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px4_autopilot/apps/commander/commander.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* 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.
*
* @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>
*
*/
#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 <string.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.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/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include "calibration_routines.h"
PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
#include <systemlib/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 0.75f
#define STICK_THRUST_RANGE 1.0f
#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_HYSTERIS_TIME_MS 5000
#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
/* 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 unsigned int failsafe_lowlevel_timeout_ms;
static bool thread_should_exit = false; /**< daemon exit flag */
static bool thread_running = false; /**< daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
/* pthread loops */
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 *status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
static void do_rc_calibration(int status_pub, struct vehicle_status_s *status);
static void do_accel_calibration(int status_pub, struct vehicle_status_s *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(float a[], int n);
static int buzzer_init()
{
buzzer = open("/dev/tone_alarm", O_WRONLY);
if (buzzer < 0) {
warnx("Buzzer: open fail\n");
return ERROR;
}
return 0;
}
static void buzzer_deinit()
{
close(buzzer);
}
static int led_init()
{
leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
warnx("LED: open fail\n");
return ERROR;
}
if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
warnx("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;
}
void tune_confirm(void)
{
ioctl(buzzer, TONE_SET_ALARM, 3);
}
void tune_error(void)
{
ioctl(buzzer, TONE_SET_ALARM, 4);
}
void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
{
if (current_status.offboard_control_signal_lost) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
return;
}
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp;
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
/* set parameters */
float p = sp.roll;
param_set(param_find("TRIM_ROLL"), &p);
p = sp.pitch;
param_set(param_find("TRIM_PITCH"), &p);
p = sp.yaw;
param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
}
mavlink_log_info(mavlink_fd, "trim calibration done");
}
void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
{
/* set to mag calibration mode */
status->flag_preflight_mag_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
struct mag_report mag;
/* 45 seconds */
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 2000 values */
const unsigned int calibration_maxcount = 500;
unsigned int calibration_counter = 0;
/* limit update rate to get equally spaced measurements over time (in ms) */
orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
// XXX old cal
// * FLT_MIN is not the most negative float number,
// * but the smallest number by magnitude float can
// * represent. Use -FLT_MAX to initialize the most
// * negative number
// float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
// float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
/* erase old calibration */
struct mag_scale mscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set scale / offsets for mag");
mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag");
}
/* calibrate range */
if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
warnx("failed to calibrate scale");
}
close(fd);
/* calibrate offsets */
// uint64_t calibration_start = hrt_absolute_time();
uint64_t axis_deadline = hrt_absolute_time();
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
const char axislabels[3] = { 'X', 'Y', 'Z'};
int axis_index = -1;
float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
if (x == NULL || y == NULL || z == NULL) {
warnx("mag cal failed: out of memory");
mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
warnx("x:%p y:%p z:%p\n", x, y, z);
return;
}
tune_confirm();
sleep(2);
tune_confirm();
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
/* user guidance */
if (hrt_absolute_time() >= axis_deadline &&
axis_index < 3) {
axis_index++;
char buf[50];
sprintf(buf, "Please rotate around %c", axislabels[axis_index]);
mavlink_log_info(mavlink_fd, buf);
tune_confirm();
axis_deadline += calibration_interval / 3;
}
if (!(axis_index < 3)) {
break;
}
// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
// if ((axis_left / 1000) == 0 && axis_left > 0) {
// char buf[50];
// sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
// mavlink_log_info(mavlink_fd, buf);
// }
if (poll(fds, 1, 1000)) {
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
x[calibration_counter] = mag.x;
y[calibration_counter] = mag.y;
z[calibration_counter] = mag.z;
/* get min/max values */
// if (mag.x < mag_min[0]) {
// mag_min[0] = mag.x;
// }
// else if (mag.x > mag_max[0]) {
// mag_max[0] = mag.x;
// }
// if (raw.magnetometer_ga[1] < mag_min[1]) {
// mag_min[1] = raw.magnetometer_ga[1];
// }
// else if (raw.magnetometer_ga[1] > mag_max[1]) {
// mag_max[1] = raw.magnetometer_ga[1];
// }
// if (raw.magnetometer_ga[2] < mag_min[2]) {
// mag_min[2] = raw.magnetometer_ga[2];
// }
// else if (raw.magnetometer_ga[2] > mag_max[2]) {
// mag_max[2] = raw.magnetometer_ga[2];
// }
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "mag cal canceled");
break;
}
}
float sphere_x;
float sphere_y;
float sphere_z;
float sphere_radius;
sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
free(x);
free(y);
free(z);
if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) {
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale;
if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to get scale / offsets for mag");
mscale.x_offset = sphere_x;
mscale.y_offset = sphere_y;
mscale.z_offset = sphere_z;
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
warnx("Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
warnx("Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
warnx("Setting Z mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
warnx("Setting X mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
warnx("Setting Y mag scale failed!\n");
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
warnx("Setting Z mag scale failed!\n");
}
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_info(mavlink_fd, "FAILED storing calibration");
}
warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
char buf[52];
sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
(double)mscale.y_offset, (double)mscale.z_offset);
mavlink_log_info(mavlink_fd, buf);
sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
(double)mscale.y_scale, (double)mscale.z_scale);
mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "mag calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN)");
}
/* disable calibration mode */
status->flag_preflight_mag_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
close(sub_mag);
}
void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
{
/* set to gyro calibration mode */
status->flag_preflight_gyro_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
const int calibration_count = 5000;
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};
/* set offsets to zero */
int fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
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_rad_s[0];
gyro_offset[1] += raw.gyro_rad_s[1];
gyro_offset[2] += raw.gyro_rad_s[2];
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "gyro calibration aborted, 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;
/* exit gyro calibration mode */
status->flag_preflight_gyro_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))
|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))
|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!");
}
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
1.0f,
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
// char buf[50];
// sprintf(buf, "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, buf);
mavlink_log_info(mavlink_fd, "gyro calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
}
close(sub_sensor_combined);
}
void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
{
/* announce change */
mavlink_log_info(mavlink_fd, "keep it level and still");
/* set to accel calibration mode */
status->flag_preflight_accel_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
const int calibration_count = 2500;
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int calibration_counter = 0;
float accel_offset[3] = {0.0f, 0.0f, 0.0f};
int fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
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);
accel_offset[0] += raw.accelerometer_m_s2[0];
accel_offset[1] += raw.accelerometer_m_s2[1];
accel_offset[2] += raw.accelerometer_m_s2[2];
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "acceleration calibration aborted");
return;
}
}
accel_offset[0] = accel_offset[0] / calibration_count;
accel_offset[1] = accel_offset[1] / calibration_count;
accel_offset[2] = accel_offset[2] / calibration_count;
if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]);
/* if length is correct, zero results here */
accel_offset[2] = accel_offset[2] + total_len;
float scale = 9.80665f / total_len;
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))
|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))
|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))
|| param_set(param_find("SENS_ACC_XSCALE"), &(scale))
|| param_set(param_find("SENS_ACC_YSCALE"), &(scale))
|| param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!");
}
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offset[0],
scale,
accel_offset[1],
scale,
accel_offset[2],
scale,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
//char buf[50];
//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "accel calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)");
}
/* exit accel calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
close(sub_sensor_combined);
}
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 = VEHICLE_CMD_RESULT_UNSUPPORTED;
/* announce command handling */
tune_confirm();
/* supported command handling start */
/* request to set different system mode */
switch (cmd->command) {
case VEHICLE_CMD_DO_SET_MODE: {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
}
}
break;
case VEHICLE_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 = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_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 = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_DENIED;
}
}
}
break;
/* request for an autopilot reboot */
case VEHICLE_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 = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
/* system may return here */
result = VEHICLE_CMD_RESULT_DENIED;
}
}
}
break;
// /* request to land */
// case VEHICLE_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 = VEHICLE_CMD_RESULT_ACCEPTED;
// } }
// break;
//
// /* request to takeoff */
// case VEHICLE_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 = VEHICLE_CMD_RESULT_ACCEPTED;
// }
// }
// break;
//
/* preflight calibration */
case VEHICLE_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, "starting gyro cal");
tune_confirm();
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "finished gyro cal");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING gyro cal");
result = VEHICLE_CMD_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, "starting mag cal");
tune_confirm();
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "finished mag cal");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING mag cal");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
/* zero-altitude pressure calibration */
if ((int)(cmd->param3) == 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, "zero altitude cal. not implemented");
tune_confirm();
} else {
mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
/* trim calibration */
if ((int)(cmd->param4) == 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, "starting trim cal");
tune_confirm();
do_rc_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "finished trim cal");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING trim cal");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
/* accel calibration */
if ((int)(cmd->param5) == 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, "CMD starting accel cal");
tune_confirm();
do_accel_calibration(status_pub, &current_status);
tune_confirm();
mavlink_log_info(mavlink_fd, "CMD finished accel cal");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING accel cal");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
/* none found */
if (!handled) {
//warnx("refusing unsupported calibration request\n");
mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request");
result = VEHICLE_CMD_RESULT_UNSUPPORTED;
}
}
break;
case VEHICLE_CMD_PREFLIGHT_STORAGE: {
if (current_status.flag_system_armed &&
((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
/* do not perform expensive memory tasks on multirotors in flight */
// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed");
} else {
// XXX move this to LOW PRIO THREAD of commander app
/* Read all parameters from EEPROM to RAM */
if (((int)(cmd->param1)) == 0) {
/* read all parameters from EEPROM to RAM */
int read_ret = param_load_default();
if (read_ret == OK) {
//warnx("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "OK loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_log_info(mavlink_fd, "OK no changes in");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_log_info(mavlink_fd, "ERR loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "ERR no param file named");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = VEHICLE_CMD_RESULT_FAILED;
}
} else if (((int)(cmd->param1)) == 1) {
/* write all parameters from RAM to EEPROM */
int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_log_info(mavlink_fd, "OK saved param file");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
if (write_ret < -1) {
mavlink_log_info(mavlink_fd, "ERR params file does not exit:");
mavlink_log_info(mavlink_fd, param_get_default_file());
} else {
mavlink_log_info(mavlink_fd, "ERR writing params to");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = VEHICLE_CMD_RESULT_FAILED;
}
} else {
mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
result = VEHICLE_CMD_RESULT_UNSUPPORTED;
}
}
}
break;
default: {
mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
result = VEHICLE_CMD_RESULT_UNSUPPORTED;
/* announce command rejection */
ioctl(buzzer, TONE_SET_ALARM, 4);
}
break;
}
/* supported command handling stop */
if (result == VEHICLE_CMD_RESULT_FAILED ||
result == VEHICLE_CMD_RESULT_DENIED ||
result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
ioctl(buzzer, TONE_SET_ALARM, 5);
} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
tune_confirm();
}
/* send any requested ACKs */
if (cmd->confirmation > 0) {
/* send acknowledge command */
// XXX TODO
}
}
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;
struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg;
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);
warnx("Subsys changed: %d\n", (int)info.subsystem_type);
/* mark / unmark as present */
if (info.present) {
vstatus->onboard_control_sensors_present |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
}
/* mark / unmark as enabled */
if (info.enabled) {
vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
}
/* mark / unmark as ok */
if (info.ok) {
vstatus->onboard_control_sensors_health |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
}
}
}
close(subsys_sub);
return NULL;
}
/*
* 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(float voltage);
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
float battery_remaining_estimate_voltage(float voltage)
{
float ret = 0;
static param_t bat_volt_empty;
static param_t bat_volt_full;
static param_t bat_n_cells;
static bool initialized = false;
static unsigned int counter = 0;
static float ncells = 3;
// XXX change cells to int (and param to INT32)
if (!initialized) {
bat_volt_empty = param_find("BAT_V_EMPTY");
bat_volt_full = param_find("BAT_V_FULL");
bat_n_cells = param_find("BAT_N_CELLS");
initialized = true;
}
static float chemistry_voltage_empty = 3.2f;
static float chemistry_voltage_full = 4.05f;
if (counter % 100 == 0) {
param_get(bat_volt_empty, &chemistry_voltage_empty);
param_get(bat_volt_full, &chemistry_voltage_full);
param_get(bat_n_cells, &ncells);
}
counter++;
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
/* 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: daemon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* 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().
*/
int commander_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("commander already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
daemon_task = task_spawn("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
4000,
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) {
warnx("\tcommander is running\n");
} else {
warnx("\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;
/* set parameters */
failsafe_lowlevel_timeout_ms = 0;
param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
param_t _param_sys_type = param_find("MAV_TYPE");
/* welcome user */
warnx("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) {
warnx("ERROR: Failed to initialize leds\n");
}
if (buzzer_init() != 0) {
warnx("ERROR: Failed to initialize buzzer\n");
}
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("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;
/* neither manual nor offboard control commands have been received */
current_status.offboard_control_signal_found_once = false;
current_status.rc_signal_found_once = false;
/* mark all signals lost as long as they haven't been found */
current_status.rc_signal_lost = true;
current_status.offboard_control_signal_lost = true;
/* allow manual override initially */
current_status.flag_external_manual_override_ok = true;
/* flag position info as bad, do not allow auto mode */
current_status.flag_vector_flight_mode_ok = false;
/* set battery warning flag */
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
/* 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) {
warnx("ERROR: orb_advertise for topic vehicle_status failed.\n");
exit(ERROR);
}
mavlink_log_info(mavlink_fd, "system is running");
/* create pthreads */
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, &current_status);
/* Start monitoring loop */
uint16_t counter = 0;
uint8_t flight_env;
/* Initialize to 0.0V */
float battery_voltage = 0.0f;
bool battery_voltage_valid = false;
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 manual control data */
int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp_man;
memset(&sp_man, 0, sizeof(sp_man));
/* Subscribe to offboard control data */
int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
struct offboard_control_setpoint_s sp_offboard;
memset(&sp_offboard, 0, sizeof(sp_offboard));
int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
struct vehicle_global_position_s global_position;
memset(&global_position, 0, sizeof(global_position));
uint64_t last_global_position_time = 0;
int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
struct vehicle_local_position_s local_position;
memset(&local_position, 0, sizeof(local_position));
uint64_t last_local_position_time = 0;
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
/* Subscribe to parameters changed topic */
int param_changed_sub = orb_subscribe(ORB_ID(parameter_update));
struct parameter_update_s param_changed;
memset(&param_changed, 0, sizeof(param_changed));
/* subscribe to battery topic */
int battery_sub = orb_subscribe(ORB_ID(battery_status));
struct battery_status_s battery;
memset(&battery, 0, sizeof(battery));
battery.voltage_v = 0.0f;
// 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;
uint64_t start_time = hrt_absolute_time();
uint64_t failsave_ll_start_time = 0;
bool state_changed = true;
bool param_init_forced = true;
while (!thread_should_exit) {
/* Get current values */
bool new_data;
orb_check(sp_man_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
}
orb_check(sp_offboard_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
}
orb_check(sensor_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
}
orb_check(cmd_sub, &new_data);
if (new_data) {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
/* update parameters */
orb_check(param_changed_sub, &new_data);
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
/* update parameters */
if (!current_status.flag_system_armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
}
} else {
warnx("ARMED, rejecting sys type change\n");
}
}
/* update global position estimate */
orb_check(global_position_sub, &new_data);
if (new_data) {
/* position changed */
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
last_global_position_time = global_position.timestamp;
}
/* update local position estimate */
orb_check(local_position_sub, &new_data);
if (new_data) {
/* position changed */
orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
last_local_position_time = local_position.timestamp;
}
/* update battery status */
orb_check(battery_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
battery_voltage = battery.voltage_v;
battery_voltage_valid = true;
/*
* Only update battery voltage estimate if system has
* been running for two and a half seconds.
*/
if (hrt_absolute_time() - start_time > 2500000) {
bat_remain = battery_remaining_estimate_voltage(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 (!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);
tune_confirm();
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0);
}
/* Check battery voltage */
/* write to sys_status */
if (battery_voltage_valid) {
current_status.voltage_battery = battery_voltage;
} else {
current_status.voltage_battery = 0.0f;
}
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (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, "[cmd] WARNING! LOW BATTERY!");
current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING;
}
low_voltage_counter++;
}
/* Critical, this is rather an emergency, kill signal to sdlog and change state machine */
else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (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, "[cmd] EMERGENCY! CRITICAL BATTERY!");
current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
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 */
/*
* Check for valid position information.
*
* If the system has a valid position source from an onboard
* position estimator, it is safe to operate it autonomously.
* The flag_vector_flight_mode_ok flag indicates that a minimum
* set of position measurements is available.
*/
/* store current state to reason later about a state change */
bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok;
bool global_pos_valid = current_status.flag_global_position_valid;
bool local_pos_valid = current_status.flag_local_position_valid;
/* check for global or local position updates, set a timeout of 2s */
if (hrt_absolute_time() - last_global_position_time < 2000000) {
current_status.flag_global_position_valid = true;
// XXX check for controller status and home position as well
} else {
current_status.flag_global_position_valid = false;
}
if (hrt_absolute_time() - last_local_position_time < 2000000) {
current_status.flag_local_position_valid = true;
// XXX check for controller status and home position as well
} else {
current_status.flag_local_position_valid = false;
}
/*
* Consolidate global position and local position valid flags
* for vector flight mode.
*/
if (current_status.flag_local_position_valid ||
current_status.flag_global_position_valid) {
current_status.flag_vector_flight_mode_ok = true;
} else {
current_status.flag_vector_flight_mode_ok = false;
}
/* consolidate state change, flag as changed if required */
if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok ||
global_pos_valid != current_status.flag_global_position_valid ||
local_pos_valid != current_status.flag_local_position_valid) {
state_changed = true;
}
/*
* Mark the position of the first position lock as return to launch (RTL)
* position. The MAV will return here on command or emergency.
*
* Conditions:
*
* 1) The system aquired position lock just now
* 2) The system has not aquired position lock before
* 3) The system is not armed (on the ground)
*/
if (!current_status.flag_valid_launch_position &&
!vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
!current_status.flag_system_armed) {
/* first time a valid position, store it and emit it */
// XXX implement storage and publication of RTL position
current_status.flag_valid_launch_position = true;
current_status.flag_auto_flight_mode_ok = true;
state_changed = true;
}
/* 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
//// warnx("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 */
/* ignore RC signals if in offboard control mode */
if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
/* Start RC state check */
if ((hrt_absolute_time() - sp_man.timestamp) < 100000) {
// /*
// * Check if manual control modes have to be switched
// */
// if (!isfinite(sp_man.manual_mode_switch)) {
// warnx("man mode sw not finite\n");
// /* this switch is not properly mapped, set default */
// if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
// /* assuming a rotary wing, fall back to SAS */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
// current_status.flag_control_attitude_enabled = true;
// current_status.flag_control_rates_enabled = true;
// } else {
// /* assuming a fixed wing, fall back to direct pass-through */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = false;
// }
// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
// /* bottom stick position, set direct mode for vehicles supporting it */
// if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
// /* assuming a rotary wing, fall back to SAS */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
// current_status.flag_control_attitude_enabled = true;
// current_status.flag_control_rates_enabled = true;
// } else {
// /* assuming a fixed wing, set to direct pass-through as requested */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = false;
// }
// } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
// /* top stick position, set SAS for all vehicle types */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
// current_status.flag_control_attitude_enabled = true;
// current_status.flag_control_rates_enabled = true;
// } else {
// /* center stick position, set rate control */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
// current_status.flag_control_attitude_enabled = false;
// current_status.flag_control_rates_enabled = true;
// }
// warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
/*
* Check if manual stability control modes have to be switched
*/
if (!isfinite(sp_man.manual_sas_switch)) {
/* this switch is not properly mapped, set default */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
} else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) {
/* bottom stick position, set altitude hold */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE;
} else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) {
/* top stick position */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE;
} else {
/* center stick position, set default */
current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
}
/*
* Check if left stick is in lower left position --> switch to standby state.
* Do this only for multirotors, not for fixed wing aircraft.
*/
if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
) &&
((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
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 (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) {
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;
}
}
/* check manual override switch - switch to manual or auto mode */
if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
/* enable manual override */
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
/* check auto mode switch for correct mode */
if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
/* enable guided mode */
update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
}
} else {
/* center stick position, set SAS for all vehicle types */
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}
/* handle the case where RC signal was regained */
if (!current_status.rc_signal_found_once) {
current_status.rc_signal_found_once = true;
mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME.");
} else {
if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
}
current_status.rc_signal_cutting_off = false;
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_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) {
/* only complain if the offboard control is NOT active */
current_status.rc_signal_cutting_off = true;
mavlink_log_critical(mavlink_fd, "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_lost_interval = hrt_absolute_time() - sp_man.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;
current_status.failsave_lowlevel = true;
state_changed = true;
}
// if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) {
// publish_armed_status(&current_status);
// }
}
}
/* End mode switch */
/* END RC state check */
/* State machine update for offboard control */
if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) {
if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) {
/* decide about attitude control flag, enable in att/pos/vel */
bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
/* decide about rate control flag, enable it always XXX (for now) */
bool rates_ctrl_enabled = true;
/* set up control mode */
if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) {
current_status.flag_control_attitude_enabled = attitude_ctrl_enabled;
state_changed = true;
}
if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) {
current_status.flag_control_rates_enabled = rates_ctrl_enabled;
state_changed = true;
}
/* handle the case where offboard control signal was regained */
if (!current_status.offboard_control_signal_found_once) {
current_status.offboard_control_signal_found_once = true;
/* enable offboard control, disable manual input */
current_status.flag_control_manual_enabled = false;
current_status.flag_control_offboard_enabled = true;
state_changed = true;
tune_confirm();
mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST");
} else {
if (current_status.offboard_control_signal_lost) {
mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL");
state_changed = true;
tune_confirm();
}
}
current_status.offboard_control_signal_weak = false;
current_status.offboard_control_signal_lost = false;
current_status.offboard_control_signal_lost_interval = 0;
/* arm / disarm on request */
if (sp_offboard.armed && !current_status.flag_system_armed) {
update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
/* switch to stabilized mode = takeoff */
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
} else if (!sp_offboard.armed && current_status.flag_system_armed) {
update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
}
} 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.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) {
current_status.offboard_control_signal_weak = true;
mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!");
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.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp;
/* if the signal is gone for 0.1 seconds, consider it lost */
if (current_status.offboard_control_signal_lost_interval > 100000) {
current_status.offboard_control_signal_lost = true;
current_status.failsave_lowlevel_start_time = hrt_absolute_time();
tune_confirm();
/* kill motors after timeout */
if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) {
current_status.failsave_lowlevel = true;
state_changed = true;
}
}
}
}
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.flag_preflight_gyro_calibration == false &&
current_status.flag_preflight_mag_calibration == false &&
current_status.flag_preflight_accel_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 || state_changed) {
publish_armed_status(&current_status);
orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
state_changed = false;
}
/* 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(sp_man_sub);
close(sp_offboard_sub);
close(global_position_sub);
close(sensor_sub);
close(cmd_sub);
warnx("exiting..\n");
fflush(stdout);
thread_running = false;
return 0;
}