mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 15:15:55 +08:00
Cut over commander app to new build system
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,219 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
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* @file calibration_routines.c
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* Calibration routines implementations.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include <math.h>
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#include "calibration_routines.h"
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int sphere_fit_least_squares(const float x[], const float y[], const float z[],
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unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius)
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{
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float x_sumplain = 0.0f;
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float x_sumsq = 0.0f;
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float x_sumcube = 0.0f;
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float y_sumplain = 0.0f;
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float y_sumsq = 0.0f;
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float y_sumcube = 0.0f;
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float z_sumplain = 0.0f;
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float z_sumsq = 0.0f;
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float z_sumcube = 0.0f;
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float xy_sum = 0.0f;
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float xz_sum = 0.0f;
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float yz_sum = 0.0f;
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float x2y_sum = 0.0f;
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float x2z_sum = 0.0f;
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float y2x_sum = 0.0f;
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float y2z_sum = 0.0f;
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float z2x_sum = 0.0f;
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float z2y_sum = 0.0f;
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for (unsigned int i = 0; i < size; i++) {
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float x2 = x[i] * x[i];
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float y2 = y[i] * y[i];
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float z2 = z[i] * z[i];
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x_sumplain += x[i];
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x_sumsq += x2;
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x_sumcube += x2 * x[i];
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y_sumplain += y[i];
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y_sumsq += y2;
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y_sumcube += y2 * y[i];
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z_sumplain += z[i];
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z_sumsq += z2;
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z_sumcube += z2 * z[i];
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xy_sum += x[i] * y[i];
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xz_sum += x[i] * z[i];
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yz_sum += y[i] * z[i];
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x2y_sum += x2 * y[i];
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x2z_sum += x2 * z[i];
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y2x_sum += y2 * x[i];
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y2z_sum += y2 * z[i];
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z2x_sum += z2 * x[i];
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z2y_sum += z2 * y[i];
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}
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//
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//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
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//
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// P is a structure that has been computed with the data earlier.
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// P.npoints is the number of elements; the length of X,Y,Z are identical.
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// P's members are logically named.
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//
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// X[n] is the x component of point n
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// Y[n] is the y component of point n
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// Z[n] is the z component of point n
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//
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// A is the x coordiante of the sphere
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// B is the y coordiante of the sphere
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// C is the z coordiante of the sphere
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// Rsq is the radius squared of the sphere.
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//
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//This method should converge; maybe 5-100 iterations or more.
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//
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float x_sum = x_sumplain / size; //sum( X[n] )
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float x_sum2 = x_sumsq / size; //sum( X[n]^2 )
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float x_sum3 = x_sumcube / size; //sum( X[n]^3 )
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float y_sum = y_sumplain / size; //sum( Y[n] )
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float y_sum2 = y_sumsq / size; //sum( Y[n]^2 )
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float y_sum3 = y_sumcube / size; //sum( Y[n]^3 )
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float z_sum = z_sumplain / size; //sum( Z[n] )
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float z_sum2 = z_sumsq / size; //sum( Z[n]^2 )
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float z_sum3 = z_sumcube / size; //sum( Z[n]^3 )
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float XY = xy_sum / size; //sum( X[n] * Y[n] )
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float XZ = xz_sum / size; //sum( X[n] * Z[n] )
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float YZ = yz_sum / size; //sum( Y[n] * Z[n] )
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float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] )
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float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] )
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float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] )
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float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] )
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float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] )
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float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] )
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//Reduction of multiplications
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float F0 = x_sum2 + y_sum2 + z_sum2;
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float F1 = 0.5f * F0;
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float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
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float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
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float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
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//Set initial conditions:
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float A = x_sum;
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float B = y_sum;
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float C = z_sum;
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//First iteration computation:
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float A2 = A * A;
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float B2 = B * B;
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float C2 = C * C;
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float QS = A2 + B2 + C2;
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float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
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//Set initial conditions:
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float Rsq = F0 + QB + QS;
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//First iteration computation:
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float Q0 = 0.5f * (QS - Rsq);
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float Q1 = F1 + Q0;
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float Q2 = 8.0f * (QS - Rsq + QB + F0);
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float aA, aB, aC, nA, nB, nC, dA, dB, dC;
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//Iterate N times, ignore stop condition.
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int n = 0;
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while (n < max_iterations) {
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n++;
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//Compute denominator:
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aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
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aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
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aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
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aA = (aA == 0.0f) ? 1.0f : aA;
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aB = (aB == 0.0f) ? 1.0f : aB;
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aC = (aC == 0.0f) ? 1.0f : aC;
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//Compute next iteration
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nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
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nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB);
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nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC);
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//Check for stop condition
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dA = (nA - A);
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dB = (nB - B);
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dC = (nC - C);
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if ((dA * dA + dB * dB + dC * dC) <= delta) { break; }
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//Compute next iteration's values
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A = nA;
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B = nB;
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C = nC;
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A2 = A * A;
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B2 = B * B;
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C2 = C * C;
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QS = A2 + B2 + C2;
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QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
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Rsq = F0 + QB + QS;
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Q0 = 0.5f * (QS - Rsq);
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Q1 = F1 + Q0;
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Q2 = 8.0f * (QS - Rsq + QB + F0);
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}
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*sphere_x = A;
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*sphere_y = B;
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*sphere_z = C;
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*sphere_radius = sqrtf(Rsq);
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return 0;
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}
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@@ -0,0 +1,61 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.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 calibration_routines.h
|
||||
* Calibration routines definitions.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Least-squares fit of a sphere to a set of points.
|
||||
*
|
||||
* Fits a sphere to a set of points on the sphere surface.
|
||||
*
|
||||
* @param x point coordinates on the X axis
|
||||
* @param y point coordinates on the Y axis
|
||||
* @param z point coordinates on the Z axis
|
||||
* @param size number of points
|
||||
* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
|
||||
* @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
|
||||
* @param sphere_x coordinate of the sphere center on the X axis
|
||||
* @param sphere_y coordinate of the sphere center on the Y axis
|
||||
* @param sphere_z coordinate of the sphere center on the Z axis
|
||||
* @param sphere_radius sphere radius
|
||||
*
|
||||
* @return 0 on success, 1 on failure
|
||||
*/
|
||||
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
|
||||
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.h
|
||||
* Main system state machine definition.
|
||||
*
|
||||
* @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>
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef COMMANDER_H_
|
||||
#define COMMANDER_H_
|
||||
|
||||
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
|
||||
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
|
||||
|
||||
void tune_confirm(void);
|
||||
void tune_error(void);
|
||||
|
||||
#endif /* COMMANDER_H_ */
|
||||
@@ -0,0 +1,41 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012-2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Main system state machine
|
||||
#
|
||||
|
||||
MODULE_COMMAND = commander
|
||||
SRCS = commander.c \
|
||||
state_machine_helper.c \
|
||||
calibration_routines.c
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,209 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: 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 state_machine_helper.h
|
||||
* State machine helper functions definitions
|
||||
*/
|
||||
|
||||
#ifndef STATE_MACHINE_HELPER_H_
|
||||
#define STATE_MACHINE_HELPER_H_
|
||||
|
||||
#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
|
||||
#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
|
||||
/**
|
||||
* Switch to new state with no checking.
|
||||
*
|
||||
* do_state_update: this is the functions that all other functions have to call in order to update the state.
|
||||
* the function does not question the state change, this must be done before
|
||||
* The function performs actions that are connected with the new state (buzzer, reboot, ...)
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*
|
||||
* @return 0 (macro OK) or 1 on error (macro ERROR)
|
||||
*/
|
||||
int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state);
|
||||
|
||||
/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */
|
||||
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
|
||||
// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
|
||||
|
||||
// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
|
||||
// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
|
||||
|
||||
// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
|
||||
// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
|
||||
|
||||
|
||||
/**
|
||||
* Handle state machine if got position fix
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Handle state machine if position fix lost
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Handle state machine if user wants to arm
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Handle state machine if user wants to disarm
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Handle state machine if mode switch is manual
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Handle state machine if mode switch is stabilized
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Handle state machine if mode switch is guided
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Handle state machine if mode switch is auto
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Publish current state information
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
|
||||
/*
|
||||
* Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app).
|
||||
* If the request is obeyed the functions return 0
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* Handles *incoming request* to switch to a specific state, if state change is successful returns 0
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode);
|
||||
|
||||
/**
|
||||
* Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode);
|
||||
|
||||
/**
|
||||
* Always switches to critical mode under any circumstances.
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Switches to emergency if required.
|
||||
*
|
||||
* @param status_pub file descriptor for state update topic publication
|
||||
* @param current_status pointer to the current state machine to operate on
|
||||
* @param mavlink_fd file descriptor for MAVLink statustext messages
|
||||
*/
|
||||
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
|
||||
|
||||
/**
|
||||
* Publish the armed state depending on the current system state
|
||||
*
|
||||
* @param current_status the current system status
|
||||
*/
|
||||
void publish_armed_status(const struct vehicle_status_s *current_status);
|
||||
|
||||
|
||||
|
||||
#endif /* STATE_MACHINE_HELPER_H_ */
|
||||
Reference in New Issue
Block a user