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https://github.com/PX4/PX4-Autopilot.git
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ttechnick
231 lines
13 KiB
C++
231 lines
13 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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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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#include "mode_requirements.hpp"
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#include <uORB/topics/vehicle_status.h>
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namespace mode_util
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{
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static inline void setRequirement(uint8_t nav_state, uint32_t &mode_requirement)
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{
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mode_requirement |= 1u << nav_state;
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}
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void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
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{
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flags.mode_req_angular_velocity = 0;
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flags.mode_req_attitude = 0;
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flags.mode_req_local_position = 0;
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flags.mode_req_local_position_relaxed = 0;
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flags.mode_req_global_position = 0;
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flags.mode_req_global_position_relaxed = 0;
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flags.mode_req_local_alt = 0;
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flags.mode_req_mission = 0;
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flags.mode_req_offboard_signal = 0;
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flags.mode_req_home_position = 0;
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flags.mode_req_wind_and_flight_time_compliance = 0;
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flags.mode_req_prevent_arming = 0;
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flags.mode_req_manual_control = 0;
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flags.mode_req_other = 0;
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// NAVIGATION_STATE_MANUAL
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setRequirement(vehicle_status_s::NAVIGATION_STATE_MANUAL, flags.mode_req_manual_control);
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// NAVIGATION_STATE_ALTCTL
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_manual_control);
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// NAVIGATION_STATE_ALTITUDE_CRUISE
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTITUDE_CRUISE,
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flags.mode_req_manual_control); // COM_RCL_EXCEPT can override this
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// NAVIGATION_STATE_POSCTL
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position_relaxed);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_manual_control);
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// NAVIGATION_STATE_POSITION_SLOW
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_local_position_relaxed);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW, flags.mode_req_manual_control);
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// NAVIGATION_STATE_AUTO_MISSION
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_attitude);
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if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_global_position_relaxed);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_position_relaxed);
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} else {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_global_position);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_position);
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}
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_mission);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_wind_and_flight_time_compliance);
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// NAVIGATION_STATE_AUTO_LOITER
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_attitude);
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if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_global_position_relaxed);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_position_relaxed);
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} else {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_global_position);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_position);
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}
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_wind_and_flight_time_compliance);
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// NAVIGATION_STATE_AUTO_COURSE
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// Heading mode is GPS-independent, course mode internally checks for GPS availability.
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// Only require attitude and altitude, not global position.
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_COURSE, flags.mode_req_wind_and_flight_time_compliance);
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// NAVIGATION_STATE_AUTO_RTL
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_attitude);
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if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_global_position_relaxed);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_local_position_relaxed);
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} else {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_global_position);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_local_position);
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}
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_home_position);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_prevent_arming);
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// NAVIGATION_STATE_ACRO
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_manual_control);
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// NAVIGATION_STATE_DESCEND
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setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_prevent_arming);
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// NAVIGATION_STATE_TERMINATION
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setRequirement(vehicle_status_s::NAVIGATION_STATE_TERMINATION, flags.mode_req_prevent_arming);
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// NAVIGATION_STATE_OFFBOARD
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setRequirement(vehicle_status_s::NAVIGATION_STATE_OFFBOARD, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_OFFBOARD, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_OFFBOARD, flags.mode_req_offboard_signal);
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// NAVIGATION_STATE_STAB
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setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_manual_control);
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// NAVIGATION_STATE_AUTO_TAKEOFF
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_alt);
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if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
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// only require local position for rotary wing vehicles, fixed wing vehicles can take off without it
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position);
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}
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// NAVIGATION_STATE_AUTO_LAND
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_position_relaxed);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_prevent_arming);
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// NAVIGATION_STATE_AUTO_FOLLOW_TARGET
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_position);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_prevent_arming);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_wind_and_flight_time_compliance);
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// NAVIGATION_STATE_AUTO_PRECLAND
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_local_position);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_prevent_arming);
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// NAVIGATION_STATE_ORBIT
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_position);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_alt);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_prevent_arming);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_wind_and_flight_time_compliance);
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// NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_attitude);
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_alt);
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if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position_relaxed);
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} else {
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setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
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}
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// NAVIGATION_STATE_EXTERNALx: handled outside
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static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update mode requirements");
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}
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} // namespace mode_util
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