/
Commander.cpp
4079 lines (3163 loc) · 142 KB
/
Commander.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2019 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
*
* @TODO This application is currently in a rewrite process. Main changes:
* - Calibration routines are moved into the event system
* - Commander is rewritten as class
* - State machines will be model driven
*/
#include "Commander.hpp"
/* commander module headers */
#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
#include "Arming/ArmAuthorization/ArmAuthorization.h"
#include "Arming/HealthFlags/HealthFlags.h"
#include "accelerometer_calibration.h"
#include "airspeed_calibration.h"
#include "calibration_routines.h"
#include "commander_helper.h"
#include "esc_calibration.h"
#include "gyro_calibration.h"
#include "mag_calibration.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_tone_alarm.h>
#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <navigator/navigation.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/shutdown.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <circuit_breaker/circuit_breaker.h>
#include <systemlib/mavlink_log.h>
#include <math.h>
#include <float.h>
#include <cstring>
#include <uORB/topics/mavlink_log.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;
/* Mavlink log uORB handle */
static orb_advert_t mavlink_log_pub = nullptr;
static orb_advert_t power_button_state_pub = nullptr;
/* flags */
static volatile bool thread_should_exit = false; /**< daemon exit flag */
static volatile bool thread_running = false; /**< daemon status flag */
static struct vehicle_status_s status = {};
static struct actuator_armed_s armed = {};
static struct vehicle_status_flags_s status_flags = {};
/**
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
*/
void *commander_low_prio_loop(void *arg);
static void answer_command(const vehicle_command_s &cmd, unsigned result,
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub);
static int power_button_state_notification_cb(board_power_button_state_notification_e request)
{
// Note: this can be called from IRQ handlers, so we publish a message that will be handled
// on the main thread of commander.
power_button_state_s button_state{};
button_state.timestamp = hrt_absolute_time();
const int ret = PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING;
switch (request) {
case PWR_BUTTON_IDEL:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_IDEL;
break;
case PWR_BUTTON_DOWN:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_DOWN;
break;
case PWR_BUTTON_UP:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_UP;
break;
case PWR_BUTTON_REQUEST_SHUT_DOWN:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_REQUEST_SHUTDOWN;
break;
default:
PX4_ERR("unhandled power button state: %i", (int)request);
return ret;
}
if (power_button_state_pub != nullptr) {
orb_publish(ORB_ID(power_button_state), power_button_state_pub, &button_state);
} else {
PX4_ERR("power_button_state_pub not properly initialized");
}
return ret;
}
static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2 = NAN, float param3 = NAN,
float param4 = NAN, float param5 = NAN, float param6 = NAN, float param7 = NAN)
{
vehicle_command_s vcmd{};
vcmd.param1 = param1;
vcmd.param2 = param2;
vcmd.param3 = param3;
vcmd.param4 = param4;
vcmd.param5 = (double)param5;
vcmd.param6 = (double)param6;
vcmd.param7 = param7;
vcmd.command = cmd;
uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
vcmd.source_system = vehicle_status_sub.get().system_id;
vcmd.target_system = vehicle_status_sub.get().system_id;
vcmd.source_component = vehicle_status_sub.get().component_id;
vcmd.target_component = vehicle_status_sub.get().component_id;
vcmd.timestamp = hrt_absolute_time();
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
return vcmd_pub.publish(vcmd);
}
extern "C" __EXPORT int commander_main(int argc, char *argv[])
{
if (argc < 2) {
Commander::print_usage("missing command");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
PX4_INFO("already running");
/* this is not an error */
return 0;
}
thread_should_exit = false;
Commander::main(argc, argv);
unsigned constexpr max_wait_us = 1000000;
unsigned constexpr max_wait_steps = 2000;
unsigned i;
for (i = 0; i < max_wait_steps; i++) {
px4_usleep(max_wait_us / max_wait_steps);
if (thread_running) {
break;
}
}
return !(i < max_wait_steps);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
PX4_WARN("already stopped");
return 0;
}
thread_should_exit = true;
Commander::main(argc, argv);
PX4_INFO("terminated.");
return 0;
}
/* commands needing the app to run below */
if (!thread_running) {
PX4_ERR("not started");
return 1;
}
if (!strcmp(argv[1], "status")) {
PX4_INFO("arming: %s", arming_state_names[status.arming_state]);
return 0;
}
if (!strcmp(argv[1], "calibrate")) {
if (argc > 2) {
if (!strcmp(argv[2], "gyro")) {
// gyro calibration: param1 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f);
} else if (!strcmp(argv[2], "mag")) {
// magnetometer calibration: param2 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f);
} else if (!strcmp(argv[2], "accel")) {
// accelerometer calibration: param5 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f);
} else if (!strcmp(argv[2], "level")) {
// board level calibration: param5 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.f, 0.f, 0.f);
} else if (!strcmp(argv[2], "airspeed")) {
// airspeed calibration: param6 = 2
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.f, 2.f, 0.f);
} else if (!strcmp(argv[2], "esc")) {
// ESC calibration: param7 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f);
} else {
PX4_ERR("argument %s unsupported.", argv[2]);
return 1;
}
return 0;
} else {
PX4_ERR("missing argument");
}
}
if (!strcmp(argv[1], "check")) {
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, true, true, 30_s);
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, safety_s{},
PreFlightCheck::arm_requirements_t{}, status);
PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
return 0;
}
if (!strcmp(argv[1], "arm")) {
float param2 = 0.f;
// 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
if (argc > 2 && !strcmp(argv[2], "-f")) {
param2 = 21196.f;
}
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.f, param2);
return 0;
}
if (!strcmp(argv[1], "disarm")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.f, 0.f);
return 0;
}
if (!strcmp(argv[1], "takeoff")) {
// switch to takeoff mode and arm
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.f, 0.f);
return 0;
}
if (!strcmp(argv[1], "land")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_LAND);
return 0;
}
if (!strcmp(argv[1], "transition")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
(float)(status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ?
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC));
return 0;
}
if (!strcmp(argv[1], "mode")) {
if (argc > 2) {
if (!strcmp(argv[2], "manual")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_MANUAL);
} else if (!strcmp(argv[2], "altctl")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ALTCTL);
} else if (!strcmp(argv[2], "posctl")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL);
} else if (!strcmp(argv[2], "auto:mission")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION);
} else if (!strcmp(argv[2], "auto:loiter")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER);
} else if (!strcmp(argv[2], "auto:rtl")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_RTL);
} else if (!strcmp(argv[2], "acro")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ACRO);
} else if (!strcmp(argv[2], "offboard")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_OFFBOARD);
} else if (!strcmp(argv[2], "stabilized")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_STABILIZED);
} else if (!strcmp(argv[2], "rattitude")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_RATTITUDE);
} else if (!strcmp(argv[2], "auto:takeoff")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF);
} else if (!strcmp(argv[2], "auto:land")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_LAND);
} else if (!strcmp(argv[2], "auto:precland")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND);
} else {
PX4_ERR("argument %s unsupported.", argv[2]);
}
return 0;
} else {
PX4_ERR("missing argument");
}
}
if (!strcmp(argv[1], "lockdown")) {
if (argc < 3) {
Commander::print_usage("not enough arguments, missing [on, off]");
return 1;
}
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
strcmp(argv[2], "off") ? 2.0f : 0.0f /* lockdown */, 0.0f);
return (ret ? 0 : 1);
}
Commander::print_usage("unrecognized command");
return 1;
}
bool Commander::shutdown_if_allowed()
{
return TRANSITION_DENIED != arming_state_transition(&status, _safety, vehicle_status_s::ARMING_STATE_SHUTDOWN,
&armed, false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, _arm_requirements,
hrt_elapsed_time(&_boot_timestamp));
}
transition_result_t
Commander::arm_disarm(bool arm, bool run_preflight_checks, orb_advert_t *mavlink_log_pub_local, const char *armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// 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,
_safety,
arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY,
&armed,
run_preflight_checks,
mavlink_log_pub_local,
&status_flags,
_arm_requirements,
hrt_elapsed_time(&_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;
}
Commander::Commander() :
ModuleParams(nullptr),
_failure_detector(this)
{
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
_land_detector.landed = true;
// XXX for now just set sensors as initialized
status_flags.condition_system_sensors_initialized = true;
// We want to accept RC inputs as default
status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
status.nav_state_timestamp = hrt_absolute_time();
status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
/* mark all signals lost as long as they haven't been found */
status.rc_signal_lost = true;
status_flags.offboard_control_signal_lost = true;
status.data_link_lost = true;
status_flags.condition_power_input_valid = true;
status_flags.rc_calibration_valid = true;
// default for vtol is rotary wing
_vtol_status.vtol_in_rw_mode = true;
}
bool
Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_s &cmd, actuator_armed_s *armed_local,
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_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,
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, "Reposition command rejected");
}
} 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;
// We ignore base_mode & VEHICLE_MODE_FLAG_SAFETY_ARMED because
// the command VEHICLE_CMD_COMPONENT_ARM_DISARM should be used
// instead according to the latest mavlink spec.
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, 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, status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
/* POSCTL */
reset_posvel_validity(&_status_changed);
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_POSCTL, status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
if (custom_sub_mode > 0) {
reset_posvel_validity(&_status_changed);
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, status_flags,
&_internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
if (status_flags.condition_auto_mission_available) {
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, status_flags,
&_internal_state);
} else {
main_ret = TRANSITION_DENIED;
}
break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_RTL, 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, 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, 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, status_flags,
&_internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND:
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_PRECLAND, 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, 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, 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, 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, status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
reset_posvel_validity(&_status_changed);
/* OFFBOARD */
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_OFFBOARD, 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, 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, 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, status_flags, &_internal_state);
} else {
/* MANUAL */
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &_internal_state);
}
}
}
if ((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, "Arming command rejected");
}
}
}
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);
// Arm/disarm is enforced when param2 is set to a magic number.
const bool enforce = (static_cast<int>(roundf(cmd.param2)) == 21196);
if (!enforce) {
if (!_land_detector.landed && !is_ground_rover(&status)) {
if (cmd_arms) {
if (armed_local->armed) {
mavlink_log_warning(&mavlink_log_pub, "Arming denied! Already armed");
} else {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed");
}
} else {
mavlink_log_critical(&mavlink_log_pub, "Disarming denied! Not landed");
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
const bool cmd_from_io = (static_cast<int>(roundf(cmd.param3)) == 1234);
// Flick to inair restore first if this comes from an onboard system and from IO
if (cmd.source_system == status_local->system_id && cmd.source_component == status_local->component_id
&& cmd_from_io && cmd_arms) {
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;
}
const bool throttle_above_low = (_sp_man.z > 0.1f);
const bool throttle_above_center = (_sp_man.z > 0.6f);
if (cmd_arms && throttle_above_center &&
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Throttle not centered");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
if (cmd_arms && throttle_above_low &&
(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)) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Throttle not zero");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
}
}
transition_result_t arming_res = arm_disarm(cmd_arms, !enforce, &mavlink_log_pub, "Arm/Disarm component command");
if (arming_res == TRANSITION_DENIED) {
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() > (_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) && !_home_pub.get().manual_home) {
set_home_position();
}
}
}
}
break;
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)");
if ((int)cmd.param2 <= 0) {
/* reset all commanded failure modes */
warnx("reset all non-flighttermination failsafe commands");
}
} 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 (set_home_position()) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
const double lat = cmd.param5;
const double lon = cmd.param6;
const float alt = cmd.param7;
if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {
const vehicle_local_position_s &local_pos = _local_position_sub.get();
if (local_pos.xy_global && local_pos.z_global) {
/* use specified position */
home_position_s home{};
home.timestamp = hrt_absolute_time();
home.lat = lat;
home.lon = lon;
home.alt = alt;
home.manual_home = true;
home.valid_alt = true;
home.valid_hpos = true;
// update local projection reference including altitude
struct map_projection_reference_s ref_pos;
map_projection_init(&ref_pos, local_pos.ref_lat, local_pos.ref_lon);
map_projection_project(&ref_pos, lat, lon, &home.x, &home.y);
home.z = -(alt - local_pos.ref_alt);
/* mark home position as set */
status_flags.condition_home_position_valid = _home_pub.update(home);
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
}
}
}
break;
case vehicle_command_s::VEHICLE_CMD_NAV_GUIDED_ENABLE: {
transition_result_t res = TRANSITION_DENIED;
if (_internal_state.main_state != commander_state_s::MAIN_STATE_OFFBOARD) {
_main_state_pre_offboard = _internal_state.main_state;
}
if (cmd.param1 > 0.5f) {
res = main_state_transition(*status_local, commander_state_s::MAIN_STATE_OFFBOARD, status_flags, &_internal_state);
if (res == TRANSITION_DENIED) {
print_reject_mode("OFFBOARD");
status_flags.offboard_control_set_by_command = false;
} else {
/* Set flag that offboard was set via command, main state is not overridden by rc */
status_flags.offboard_control_set_by_command = true;
}
} else {
/* If the mavlink command is used to enable or disable offboard control:
* switch back to previous mode when disabling */
res = main_state_transition(*status_local, _main_state_pre_offboard, status_flags, &_internal_state);
status_flags.offboard_control_set_by_command = false;
}
if (res == TRANSITION_DENIED) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH: {
/* switch to RTL which ends the mission */
if (TRANSITION_CHANGED == main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
&_internal_state)) {
mavlink_and_console_log_info(&mavlink_log_pub, "Returning to launch");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&mavlink_log_pub, "Return to launch denied");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
/* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, status_flags,
&_internal_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_TAKEOFF) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&mavlink_log_pub, "Takeoff denied! Please disarm and retry");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {
if (TRANSITION_CHANGED == main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
&_internal_state)) {
mavlink_and_console_log_info(&mavlink_log_pub, "Landing at current position");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&mavlink_log_pub, "Landing denied! Please land manually");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_NAV_PRECLAND: {
if (TRANSITION_CHANGED == main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_PRECLAND,
status_flags, &_internal_state)) {
mavlink_and_console_log_info(&mavlink_log_pub, "Precision landing");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&mavlink_log_pub, "Precision landing denied! Please land manually");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_MISSION_START: {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
// check if current mission and first item are valid
if (status_flags.condition_auto_mission_available) {
// requested first mission item valid
if (PX4_ISFINITE(cmd.param1) && (cmd.param1 >= -1) && (cmd.param1 < _mission_result_sub.get().seq_total)) {
// switch to AUTO_MISSION and ARM
if ((TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, status_flags,
&_internal_state))
&& (TRANSITION_DENIED != arm_disarm(true, true, &mavlink_log_pub, "Mission start command"))) {
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, "Mission start denied");
}
}
} else {
mavlink_log_critical(&mavlink_log_pub, "Mission start denied! No valid mission");
}
}
break;
case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: {
// if no high latency telemetry exists send a failed acknowledge
if (_high_latency_datalink_heartbeat > _boot_timestamp) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_FAILED;
mavlink_log_critical(&mavlink_log_pub, "Control high latency failed! Telemetry unavailable");
}
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
// Switch to orbit state and let the orbit task handle the command further
if (TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags,
&_internal_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_MOTOR_TEST:
cmd_result = handle_command_motor_test(cmd);
break;
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
// do nothing for autopilot
if (((int)(cmd.param1)) == 0) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
break;
}
if (shutdown_if_allowed()) {
bool shutdown_ret_val = PX4_ERROR;
if (((int)(cmd.param1)) == 1) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
px4_usleep(200000);
// reboot
shutdown_ret_val = px4_shutdown_request(true, false);
} else if (((int)(cmd.param1)) == 2) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
px4_usleep(200000);
// shutdown
shutdown_ret_val = px4_shutdown_request(false, false);