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Commander.cpp
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Commander.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file commander.cpp
*
* Main state machine / business logic
*
*/
#include "Commander.hpp"
/* commander module headers */
#include "Arming/ArmAuthorization/ArmAuthorization.h"
#include "commander_helper.h"
#include "esc_calibration.h"
#define DEFINE_GET_PX4_CUSTOM_MODE
#include "px4_custom_mode.h"
#include "ModeUtil/control_mode.hpp"
#include "ModeUtil/conversions.hpp"
#include <lib/modes/ui.hpp>
#include <lib/modes/standard_modes.hpp>
/* PX4 headers */
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include <lib/geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_platform_common/events.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/external_reset_lockout.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/shutdown.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <systemlib/mavlink_log.h>
#include <math.h>
#include <float.h>
#include <cstring>
#include <matrix/math.hpp>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/tune_control.h>
typedef enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
VEHICLE_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
VEHICLE_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. | */
VEHICLE_MODE_FLAG_ENUM_END = 129, /* | */
} VEHICLE_MODE_FLAG;
// TODO: generate
static constexpr bool operator ==(const actuator_armed_s &a, const actuator_armed_s &b)
{
return (a.armed == b.armed &&
a.prearmed == b.prearmed &&
a.ready_to_arm == b.ready_to_arm &&
a.lockdown == b.lockdown &&
a.manual_lockdown == b.manual_lockdown &&
a.force_failsafe == b.force_failsafe &&
a.in_esc_calibration_mode == b.in_esc_calibration_mode);
}
static_assert(sizeof(actuator_armed_s) == 16, "actuator_armed equality operator review");
#if defined(BOARD_HAS_POWER_CONTROL)
static orb_advert_t tune_control_pub = nullptr;
static void play_power_button_down_tune()
{
// Override any other tunes because power-off sound should have the priority
set_tune_override(tune_control_s::TUNE_ID_POWER_OFF);
}
static void stop_tune()
{
tune_control_s tune_control{};
tune_control.tune_override = true;
tune_control.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}
static orb_advert_t power_button_state_pub = nullptr;
static int power_button_state_notification_cb(board_power_button_state_notification_e request)
{
// Note: this can be called from IRQ handlers, so we publish a message that will be handled
// on the main thread of commander.
power_button_state_s button_state{};
button_state.timestamp = hrt_absolute_time();
const int ret = PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING;
switch (request) {
case PWR_BUTTON_IDEL:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_IDEL;
break;
case PWR_BUTTON_DOWN:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_DOWN;
play_power_button_down_tune();
break;
case PWR_BUTTON_UP:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_UP;
stop_tune();
break;
case PWR_BUTTON_REQUEST_SHUT_DOWN:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_REQUEST_SHUTDOWN;
break;
default:
PX4_ERR("unhandled power button state: %i", (int)request);
return ret;
}
if (power_button_state_pub != nullptr) {
orb_publish(ORB_ID(power_button_state), power_button_state_pub, &button_state);
} else {
PX4_ERR("power_button_state_pub not properly initialized");
}
return ret;
}
#endif // BOARD_HAS_POWER_CONTROL
#ifndef CONSTRAINED_FLASH
static bool send_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN,
const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast<double>(NAN),
const double param6 = static_cast<double>(NAN), const float param7 = NAN)
{
vehicle_command_s vcmd{};
vcmd.command = cmd;
vcmd.param1 = param1;
vcmd.param2 = param2;
vcmd.param3 = param3;
vcmd.param4 = param4;
vcmd.param5 = param5;
vcmd.param6 = param6;
vcmd.param7 = param7;
uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
vcmd.source_system = vehicle_status_sub.get().system_id;
vcmd.target_system = vehicle_status_sub.get().system_id;
vcmd.source_component = vehicle_status_sub.get().component_id;
vcmd.target_component = vehicle_status_sub.get().component_id;
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd.timestamp = hrt_absolute_time();
return vcmd_pub.publish(vcmd);
}
static bool wait_for_vehicle_command_reply(const uint32_t cmd,
uORB::SubscriptionData<vehicle_command_ack_s> &vehicle_command_ack_sub)
{
hrt_abstime start = hrt_absolute_time();
while (hrt_absolute_time() - start < 100_ms) {
if (vehicle_command_ack_sub.update()) {
if (vehicle_command_ack_sub.get().command == cmd) {
return vehicle_command_ack_sub.get().result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
px4_usleep(10000);
}
return false;
}
static bool broadcast_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN,
const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast<double>(NAN),
const double param6 = static_cast<double>(NAN), const float param7 = NAN)
{
vehicle_command_s vcmd{};
vcmd.command = cmd;
vcmd.param1 = param1;
vcmd.param2 = param2;
vcmd.param3 = param3;
vcmd.param4 = param4;
vcmd.param5 = param5;
vcmd.param6 = param6;
vcmd.param7 = param7;
uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
vcmd.source_system = vehicle_status_sub.get().system_id;
vcmd.target_system = 0;
vcmd.source_component = vehicle_status_sub.get().component_id;
vcmd.target_component = 0;
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd.timestamp = hrt_absolute_time();
return vcmd_pub.publish(vcmd);
}
#endif
int Commander::custom_command(int argc, char *argv[])
{
if (!is_running()) {
print_usage("not running");
return 1;
}
#ifndef CONSTRAINED_FLASH
if (!strcmp(argv[0], "calibrate")) {
if (argc > 1) {
if (!strcmp(argv[1], "gyro")) {
// gyro calibration: param1 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.0, 0.0, 0.f);
} else if (!strcmp(argv[1], "mag")) {
if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
// magnetometer quick calibration: VEHICLE_CMD_FIXED_MAG_CAL_YAW
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_FIXED_MAG_CAL_YAW);
} else {
// magnetometer calibration: param2 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.0, 0.0, 0.f);
}
} else if (!strcmp(argv[1], "baro")) {
// baro calibration: param3 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 1.f, 0.f, 0.0, 0.0, 0.f);
} else if (!strcmp(argv[1], "accel")) {
if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
// accelerometer quick calibration: param5 = 3
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 4.0, 0.0, 0.f);
} else {
// accelerometer calibration: param5 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.0, 0.0, 0.f);
}
} else if (!strcmp(argv[1], "level")) {
// board level calibration: param5 = 2
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.0, 0.0, 0.f);
} else if (!strcmp(argv[1], "airspeed")) {
// airspeed calibration: param6 = 2
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 2.0, 0.f);
} else if (!strcmp(argv[1], "esc")) {
// ESC calibration: param7 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 0.0, 1.f);
} else {
PX4_ERR("argument %s unsupported.", argv[1]);
return 1;
}
return 0;
} else {
PX4_ERR("missing argument");
}
}
if (!strcmp(argv[0], "check")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_RUN_PREARM_CHECKS);
uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
PX4_INFO("Preflight check: %s", vehicle_status_sub.get().pre_flight_checks_pass ? "OK" : "FAILED");
return 0;
}
if (!strcmp(argv[0], "arm")) {
float param2 = 0.f;
// 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
if (argc > 1 && !strcmp(argv[1], "-f")) {
param2 = 21196.f;
}
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM),
param2);
return 0;
}
if (!strcmp(argv[0], "disarm")) {
float param2 = 0.f;
// 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
if (argc > 1 && !strcmp(argv[1], "-f")) {
param2 = 21196.f;
}
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARMING_ACTION_DISARM),
param2);
return 0;
}
if (!strcmp(argv[0], "takeoff")) {
// switch to takeoff mode and arm
uORB::SubscriptionData<vehicle_command_ack_s> vehicle_command_ack_sub{ORB_ID(vehicle_command_ack)};
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
if (wait_for_vehicle_command_reply(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF, vehicle_command_ack_sub)) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM),
0.f);
}
return 0;
}
if (!strcmp(argv[0], "land")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_LAND);
return 0;
}
if (!strcmp(argv[0], "transition")) {
uORB::Subscription vehicle_status_sub{ORB_ID(vehicle_status)};
vehicle_status_s vehicle_status{};
vehicle_status_sub.copy(&vehicle_status);
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
(float)(vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ?
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC), 0.0f);
return 0;
}
if (!strcmp(argv[0], "mode")) {
if (argc > 1) {
if (!strcmp(argv[1], "manual")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_MANUAL);
} else if (!strcmp(argv[1], "altctl")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ALTCTL);
} else if (!strcmp(argv[1], "posctl")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL);
} else if (!strcmp(argv[1], "position:slow")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_SUB_MODE_POSCTL_SLOW);
} else if (!strcmp(argv[1], "auto:mission")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION);
} else if (!strcmp(argv[1], "auto:loiter")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER);
} else if (!strcmp(argv[1], "auto:rtl")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_RTL);
} else if (!strcmp(argv[1], "acro")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_ACRO);
} else if (!strcmp(argv[1], "offboard")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_OFFBOARD);
} else if (!strcmp(argv[1], "stabilized")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_STABILIZED);
} else if (!strcmp(argv[1], "auto:takeoff")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF);
} else if (!strcmp(argv[1], "auto:land")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_LAND);
} else if (!strcmp(argv[1], "auto:precland")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND);
} else if (!strcmp(argv[1], "ext1")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_EXTERNAL1);
} else {
PX4_ERR("argument %s unsupported.", argv[1]);
}
return 0;
} else {
PX4_ERR("missing argument");
}
}
if (!strcmp(argv[0], "lockdown")) {
if (argc < 2) {
Commander::print_usage("not enough arguments, missing [on, off]");
return 1;
}
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
strcmp(argv[1], "off") ? 2.0f : 0.0f /* lockdown */, 0.0f);
return (ret ? 0 : 1);
}
if (!strcmp(argv[0], "pair")) {
// GCS pairing request handled by a companion
bool ret = broadcast_vehicle_command(vehicle_command_s::VEHICLE_CMD_START_RX_PAIR, 10.f);
return (ret ? 0 : 1);
}
if (!strcmp(argv[0], "set_ekf_origin")) {
if (argc > 3) {
double latitude = atof(argv[1]);
double longitude = atof(argv[2]);
float altitude = atof(argv[3]);
// Set the ekf NED origin global coordinates.
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN,
0.f, 0.f, 0.0, 0.0, latitude, longitude, altitude);
return (ret ? 0 : 1);
} else {
PX4_ERR("missing argument");
return 0;
}
}
if (!strcmp(argv[0], "poweroff")) {
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
2.0f);
return (ret ? 0 : 1);
}
#endif
return print_usage("unknown command");
}
int Commander::print_status()
{
PX4_INFO("%s", isArmed() ? "Armed" : "Disarmed");
PX4_INFO("navigation mode: %s", mode_util::nav_state_names[_vehicle_status.nav_state]);
PX4_INFO("user intended navigation mode: %s", mode_util::nav_state_names[_vehicle_status.nav_state_user_intention]);
PX4_INFO("in failsafe: %s", _failsafe.inFailsafe() ? "yes" : "no");
_mode_management.printStatus();
perf_print_counter(_loop_perf);
perf_print_counter(_preflight_check_perf);
return 0;
}
extern "C" __EXPORT int commander_main(int argc, char *argv[])
{
return Commander::main(argc, argv);
}
static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
{
switch (calling_reason) {
case arm_disarm_reason_t::transition_to_standby: return "";
case arm_disarm_reason_t::rc_stick: return "RC";
case arm_disarm_reason_t::rc_switch: return "RC (switch)";
case arm_disarm_reason_t::command_internal: return "internal command";
case arm_disarm_reason_t::command_external: return "external command";
case arm_disarm_reason_t::mission_start: return "mission start";
case arm_disarm_reason_t::auto_disarm_land: return "landing";
case arm_disarm_reason_t::auto_disarm_preflight: return "auto preflight disarming";
case arm_disarm_reason_t::kill_switch: return "kill-switch";
case arm_disarm_reason_t::lockdown: return "lockdown";
case arm_disarm_reason_t::failure_detector: return "failure detector";
case arm_disarm_reason_t::shutdown: return "shutdown request";
case arm_disarm_reason_t::unit_test: return "unit tests";
case arm_disarm_reason_t::rc_button: return "RC (button)";
case arm_disarm_reason_t::failsafe: return "failsafe";
}
return "";
};
transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks)
{
if (isArmed()) {
return TRANSITION_NOT_CHANGED;
}
if (_vehicle_status.calibration_enabled
|| _vehicle_status.rc_calibration_in_progress
|| _actuator_armed.in_esc_calibration_mode) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: calibrating\t");
events::send(events::ID("commander_arm_denied_calibrating"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: calibrating");
tune_negative(true);
return TRANSITION_DENIED;
}
// allow a grace period for re-arming: preflight checks don't need to pass during that time, for example for accidental in-air disarming
if (calling_reason == arm_disarm_reason_t::rc_switch
&& ((_last_disarmed_timestamp != 0) && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s))) {
run_preflight_checks = false;
}
if (run_preflight_checks) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
if (_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_failsafe_flags.manual_control_signal_lost && _is_throttle_above_center) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center\t");
events::send(events::ID("commander_arm_denied_throttle_center"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: throttle above center");
tune_negative(true);
return TRANSITION_DENIED;
}
if (!_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_failsafe_flags.manual_control_signal_lost && !_is_throttle_low
&& _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROVER) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t");
events::send(events::ID("commander_arm_denied_throttle_high"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: high throttle");
tune_negative(true);
return TRANSITION_DENIED;
}
} else if (calling_reason == arm_disarm_reason_t::rc_stick
|| calling_reason == arm_disarm_reason_t::rc_switch
|| calling_reason == arm_disarm_reason_t::rc_button) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: switch to manual mode first\t");
events::send(events::ID("commander_arm_denied_not_manual"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: switch to manual mode first");
tune_negative(true);
return TRANSITION_DENIED;
}
_health_and_arming_checks.update();
if (!_health_and_arming_checks.canArm(_vehicle_status.nav_state)) {
tune_negative(true);
return TRANSITION_DENIED;
}
}
_vehicle_status.armed_time = hrt_absolute_time();
_vehicle_status.arming_state = vehicle_status_s::ARMING_STATE_ARMED;
_vehicle_status.latest_arming_reason = (uint8_t)calling_reason;
mavlink_log_info(&_mavlink_log_pub, "Armed by %s\t", arm_disarm_reason_str(calling_reason));
events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_armed_by"), events::Log::Info,
"Armed by {1}", calling_reason);
if (_param_com_home_en.get()) {
_home_position.setHomePosition();
}
_status_changed = true;
return TRANSITION_CHANGED;
}
transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool forced)
{
if (!isArmed()) {
return TRANSITION_NOT_CHANGED;
}
if (!forced) {
const bool landed = (_vehicle_land_detected.landed || _vehicle_land_detected.maybe_landed
|| is_ground_vehicle(_vehicle_status));
const bool mc_manual_thrust_mode = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& _vehicle_control_mode.flag_control_manual_enabled
&& !_vehicle_control_mode.flag_control_climb_rate_enabled;
const bool commanded_by_rc = (calling_reason == arm_disarm_reason_t::rc_stick)
|| (calling_reason == arm_disarm_reason_t::rc_switch)
|| (calling_reason == arm_disarm_reason_t::rc_button);
if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) {
if (calling_reason != arm_disarm_reason_t::rc_stick) {
mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t");
events::send(events::ID("commander_disarm_denied_not_landed"),
{events::Log::Critical, events::LogInternal::Info},
"Disarming denied: not landed");
}
return TRANSITION_DENIED;
}
}
_vehicle_status.armed_time = 0;
_vehicle_status.arming_state = vehicle_status_s::ARMING_STATE_DISARMED;
_vehicle_status.latest_disarming_reason = (uint8_t)calling_reason;
_vehicle_status.takeoff_time = 0;
_have_taken_off_since_arming = false;
_last_disarmed_timestamp = hrt_absolute_time();
_user_mode_intention.onDisarm();
mavlink_log_info(&_mavlink_log_pub, "Disarmed by %s\t", arm_disarm_reason_str(calling_reason));
events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_disarmed_by"), events::Log::Info,
"Disarmed by {1}", calling_reason);
if (_param_com_force_safety.get()) {
_safety.activateSafety();
}
// update flight uuid
const int32_t flight_uuid = _param_flight_uuid.get() + 1;
_param_flight_uuid.set(flight_uuid);
_param_flight_uuid.commit_no_notification();
_status_changed = true;
return TRANSITION_CHANGED;
}
Commander::Commander() :
ModuleParams(nullptr)
{
_vehicle_land_detected.landed = true;
_vehicle_status.arming_state = vehicle_status_s::ARMING_STATE_DISARMED;
_vehicle_status.system_id = 1;
_vehicle_status.component_id = 1;
_vehicle_status.system_type = 0;
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
_vehicle_status.nav_state = _user_mode_intention.get();
_vehicle_status.nav_state_user_intention = _user_mode_intention.get();
_vehicle_status.nav_state_timestamp = hrt_absolute_time();
_vehicle_status.gcs_connection_lost = true;
_vehicle_status.power_input_valid = true;
// default for vtol is rotary wing
_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_param_mav_comp_id = param_find("MAV_COMP_ID");
_param_mav_sys_id = param_find("MAV_SYS_ID");
_param_mav_type = param_find("MAV_TYPE");
_param_rc_map_fltmode = param_find("RC_MAP_FLTMODE");
updateParameters();
}
Commander::~Commander()
{
perf_free(_loop_perf);
perf_free(_preflight_check_perf);
}
bool
Commander::handle_command(const vehicle_command_s &cmd)
{
/* only handle commands that are meant to be handled by this system and component, or broadcast */
if (((cmd.target_system != _vehicle_status.system_id) && (cmd.target_system != 0))
|| ((cmd.target_component != _vehicle_status.component_id) && (cmd.target_component != 0))) {
return false;
}
/* result of the command */
unsigned cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
/* request to set different system mode */
switch (cmd.command) {
case vehicle_command_s::VEHICLE_CMD_DO_REPOSITION: {
// Just switch the flight mode here, the navigator takes care of
// doing something sensible with the coordinates. Its designed
// to not require navigator and command to receive / process
// the data at the exact same time.
const uint32_t change_mode_flags = uint32_t(cmd.param2);
const bool mode_switch_not_requested = (change_mode_flags & 1) == 0;
const bool unsupported_bits_set = (change_mode_flags & ~1) != 0;
if (mode_switch_not_requested || unsupported_bits_set) {
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
} else {
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, getSourceFromCommand(cmd))) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_ALTITUDE: {
// Just switch the flight mode here, the navigator takes care of
// doing something sensible with the coordinates. Its designed
// to not require navigator and command to receive / process
// the data at the exact same time.
if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
uint8_t base_mode = (uint8_t)cmd.param1;
uint8_t custom_main_mode = (uint8_t)cmd.param2;
uint8_t custom_sub_mode = (uint8_t)cmd.param3;
uint8_t desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MAX;
transition_result_t main_ret = TRANSITION_NOT_CHANGED;
if (base_mode & VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED) {
/* use autopilot-specific mode */
if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
switch (custom_sub_mode) {
default:
case PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
break;
case PX4_CUSTOM_SUB_MODE_POSCTL_SLOW:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW;
break;
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
if (custom_sub_mode > 0) {
switch (custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
break;
case PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
break;
case PX4_CUSTOM_SUB_MODE_AUTO_LAND:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
break;
case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET;
break;
case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
break;
case PX4_CUSTOM_SUB_MODE_EXTERNAL1...PX4_CUSTOM_SUB_MODE_EXTERNAL8:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 + (custom_sub_mode - PX4_CUSTOM_SUB_MODE_EXTERNAL1);
break;
default:
main_ret = TRANSITION_DENIED;
mavlink_log_critical(&_mavlink_log_pub, "Unsupported auto mode\t");
events::send(events::ID("commander_unsupported_auto_mode"), events::Log::Error,
"Unsupported auto mode");
break;
}
} else {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ACRO;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
}
} else {
/* use base mode */
if (base_mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
} else if (base_mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
} else if (base_mode & VEHICLE_MODE_FLAG_STABILIZE_ENABLED) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
} else {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
}
}
}
if (desired_nav_state != vehicle_status_s::NAVIGATION_STATE_MAX) {
if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd))) {
main_ret = TRANSITION_CHANGED;
} else {
if (cmd.from_external && cmd.source_component == 190) { // MAV_COMP_ID_MISSIONPLANNER
printRejectMode(desired_nav_state);
}
main_ret = TRANSITION_DENIED;
}
}
if (main_ret != TRANSITION_DENIED) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_SET_NAV_STATE: { // Used from ROS
uint8_t desired_nav_state = (uint8_t)(cmd.param1 + 0.5f);
if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd))) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: {
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
// for logic state parameters
const int8_t arming_action = static_cast<int8_t>(lroundf(cmd.param1));
if (arming_action != vehicle_command_s::ARMING_ACTION_ARM
&& arming_action != vehicle_command_s::ARMING_ACTION_DISARM) {
mavlink_log_critical(&_mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f\t", (double)cmd.param1);
events::send<float>(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Error,
"Unsupported ARM_DISARM param: {1:.3}", cmd.param1);
} else {
// Arm is forced (checks skipped) when param2 is set to a magic number.
const bool forced = (static_cast<int>(lroundf(cmd.param2)) == 21196);
transition_result_t arming_res = TRANSITION_DENIED;
arm_disarm_reason_t arm_disarm_reason = cmd.from_external ? arm_disarm_reason_t::command_external :
arm_disarm_reason_t::command_internal;
if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) {
arming_res = arm(arm_disarm_reason, cmd.from_external || !forced);
} else if (arming_action == vehicle_command_s::ARMING_ACTION_DISARM) {
arming_res = disarm(arm_disarm_reason, forced);
}
if (arming_res == TRANSITION_DENIED) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
if (cmd.param1 > 0.5f) {
// Trigger real termination.
if (!isArmed()) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
} else if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_TERMINATION)) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_HOME: {
if (_param_com_home_en.get()) {
bool use_current = cmd.param1 > 0.5f;
if (use_current) {
/* use current position */
if (_home_position.setHomePosition(true)) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
const double lat = cmd.param5;
const double lon = cmd.param6;
const float alt = cmd.param7;
if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {
if (_home_position.setManually(lat, lon, alt, yaw)) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
}
} else {
// COM_HOME_EN disabled