#include <systemlib/state_table.h>
#include <systemlib/systemlib.h>
#include <systemlib/hysteresis/hysteresis.h>
#include <sys/stat.h>
#include <string.h>
#include <math.h>
#include <poll.h>
#include <float.h>
#include <matrix/math.hpp>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_roi.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vtol_vehicle_status.h>
typedef enum VEHICLE_MODE_FLAG
{
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */
VEHICLE_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
VEHICLE_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
VEHICLE_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
VEHICLE_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
VEHICLE_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */
VEHICLE_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
VEHICLE_MODE_FLAG_ENUM_END=129, /* | */
} VEHICLE_MODE_FLAG;
static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage signal to noise ratio allowed for GPS reception */
/* Decouple update interval and hysteresis counters, all depends on intervals */
#define COMMANDER_MONITORING_INTERVAL 10000
#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
#define MAVLINK_OPEN_INTERVAL 50000
#define STICK_ON_OFF_LIMIT 0.9f
#define POSITION_TIMEOUT (1 * 1000 * 1000) /**< consider the local or global position estimate invalid after 1000ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
#define HOTPLUG_SENS_TIMEOUT (8 * 1000 * 1000) /**< wait for hotplug sensors to come online for upto 8 seconds */
#define PRINT_INTERVAL 5000000
#define PRINT_MODE_REJECT_INTERVAL 500000
#define INAIR_RESTART_HOLDOFF_INTERVAL 500000
#define HIL_ID_MIN 1000
#define HIL_ID_MAX 1999
/* Mavlink log uORB handle */
static orb_advert_t mavlink_log_pub = 0;
/* System autostart ID */
static int autostart_id;
/* flags */
static bool commander_initialized = false;
static volatile bool thread_should_exit = false; /**< daemon exit flag */
static volatile bool thread_running = false; /**< daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
static bool need_param_autosave = false; /**< Flag set to true if parameters should be autosaved in next iteration (happens on param update and if functionality is enabled) */
static bool _usb_telemetry_active = false;
static hrt_abstime commander_boot_timestamp = 0;
static unsigned int leds_counter;
/* To remember when last notification was sent */
static uint64_t last_print_mode_reject_time = 0;
static systemlib::Hysteresis auto_disarm_hysteresis(false);
static float eph_threshold = 5.0f;
static float epv_threshold = 10.0f;
/* pre-flight EKF checks */
static float max_ekf_pos_ratio = 0.5f;
static float max_ekf_vel_ratio = 0.5f;
static float max_ekf_hgt_ratio = 0.5f;
static float max_ekf_yaw_ratio = 0.5f;
static float max_ekf_dvel_bias = 2.0e-3f;
static float max_ekf_dang_bias = 3.5e-4f;
/* pre-flight IMU consistency checks */
static float max_imu_acc_diff = 0.7f;
static float max_imu_gyr_diff = 0.09f;
static struct vehicle_status_s status = {};
static struct vehicle_roi_s _roi = {};
static struct battery_status_s battery = {};
static struct actuator_armed_s armed = {};
static struct safety_s safety = {};
static struct vehicle_control_mode_s control_mode = {};
static struct offboard_control_mode_s offboard_control_mode = {};
static struct home_position_s _home = {};
static int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_MAX];
static struct commander_state_s internal_state = {};
struct mission_result_s _mission_result;
static uint8_t main_state_before_rtl = commander_state_s::MAIN_STATE_MAX;
static unsigned _last_mission_instance = 0;
struct manual_control_setpoint_s sp_man = {}; ///< the current manual control setpoint
static manual_control_setpoint_s _last_sp_man = {}; ///< the manual control setpoint valid at the last mode switch
static struct vtol_vehicle_status_s vtol_status = {};
static struct cpuload_s cpuload = {};
static uint8_t main_state_prev = 0;
static bool warning_action_on = false;
static struct status_flags_s status_flags = {};
static uint64_t rc_signal_lost_timestamp; // Time at which the RC reception was lost
static float avionics_power_rail_voltage; // voltage of the avionics power rail
static bool can_arm_without_gps = false;
/**
* The daemon 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().
*
* @ingroup apps
*/
extern "C" __EXPORT int commander_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
void usage(const char *reason);
/**
* React to commands that are sent e.g. from the mavlink module.
*/
bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd,
struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos,
struct vehicle_local_position_s *local_pos, struct vehicle_attitude_s *attitude, orb_advert_t *home_pub,
orb_advert_t *command_ack_pub, struct vehicle_command_ack_s *command_ack, struct vehicle_roi_s *roi,
orb_advert_t *roi_pub);
/**
* Mainloop of commander.
*/
int commander_thread_main(int argc, char *argv[]);
void control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed,
battery_status_s *battery_local, const cpuload_s *cpuload_local);
void get_circuit_breaker_params();
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
transition_result_t set_main_state_rc(struct vehicle_status_s *status);
void set_control_mode();
bool stabilization_required();
void print_reject_mode(struct vehicle_status_s *current_status, const char *msg);
void print_reject_arm(const char *msg);
void print_status();
transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const char *armedBy);
/**
* @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each
* time the vehicle is armed with a good GPS fix.
**/
static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home,
const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition,
const vehicle_attitude_s &attitude);
/**
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
*/
void *commander_low_prio_loop(void *arg);
void answer_command(struct vehicle_command_s &cmd, unsigned result,
orb_advert_t &command_ack_pub, vehicle_command_ack_s &command_ack);
/**
* check whether autostart ID is in the reserved range for HIL setups
*/
static bool is_hil_setup(int id) {
return (id >= HIL_ID_MIN) && (id <= HIL_ID_MAX);
}
int commander_main(int argc, char *argv[])
{
if (argc < 2) {
usage("missing command");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
return 0;
}
thread_should_exit = false;
daemon_task = px4_task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 40,
3200,
commander_thread_main,
(char * const *)&argv[0]);
unsigned constexpr max_wait_us = 1000000;
unsigned constexpr max_wait_steps = 2000;
unsigned i;
for (i = 0; i < max_wait_steps; i++) {
usleep(max_wait_us / max_wait_steps);
if (thread_running) {
break;
}
}
return !(i < max_wait_steps);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
warnx("commander already stopped");
return 0;
}
thread_should_exit = true;
while (thread_running) {
usleep(200000);
warnx(".");
}
warnx("terminated.");
return 0;
}
/* commands needing the app to run below */
if (!thread_running) {
warnx("\tcommander not started");
return 1;
}
if (!strcmp(argv[1], "status")) {
print_status();
return 0;
}
if (!strcmp(argv[1], "calibrate")) {
if (argc > 2) {
int calib_ret = OK;
if (!strcmp(argv[2], "mag")) {
calib_ret = do_mag_calibration(&mavlink_log_pub);
} else if (!strcmp(argv[2], "accel")) {
calib_ret = do_accel_calibration(&mavlink_log_pub);
} else if (!strcmp(argv[2], "gyro")) {
calib_ret = do_gyro_calibration(&mavlink_log_pub);
} else if (!strcmp(argv[2], "level")) {
calib_ret = do_level_calibration(&mavlink_log_pub);
} else if (!strcmp(argv[2], "esc")) {
calib_ret = do_esc_calibration(&mavlink_log_pub, &armed);
} else if (!strcmp(argv[2], "airspeed")) {
calib_ret = do_airspeed_calibration(&mavlink_log_pub);
} else {
warnx("argument %s unsupported.", argv[2]);
}
if (calib_ret) {
warnx("calibration failed, exiting.");
return 1;
} else {
return 0;
}
} else {
warnx("missing argument");
}
}
if (!strcmp(argv[1], "check")) {
int checkres = 0;
checkres = preflight_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery, false, hrt_elapsed_time(&commander_boot_timestamp));
warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
checkres = preflight_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery, true, hrt_elapsed_time(&commander_boot_timestamp));
warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
return 0;
}
if (!strcmp(argv[1], "arm")) {
if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "command line")) {
warnx("arming failed");
}
return 0;
}
if (!strcmp(argv[1], "disarm")) {
if (TRANSITION_DENIED == arm_disarm(false, &mavlink_log_pub, "command line")) {
warnx("rejected disarm");
}
return 0;
}
if (!strcmp(argv[1], "takeoff")) {
/* see if we got a home position */
if (status_flags.condition_home_position_valid) {
if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) {
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
cmd.param1 = NAN; /* minimum pitch */
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
} else {
warnx("arming failed");
}
} else {
warnx("rejecting takeoff, no position lock yet. Please retry..");
}
return 0;
}
if (!strcmp(argv[1], "land")) {
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
}
if (!strcmp(argv[1], "transition")) {
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
/* transition to the other mode */
cmd.param1 = (status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
}
if (!strcmp(argv[1], "mode")) {
if (argc > 2) {
uint8_t new_main_state = commander_state_s::MAIN_STATE_MAX;
if (!strcmp(argv[2], "manual")) {
new_main_state = commander_state_s::MAIN_STATE_MANUAL;
} else if (!strcmp(argv[2], "altctl")) {
new_main_state = commander_state_s::MAIN_STATE_ALTCTL;
} else if (!strcmp(argv[2], "posctl")) {
new_main_state = commander_state_s::MAIN_STATE_POSCTL;
} else if (!strcmp(argv[2], "auto:mission")) {
new_main_state = commander_state_s::MAIN_STATE_AUTO_MISSION;
} else if (!strcmp(argv[2], "auto:loiter")) {
new_main_state = commander_state_s::MAIN_STATE_AUTO_LOITER;
} else if (!strcmp(argv[2], "auto:rtl")) {
new_main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
} else if (!strcmp(argv[2], "acro")) {
new_main_state = commander_state_s::MAIN_STATE_ACRO;
} else if (!strcmp(argv[2], "offboard")) {
new_main_state = commander_state_s::MAIN_STATE_OFFBOARD;
} else if (!strcmp(argv[2], "stabilized")) {
new_main_state = commander_state_s::MAIN_STATE_STAB;
} else if (!strcmp(argv[2], "rattitude")) {
new_main_state = commander_state_s::MAIN_STATE_RATTITUDE;
} else if (!strcmp(argv[2], "auto:takeoff")) {
new_main_state = commander_state_s::MAIN_STATE_AUTO_TAKEOFF;
} else if (!strcmp(argv[2], "auto:land")) {
new_main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
} else {
warnx("argument %s unsupported.", argv[2]);
}
if (TRANSITION_DENIED == main_state_transition(&status, new_main_state, main_state_prev, &status_flags, &internal_state)) {
warnx("mode change failed");
}
return 0;
} else {
warnx("missing argument");
}
}
if (!strcmp(argv[1], "lockdown")) {
if (argc < 3) {
usage("not enough arguments, missing [on, off]");
return 1;
}
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
}
usage("unrecognized command");
return 1;
}
void usage(const char *reason)
{
if (reason && *reason > 0) {
PX4_INFO("%s", reason);
}
PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm|takeoff|land|transition|mode}\n");
}
void print_status()
{
warnx("type: %s", (status.is_rotary_wing) ? "symmetric motion" : "forward motion");
warnx("safety: USB enabled: %s, power state valid: %s", (status_flags.usb_connected) ? "[OK]" : "[NO]",
(status_flags.condition_power_input_valid) ? " [OK]" : "[NO]");
warnx("avionics rail: %6.2f V", (double)avionics_power_rail_voltage);
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f, yaw: %.2f", _home.lat, _home.lon, (double)_home.alt, (double)_home.yaw);
warnx("home: x = %.7f, y = %.7f, z = %.2f ", (double)_home.x, (double)_home.y, (double)_home.z);
warnx("datalink: %s", (status.data_link_lost) ? "LOST" : "OK");
#ifdef __PX4_POSIX
warnx("main state: %d", internal_state.main_state);
warnx("nav state: %d", status.nav_state);
#endif
/* read all relevant states */
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
struct vehicle_status_s state;
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
const char *armed_str;
switch (status.arming_state) {
case vehicle_status_s::ARMING_STATE_INIT:
armed_str = "INIT";
break;
case vehicle_status_s::ARMING_STATE_STANDBY:
armed_str = "STANDBY";
break;
case vehicle_status_s::ARMING_STATE_ARMED:
armed_str = "ARMED";
break;
case vehicle_status_s::ARMING_STATE_ARMED_ERROR:
armed_str = "ARMED_ERROR";
break;
case vehicle_status_s::ARMING_STATE_STANDBY_ERROR:
armed_str = "STANDBY_ERROR";
break;
case vehicle_status_s::ARMING_STATE_REBOOT:
armed_str = "REBOOT";
break;
case vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE:
armed_str = "IN_AIR_RESTORE";
break;
default:
armed_str = "ERR: UNKNOWN STATE";
break;
}
px4_close(state_sub);
warnx("arming: %s", armed_str);
}
static orb_advert_t status_pub;
transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, const char *armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// For HIL platforms, require that simulated sensors are connected
if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
}
// Transition the armed state. By passing mavlink_log_pub to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status,
&battery,
&safety,
arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY,
&armed,
true /* fRunPreArmChecks */,
mavlink_log_pub_local,
&status_flags,
avionics_power_rail_voltage,
can_arm_without_gps,
hrt_elapsed_time(&commander_boot_timestamp));
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_log_pub_local, "%s by %s", arm ? "ARMED" : "DISARMED", armedBy);
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
}
return arming_res;
}
bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local,
struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
struct home_position_s *home, struct vehicle_global_position_s *global_pos,
struct vehicle_local_position_s *local_pos, struct vehicle_attitude_s *attitude, orb_advert_t *home_pub,
orb_advert_t *command_ack_pub, struct vehicle_command_ack_s *command_ack,
struct vehicle_roi_s *roi, orb_advert_t *roi_pub)
{
/* only handle commands that are meant to be handled by this system and component */
if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id)
&& (cmd->target_component != 0))) { // component_id 0: valid for all components
return false;
}
/* result of the command */
unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
/* request to set different system mode */
switch (cmd->command) {
case vehicle_command_s::VEHICLE_CMD_DO_REPOSITION: {
// Just switch the flight mode here, the navigator takes care of
// doing something sensible with the coordinates. Its designed
// to not require navigator and command to receive / process
// the data at the exact same time.
// Check if a mode switch had been requested
if ((((uint32_t)cmd->param2) & 1) > 0) {
transition_result_t main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
if ((main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&mavlink_log_pub, "Rejecting reposition command");
}
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
uint8_t base_mode = (uint8_t)cmd->param1;
uint8_t custom_main_mode = (uint8_t)cmd->param2;
uint8_t custom_sub_mode = (uint8_t)cmd->param3;
transition_result_t arming_ret = TRANSITION_NOT_CHANGED;
transition_result_t main_ret = TRANSITION_NOT_CHANGED;
/* set HIL state */
hil_state_t new_hil_state = (base_mode & VEHICLE_MODE_FLAG_HIL_ENABLED) ? vehicle_status_s::HIL_STATE_ON : vehicle_status_s::HIL_STATE_OFF;
transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, &mavlink_log_pub);
// Transition the arming state
bool cmd_arm = base_mode & VEHICLE_MODE_FLAG_SAFETY_ARMED;
arming_ret = arm_disarm(cmd_arm, &mavlink_log_pub, "set mode command");
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
if (cmd_arm && (arming_ret == TRANSITION_CHANGED) &&
(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))) {
commander_set_home_position(*home_pub, *home, *local_pos, *global_pos, *attitude);
}
if (base_mode & VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED) {
/* use autopilot-specific mode */
if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
/* MANUAL */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, main_state_prev, &status_flags, &internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
/* ALTCTL */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_ALTCTL, main_state_prev, &status_flags, &internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
/* POSCTL */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_POSCTL, main_state_prev, &status_flags, &internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
if (custom_sub_mode > 0) {
switch(custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, main_state_prev, &status_flags, &internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, main_state_prev, &status_flags, &internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_LAND:
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET, main_state_prev, &status_flags, &internal_state);
break;
default:
main_ret = TRANSITION_DENIED;
mavlink_log_critical(&mavlink_log_pub, "Unsupported auto mode");
break;
}
} else {
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, main_state_prev, &status_flags, &internal_state);
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, main_state_prev, &status_flags, &internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_RATTITUDE) {
/* RATTITUDE */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, main_state_prev, &status_flags, &internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
/* STABILIZED */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
/* OFFBOARD */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_OFFBOARD, main_state_prev, &status_flags, &internal_state);
}
} else {
/* use base mode */
if (base_mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
/* AUTO */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, main_state_prev, &status_flags, &internal_state);
} else if (base_mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
/* POSCTL */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_POSCTL, main_state_prev, &status_flags, &internal_state);
} else if (base_mode & VEHICLE_MODE_FLAG_STABILIZE_ENABLED) {
/* STABILIZED */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
} else {
/* MANUAL */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, main_state_prev, &status_flags, &internal_state);
}
}
}
if ((hil_ret != TRANSITION_DENIED) && (arming_ret != TRANSITION_DENIED) && (main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
if (arming_ret == TRANSITION_DENIED) {
mavlink_log_critical(&mavlink_log_pub, "Rejecting arming cmd");
}
}
}
break;
case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: {
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
// for logic state parameters
if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) {
mavlink_log_critical(&mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f", (double)cmd->param1);
} else {
bool cmd_arms = (static_cast<int>(cmd->param1 + 0.5f) == 1);
// Flick to inair restore first if this comes from an onboard system
if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) {
status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE;
} else {
// Refuse to arm if preflight checks have failed
if ((!status_local->hil_state) != vehicle_status_s::HIL_STATE_ON && !status_flags.condition_system_sensors_initialized) {
mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Preflight checks have failed.");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
// Refuse to arm if in manual with non-zero throttle
if (cmd_arms
&& (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE)
&& (sp_man.z > 0.1f)) {
mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Manual throttle non-zero.");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
}
transition_result_t arming_res = arm_disarm(cmd_arms, &mavlink_log_pub, "arm/disarm component command");
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(&mavlink_log_pub, "REJECTING component arm cmd");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
if (cmd_arms && (arming_res == TRANSITION_CHANGED) &&
(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))) {
commander_set_home_position(*home_pub, *home, *local_pos, *global_pos, *attitude);
}
}
}
}
break;
case vehicle_command_s::VEHICLE_CMD_OVERRIDE_GOTO: {
// TODO listen vehicle_command topic directly from navigator (?)
// Increase by 0.5f and rely on the integer cast
// implicit floor(). This is the *safest* way to
// convert from floats representing small ints to actual ints.
unsigned int mav_goto = (cmd->param1 + 0.5f);
if (mav_goto == 0) { // MAV_GOTO_DO_HOLD
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
mavlink_log_critical(&mavlink_log_pub, "Pause mission cmd");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
mavlink_log_critical(&mavlink_log_pub, "Continue mission cmd");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&mavlink_log_pub, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
/* Flight termination */
case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 1.5f) {
armed_local->lockdown = true;
warnx("forcing lockdown (motors off)");
} else if (cmd->param1 > 0.5f) {
//XXX update state machine?
armed_local->force_failsafe = true;
warnx("forcing failsafe (termination)");
/* param2 is currently used for other failsafe modes */
status_local->engine_failure_cmd = false;
status_flags.data_link_lost_cmd = false;
status_flags.gps_failure_cmd = false;
status_flags.rc_signal_lost_cmd = false;
status_flags.vtol_transition_failure_cmd = false;
if ((int)cmd->param2 <= 0) {
/* reset all commanded failure modes */
warnx("reset all non-flighttermination failsafe commands");
} else if ((int)cmd->param2 == 1) {
/* trigger engine failure mode */
status_local->engine_failure_cmd = true;
warnx("engine failure mode commanded");
} else if ((int)cmd->param2 == 2) {
/* trigger data link loss mode */
status_flags.data_link_lost_cmd = true;
warnx("data link loss mode commanded");
} else if ((int)cmd->param2 == 3) {
/* trigger gps loss mode */
status_flags.gps_failure_cmd = true;
warnx("GPS loss mode commanded");
} else if ((int)cmd->param2 == 4) {
/* trigger rc loss mode */
status_flags.rc_signal_lost_cmd = true;
warnx("RC loss mode commanded");
} else if ((int)cmd->param2 == 5) {
/* trigger vtol transition failure mode */
status_flags.vtol_transition_failure_cmd = true;
warnx("vtol transition failure mode commanded");
}
} else {
armed_local->force_failsafe = false;
armed_local->lockdown = false;
warnx("disabling failsafe and lockdown");
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_HOME: {
bool use_current = cmd->param1 > 0.5f;
if (use_current) {
/* use current position */
if (status_flags.condition_global_position_valid) {
home->lat = global_pos->lat;
home->lon = global_pos->lon;
home->alt = global_pos->alt;
home->timestamp = hrt_absolute_time();