Commander.hpp 7.97 KiB
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#ifndef COMMANDER_HPP_
#define COMMANDER_HPP_
#include "state_machine_helper.h"
#include "failure_detector/FailureDetector.hpp"
#include <lib/controllib/blocks.hpp>
#include <lib/mathlib/mathlib.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <systemlib/hysteresis/hysteresis.h>
// publications
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
// subscriptions
#include <uORB/Subscription.hpp>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
using math::constrain;
using uORB::Publication;
using uORB::Subscription;
using namespace time_literals;
class Commander : public ModuleBase<Commander>, public ModuleParams
{
public:
Commander();
~Commander();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static Commander *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
void enable_hil();
// TODO: only temporarily static until low priority thread is removed
static bool preflight_check(bool report);
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::COM_HOME_H_T>) _home_eph_threshold,
(ParamFloat<px4::params::COM_HOME_V_T>) _home_epv_threshold,
(ParamFloat<px4::params::COM_POS_FS_EPH>) _eph_threshold,
(ParamFloat<px4::params::COM_POS_FS_EPV>) _epv_threshold,
(ParamFloat<px4::params::COM_VEL_FS_EVH>) _evh_threshold,
(ParamInt<px4::params::COM_POS_FS_DELAY>) _failsafe_pos_delay,
(ParamInt<px4::params::COM_POS_FS_PROB>) _failsafe_pos_probation,
(ParamInt<px4::params::COM_POS_FS_GAIN>) _failsafe_pos_gain,
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout
)
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
const int64_t POSVEL_PROBATION_MAX = 100_s; /**< maximum probation duration (usec) */
hrt_abstime _last_gpos_fail_time_us{0}; /**< Last time that the global position validity recovery check failed (usec) */
hrt_abstime _last_lpos_fail_time_us{0}; /**< Last time that the local position validity recovery check failed (usec) */
hrt_abstime _last_lvel_fail_time_us{0}; /**< Last time that the local velocity validity recovery check failed (usec) */
// Probation times for position and velocity validity checks to pass if failed
hrt_abstime _gpos_probation_time_us = POSVEL_PROBATION_MIN;
hrt_abstime _lpos_probation_time_us = POSVEL_PROBATION_MIN;
hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;
/* class variables used to check for navigation failure after takeoff */
hrt_abstime _time_at_takeoff{0}; /**< last time we were on the ground */
hrt_abstime _time_last_innov_pass{0}; /**< last time velocity or position innovations passed */
bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
FailureDetector _failure_detector;
bool _failure_detector_termination_printed{false};
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
orb_advert_t *command_ack_pub, bool *changed);
bool set_home_position(); bool set_home_position_alt_only();
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
// Enable override (manual reversion mode) on the system
transition_result_t set_main_state_override_on(const vehicle_status_s &status, bool *changed);
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
bool *changed);
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
bool *validity_changed);
void reset_posvel_validity(bool *changed);
void mission_init();
/**
* Update the telemetry status and the corresponding status variables.
* Perform system checks when new telemetry link connected.
*/
void poll_telemetry_status();
/**
* Checks the status of all available data links and handles switching between different system telemetry states.
*/
void data_link_checks(int32_t highlatencydatalink_loss_timeout, int32_t highlatencydatalink_regain_timeout,
int32_t datalink_loss_timeout, int32_t datalink_regain_timeout, bool *status_changed);
// telemetry variables
struct telemetry_data {
int subscriber = -1;
uint64_t last_heartbeat = 0u;
uint64_t last_dl_loss = 0u;
bool preflight_checks_reported = false;
bool lost = true;
bool high_latency = false;
} _telemetry[ORB_MULTI_MAX_INSTANCES];
void estimator_check(bool *status_changed);
int _battery_sub{-1};
uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
float _battery_current{0.0f};
void battery_status_check();
// Subscriptions
Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
Subscription<iridiumsbd_status_s> _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
Subscription<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
Subscription<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
Subscription<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
Publication<home_position_s> _home_pub{ORB_ID(home_position)};
orb_advert_t _status_pub{nullptr};
};
#endif /* COMMANDER_HPP_ */