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564 lines
20 KiB
564 lines
20 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch> |
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* Julian Oes <joes@student.ethz.ch> |
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* |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/* @file State machine helper functions implementations */ |
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#include <stdio.h> |
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#include "state_machine_helper.h" |
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#include <uORB/uORB.h> |
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#include <uORB/topics/vehicle_status.h> |
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#include <systemlib/systemlib.h> |
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#include <arch/board/up_hrt.h> |
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static const char* system_state_txt[] = { |
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"SYSTEM_STATE_PREFLIGHT", |
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"SYSTEM_STATE_STANDBY", |
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"SYSTEM_STATE_GROUND_READY", |
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"SYSTEM_STATE_MANUAL", |
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"SYSTEM_STATE_STABILIZED", |
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"SYSTEM_STATE_AUTO", |
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"SYSTEM_STATE_MISSION_ABORT", |
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"SYSTEM_STATE_EMCY_LANDING", |
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"SYSTEM_STATE_EMCY_CUTOFF", |
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"SYSTEM_STATE_GROUND_ERROR", |
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"SYSTEM_STATE_REBOOT", |
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}; |
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void do_state_update(int status_pub, struct vehicle_status_s *current_status, commander_state_machine_t new_state) |
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{ |
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int invalid_state = false; |
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switch (new_state) { |
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case SYSTEM_STATE_MISSION_ABORT: { |
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/* Indoor or outdoor */ |
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uint8_t flight_environment_parameter = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); |
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if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING); |
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} else { |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF); |
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} |
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return; |
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} |
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break; |
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case SYSTEM_STATE_EMCY_LANDING: |
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/* Tell the controller to land */ |
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//TODO: add emcy landing code here |
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fprintf(stderr, "[commander] EMERGENCY LANDING!\n"); |
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//global_data_send_mavlink_statustext_message_out("Commander: state: emergency landing", MAV_SEVERITY_INFO); |
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break; |
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case SYSTEM_STATE_EMCY_CUTOFF: |
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/* Tell the controller to cutoff the motors (thrust = 0), make sure that this is not overwritten by another app and stays at 0 */ |
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//TODO: add emcy cutoff code here |
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fprintf(stderr, "[commander] EMERGENCY MOTOR CUTOFF!\n"); |
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//global_data_send_mavlink_statustext_message_out("Commander: state: emergency cutoff", MAV_SEVERITY_INFO); |
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break; |
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case SYSTEM_STATE_GROUND_ERROR: |
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fprintf(stderr, "[commander] GROUND ERROR, locking down propulsion system\n"); |
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//global_data_send_mavlink_statustext_message_out("Commander: state: ground error", MAV_SEVERITY_INFO); |
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break; |
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case SYSTEM_STATE_PREFLIGHT: |
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//global_data_send_mavlink_statustext_message_out("Commander: state: preflight", MAV_SEVERITY_INFO); |
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break; |
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case SYSTEM_STATE_REBOOT: |
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usleep(500000); |
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reboot(); |
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break; |
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case SYSTEM_STATE_STANDBY: |
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//global_data_send_mavlink_statustext_message_out("Commander: state: standby", MAV_SEVERITY_INFO); |
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break; |
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case SYSTEM_STATE_GROUND_READY: |
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//global_data_send_mavlink_statustext_message_out("Commander: state: armed", MAV_SEVERITY_INFO); |
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//if in manual mode switch to manual state |
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// if (current_status->remote_manual) { |
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// printf("[commander] manual mode\n"); |
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// do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL); |
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// return; |
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// } |
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break; |
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case SYSTEM_STATE_AUTO: |
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//global_data_send_mavlink_statustext_message_out("Commander: state: auto", MAV_SEVERITY_INFO); |
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break; |
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case SYSTEM_STATE_STABILIZED: |
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//global_data_send_mavlink_statustext_message_out("Commander: state: stabilized", MAV_SEVERITY_INFO); |
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break; |
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case SYSTEM_STATE_MANUAL: |
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//global_data_send_mavlink_statustext_message_out("Commander: state: manual", MAV_SEVERITY_INFO); |
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break; |
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default: |
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invalid_state = true; |
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break; |
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} |
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if (invalid_state == false) { |
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//publish the new state |
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current_status->state_machine = new_state; |
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current_status->counter++; |
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current_status->timestamp = hrt_absolute_time(); |
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orb_publish(ORB_ID(vehicle_status), status_pub, current_status); |
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printf("[commander] new state: %s\n", system_state_txt[new_state]); |
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} |
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} |
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/* |
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* Private functions, update the state machine |
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*/ |
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void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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fprintf(stderr, "[commander] EMERGENCY HANDLER\n"); |
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/* Depending on the current state go to one of the error states */ |
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if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR); |
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} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) { |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); |
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} else { |
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fprintf(stderr, "[commander] Unknown system state: #%d\n", current_status->state_machine); |
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} |
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} |
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void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors |
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{ |
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if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself |
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state_machine_emergency_always_critical(status_pub, current_status); |
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} else { |
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//global_data_send_mavlink_statustext_message_out("[commander] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL); |
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} |
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} |
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// /* |
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// * Wrapper functions (to be used in the commander), all functions assume lock on current_status |
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// */ |
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// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR |
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// * |
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// * START SUBSYSTEM/EMERGENCY FUNCTIONS |
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// * */ |
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// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) |
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// { |
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// current_status->onboard_control_sensors_present |= 1 << *subsystem_type; |
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// current_status->counter++; |
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// current_status->timestamp = hrt_absolute_time(); |
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// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); |
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// } |
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// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) |
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// { |
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// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); |
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// current_status->counter++; |
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// current_status->timestamp = hrt_absolute_time(); |
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// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); |
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// /* if a subsystem was removed something went completely wrong */ |
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// switch (*subsystem_type) { |
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// case SUBSYSTEM_TYPE_GYRO: |
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// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_ACC: |
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// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_MAG: |
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// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_GPS: |
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// { |
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// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; |
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// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { |
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// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency(status_pub, current_status); |
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// } |
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// } |
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// break; |
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// default: |
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// break; |
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// } |
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// } |
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// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) |
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// { |
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// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; |
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// current_status->counter++; |
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// current_status->timestamp = hrt_absolute_time(); |
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// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); |
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// } |
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// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) |
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// { |
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// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); |
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// current_status->counter++; |
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// current_status->timestamp = hrt_absolute_time(); |
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// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); |
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// /* if a subsystem was disabled something went completely wrong */ |
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// switch (*subsystem_type) { |
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// case SUBSYSTEM_TYPE_GYRO: |
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// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_ACC: |
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// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_MAG: |
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// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_GPS: |
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// { |
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// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); |
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// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { |
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// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); |
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// state_machine_emergency(status_pub, current_status); |
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// } |
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// } |
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// break; |
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// default: |
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// break; |
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// } |
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// } |
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// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) |
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// { |
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// current_status->onboard_control_sensors_health |= 1 << *subsystem_type; |
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// current_status->counter++; |
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// current_status->timestamp = hrt_absolute_time(); |
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// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); |
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// switch (*subsystem_type) { |
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// case SUBSYSTEM_TYPE_GYRO: |
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// //TODO state machine change (recovering) |
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// break; |
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// case SUBSYSTEM_TYPE_ACC: |
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// //TODO state machine change |
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// break; |
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// case SUBSYSTEM_TYPE_MAG: |
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// //TODO state machine change |
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// break; |
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// case SUBSYSTEM_TYPE_GPS: |
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// //TODO state machine change |
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// break; |
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// default: |
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// break; |
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// } |
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// } |
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// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) |
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// { |
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// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type); |
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// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type); |
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// current_status->counter++; |
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// current_status->timestamp = hrt_absolute_time(); |
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// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); |
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// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */ |
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// switch (*subsystem_type) { |
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// case SUBSYSTEM_TYPE_GYRO: |
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// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL); |
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// if (previosly_healthy) //only throw emergency if previously healthy |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_ACC: |
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// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL); |
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// if (previosly_healthy) //only throw emergency if previously healthy |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_MAG: |
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// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL); |
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// if (previosly_healthy) //only throw emergency if previously healthy |
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// state_machine_emergency_always_critical(status_pub, current_status); |
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// break; |
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// case SUBSYSTEM_TYPE_GPS: |
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// // //TODO: remove this block |
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// // break; |
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// // /////////////////// |
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// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL); |
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// // printf("previosly_healthy = %u\n", previosly_healthy); |
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// if (previosly_healthy) //only throw emergency if previously healthy |
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// state_machine_emergency(status_pub, current_status); |
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// break; |
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// default: |
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// break; |
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// } |
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// } |
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/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ |
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void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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/* Depending on the current state switch state */ |
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if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY); |
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} |
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} |
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void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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/* Depending on the current state switch state */ |
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if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) { |
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state_machine_emergency(status_pub, current_status); |
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} |
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} |
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void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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if (current_status->state_machine == SYSTEM_STATE_STANDBY) { |
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printf("[commander] arming\n"); |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); |
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} /*else if (current_status->state_machine == SYSTEM_STATE_AUTO) { |
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printf("[commander] landing\n"); |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); |
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}*/ |
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} |
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void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { |
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printf("[commander] going standby\n"); |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY); |
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} else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { |
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printf("[commander] MISSION ABORT!\n"); |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY); |
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} |
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} |
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void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { |
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printf("[commander] manual mode\n"); |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL); |
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} |
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} |
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void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { |
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printf("[commander] stabilized mode\n"); |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STABILIZED); |
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} |
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} |
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void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status) |
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{ |
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if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { |
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printf("[commander] auto mode\n"); |
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do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_AUTO); |
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} |
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} |
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uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode) |
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{ |
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commander_state_machine_t current_system_state = current_status->state_machine; |
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printf("in update state request\n"); |
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uint8_t ret = 1; |
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/* Switch on HIL if in standby */ |
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if ((current_system_state == SYSTEM_STATE_STANDBY) && (mode & MAV_MODE_FLAG_HIL_ENABLED)) { |
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/* Enable HIL on request */ |
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current_status->mode |= MAV_MODE_FLAG_HIL_ENABLED; |
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} |
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/* NEVER actually switch off HIL without reboot */ |
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if ((current_status->mode & MAV_MODE_FLAG_HIL_ENABLED) && !(mode & MAV_MODE_FLAG_HIL_ENABLED)) { |
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fprintf(stderr, "[commander] DENYING request to switch of HIL. Please power cycle (safety reasons)\n"); |
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ret = ERROR; |
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} |
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//TODO: clarify mapping between mavlink enum MAV_MODE and the state machine, then add more decisions to the switch (see also the system_state_loop function in mavlink.c) |
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switch (mode) { |
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case MAV_MODE_MANUAL_ARMED: //= SYSTEM_STATE_ARMED |
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if (current_system_state == SYSTEM_STATE_STANDBY) { |
|
/* Set armed flag */ |
|
current_status->mode |= MAV_MODE_FLAG_SAFETY_ARMED; |
|
/* Set manual input enabled flag */ |
|
current_status->mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; |
|
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); |
|
ret = OK; |
|
} |
|
|
|
break; |
|
|
|
case MAV_MODE_MANUAL_DISARMED: |
|
if (current_system_state == SYSTEM_STATE_GROUND_READY) { |
|
/* Clear armed flag, leave manual input enabled */ |
|
current_status->mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; |
|
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY); |
|
ret = OK; |
|
} |
|
|
|
break; |
|
|
|
default: |
|
break; |
|
} |
|
|
|
#warning STATE MACHINE IS INCOMPLETE HERE |
|
|
|
// if(ret != 0) //Debug |
|
// { |
|
// strcpy(mavlink_statustext_msg_content.values[0].string_value, "Commander: command rejected"); |
|
// global_data_send_mavlink_message_out(&mavlink_statustext_msg_content); |
|
// } |
|
|
|
return ret; |
|
} |
|
|
|
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations |
|
{ |
|
commander_state_machine_t current_system_state = current_status->state_machine; |
|
|
|
uint8_t ret = 1; |
|
|
|
switch (custom_mode) { |
|
case SYSTEM_STATE_GROUND_READY: |
|
break; |
|
|
|
case SYSTEM_STATE_STANDBY: |
|
break; |
|
|
|
case SYSTEM_STATE_REBOOT: |
|
printf("try to reboot\n"); |
|
|
|
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) { |
|
printf("system will reboot\n"); |
|
//global_data_send_mavlink_statustext_message_out("Rebooting autopilot.. ", MAV_SEVERITY_INFO); |
|
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_REBOOT); |
|
ret = 0; |
|
} |
|
|
|
break; |
|
|
|
case SYSTEM_STATE_AUTO: |
|
printf("try to switch to auto/takeoff\n"); |
|
|
|
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) { |
|
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_AUTO); |
|
printf("state: auto\n"); |
|
ret = 0; |
|
} |
|
|
|
break; |
|
|
|
case SYSTEM_STATE_MANUAL: |
|
printf("try to switch to manual\n"); |
|
|
|
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) { |
|
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL); |
|
printf("state: manual\n"); |
|
ret = 0; |
|
} |
|
|
|
break; |
|
|
|
default: |
|
break; |
|
} |
|
|
|
return ret; |
|
} |
|
|
|
|