source: flair-src/trunk/lib/FlairMeta/src/UavStateMachine.cpp @ 164

Last change on this file since 164 was 164, checked in by Sanahuja Guillaume, 5 years ago

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[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5//  created:    2014/04/29
6//  filename:   UavStateMachine.cpp
7//
8//  author:     Gildas Bayard, Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    meta class for UAV
14//
15//
16/*********************************************************************/
17
18#include "UavStateMachine.h"
19#include "Uav.h"
20#include <DataPlot1D.h>
21#include <GridLayout.h>
22#include <Tab.h>
23#include <TabWidget.h>
24#include <PushButton.h>
25#include <SpinBox.h>
26#include <DoubleSpinBox.h>
27#include <X4X8Multiplex.h>
28#include <Bldc.h>
29#include <Ahrs.h>
30#include <MetaUsRangeFinder.h>
31#include <ControlLaw.h>
32#include <Pid.h>
33#include <PidThrust.h>
34#include <NestedSat.h>
35#include <MetaDualShock3.h>
36#include <AhrsData.h>
37#include <BatteryMonitor.h>
38#include <FrameworkManager.h>
39#include <Vector3D.h>
40#include <Vector2D.h>
41#include <cvmatrix.h>
42#include <stdio.h>
43#include <TrajectoryGenerator1D.h>
[42]44#include <math.h>
[7]45
46using namespace std;
47using namespace flair::core;
48using namespace flair::gui;
49using namespace flair::sensor;
50using namespace flair::actuator;
51using namespace flair::filter;
52using namespace flair::meta;
53
[122]54UavStateMachine::UavStateMachine(TargetController *controller):
[38]55        Thread(getFrameworkManager(),"UavStateMachine",50),
[122]56        uav(GetUav()),controller(controller),failSafeMode(true),flagConnectionLost(false),flagBatteryLow(false),flagCriticalSensorLost(false),flagZTrajectoryFinished(false),safeToFly(true){
[38]57    altitudeState=AltitudeState_t::Stopped;
58    uav->UseDefaultPlot();
[7]59
[15]60  Tab *uavTab = new Tab(getFrameworkManager()->GetTabWidget(), "uav", 0);
61  buttonslayout = new GridLayout(uavTab->NewRow(), "buttons");
62  button_kill = new PushButton(buttonslayout->NewRow(), "kill");
63  button_start_log = new PushButton(buttonslayout->NewRow(), "start_log");
64  button_stop_log = new PushButton(buttonslayout->LastRowLastCol(), "stop_log");
65  button_take_off = new PushButton(buttonslayout->NewRow(), "take_off");
66  button_land = new PushButton(buttonslayout->LastRowLastCol(), "land");
[7]67
[15]68  Tab *lawTab = new Tab(getFrameworkManager()->GetTabWidget(), "control laws");
69  TabWidget *tabWidget = new TabWidget(lawTab->NewRow(), "laws");
70  setupLawTab = new Tab(tabWidget, "Setup");
71  graphLawTab = new Tab(tabWidget, "Graphes");
[7]72
[15]73  uRoll = new NestedSat(setupLawTab->At(0, 0), "u_roll");
74  uRoll->ConvertSatFromDegToRad();
75  uRoll->UseDefaultPlot(graphLawTab->NewRow());
[7]76
[15]77  uPitch = new NestedSat(setupLawTab->At(0, 1), "u_pitch");
78  uPitch->ConvertSatFromDegToRad();
79  uPitch->UseDefaultPlot(graphLawTab->LastRowLastCol());
[7]80
[15]81  uYaw = new Pid(setupLawTab->At(0, 2), "u_yaw");
82  uYaw->UseDefaultPlot(graphLawTab->LastRowLastCol());
[7]83
[15]84  uZ = new PidThrust(setupLawTab->At(1, 2), "u_z");
85  uZ->UseDefaultPlot(graphLawTab->LastRowLastCol());
[7]86
[15]87  getFrameworkManager()->AddDeviceToLog(uZ);
88  uZ->AddDeviceToLog(uRoll);
89  uZ->AddDeviceToLog(uPitch);
90  uZ->AddDeviceToLog(uYaw);
[7]91
[137]92    joy=new MetaDualShock3("uav high level controller",controller);
[38]93    uav->GetAhrs()->AddPlot(joy->GetReferenceOrientation(),DataPlot::Blue);
[7]94
[15]95  altitudeMode = AltitudeMode_t::Manual;
96  orientationMode = OrientationMode_t::Manual;
97  thrustMode = ThrustMode_t::Default;
98  torqueMode = TorqueMode_t::Default;
[7]99
[15]100  GroupBox *reglagesGroupbox =
101      new GroupBox(uavTab->NewRow(), "takeoff/landing");
102  desiredTakeoffAltitude =
103      new DoubleSpinBox(reglagesGroupbox->NewRow(), "desired takeoff altitude",
104                        " m", 0, 5, 0.1, 2, 1);
105  desiredLandingAltitude =
106      new DoubleSpinBox(reglagesGroupbox->LastRowLastCol(),
107                        "desired landing altitude", " m", 0, 1, 0.1, 1);
108  altitudeTrajectory =
109      new TrajectoryGenerator1D(uavTab->NewRow(), "alt cons", "m");
110  uav->GetMetaUsRangeFinder()->GetZPlot()->AddCurve(
111      altitudeTrajectory->Matrix()->Element(0), DataPlot::Green);
112  uav->GetMetaUsRangeFinder()->GetVzPlot()->AddCurve(
113      altitudeTrajectory->Matrix()->Element(1), DataPlot::Green);
[7]114}
115
[15]116UavStateMachine::~UavStateMachine() {}
[7]117
[15]118void UavStateMachine::AddDeviceToControlLawLog(const IODevice *device) {
119  uZ->AddDeviceToLog(device);
[7]120}
121
[15]122void UavStateMachine::AddDataToControlLawLog(const core::io_data *data) {
123  uZ->AddDataToLog(data);
[7]124}
125
[38]126const TargetController *UavStateMachine::GetJoystick(void) const {
127    return controller;
128}
[7]129
130const Quaternion &UavStateMachine::GetCurrentQuaternion(void) const {
[15]131  return currentQuaternion;
[7]132}
133
134const Vector3D &UavStateMachine::GetCurrentAngularSpeed(void) const {
[15]135  return currentAngularSpeed;
[7]136}
137
[15]138void UavStateMachine::AltitudeValues(float &altitude,
139                                     float &verticalSpeed) const {
140  FailSafeAltitudeValues(altitude, verticalSpeed);
[7]141}
142
[15]143void UavStateMachine::FailSafeAltitudeValues(float &altitude,
144                                             float &verticalSpeed) const {
145  altitude = uav->GetMetaUsRangeFinder()->z();
146  verticalSpeed = uav->GetMetaUsRangeFinder()->Vz();
[7]147}
148
149void UavStateMachine::Run() {
[15]150  WarnUponSwitches(true);
151  uav->StartSensors();
[7]152
[15]153  if (getFrameworkManager()->ErrorOccured() == true) {
154    SafeStop();
155  }
[7]156
[15]157  while (!ToBeStopped()) {
158    SecurityCheck();
[7]159
[15]160    // get controller inputs
161    CheckJoystick();
162    CheckPushButton();
[7]163
[15]164    if (IsPeriodSet()) {
165      WaitPeriod();
166    } else {
167      WaitUpdate(uav->GetAhrs());
168    }
169    needToComputeDefaultTorques = true;
170    needToComputeDefaultThrust = true;
[7]171
[15]172    SignalEvent(Event_t::EnteringControlLoop);
[7]173
[15]174    ComputeOrientation();
175    ComputeAltitude();
[7]176
[15]177    // compute thrust and torques to apply
178    ComputeTorques();
179    ComputeThrust(); // logs are added to uz, so it must be updated at last
[7]180
[45]181    //check nan/inf problems
[101]182    if(!IsValuePossible(currentTorques.roll,"roll torque")
183       || !IsValuePossible(currentTorques.pitch,"pitch torque")
184       || !IsValuePossible(currentTorques.yaw,"yaw torque")
185       || !IsValuePossible(currentThrust,"thrust")) {
[42]186
[101]187        if(altitudeState==AltitudeState_t::Stopped) {
188            SafeStop();
189        } else {
[42]190
[101]191          if(failSafeMode) {
192            Warn("We are already in safe mode, the uav is going to crash!\n");
193          } else {
194            Thread::Warn("switching back to safe mode\n");
195            EnterFailSafeMode();
196            needToComputeDefaultTorques = true;//should not be necessary, but put it to be sure to compute default thrust/torques
197            needToComputeDefaultThrust = true;
198
199            ComputeTorques();
200            ComputeThrust();
201          }
202        }
[42]203    }
204
[15]205    // Set torques for roll, pitch and yaw angles (value between -1 and 1). Set
206    // thrust (value between 0 and 1)
207    uav->GetUavMultiplex()->SetRoll(-currentTorques.roll);
208    uav->GetUavMultiplex()->SetPitch(-currentTorques.pitch);
209    uav->GetUavMultiplex()->SetYaw(-currentTorques.yaw);
210    uav->GetUavMultiplex()->SetThrust(-currentThrust); // on raisonne en negatif
211                                                       // sur l'altitude, a
212                                                       // revoir avec les
213                                                       // equations
214    uav->GetUavMultiplex()->SetRollTrim(joy->RollTrim());
215    uav->GetUavMultiplex()->SetPitchTrim(joy->PitchTrim());
216    uav->GetUavMultiplex()->SetYawTrim(0);
217    uav->GetUavMultiplex()->Update(GetTime());
218  }
[7]219
[15]220  WarnUponSwitches(false);
[7]221}
222
[45]223bool UavStateMachine::IsValuePossible(float value,std::string desc) {
[42]224  if(isnan(value)) {
225    Warn("%s is not an number\n",desc.c_str());
[101]226    return false;
[45]227  } else if(isinf(value)) {
228    Warn("%s is infinite\n",desc.c_str());
[101]229    return false;
230  } else {
[45]231    return true;
[42]232  }
233}
234
235
[7]236void UavStateMachine::ComputeOrientation(void) {
[15]237  if (failSafeMode) {
238    GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
239                                                          currentAngularSpeed);
240  } else {
241    GetOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
242                                                   currentAngularSpeed);
243  }
[7]244}
245
246const AhrsData *UavStateMachine::GetOrientation(void) const {
[15]247  return GetDefaultOrientation();
[7]248}
249
250const AhrsData *UavStateMachine::GetDefaultOrientation(void) const {
[15]251  return uav->GetAhrs()->GetDatas();
[7]252}
253
254void UavStateMachine::ComputeAltitude(void) {
[15]255  if (failSafeMode) {
256    FailSafeAltitudeValues(currentAltitude, currentVerticalSpeed);
257  } else {
258    AltitudeValues(currentAltitude, currentVerticalSpeed);
259  }
[7]260}
261
[15]262void UavStateMachine::ComputeReferenceAltitude(float &refAltitude,
263                                               float &refVerticalVelocity) {
264  if (altitudeMode == AltitudeMode_t::Manual) {
265    GetDefaultReferenceAltitude(refAltitude, refVerticalVelocity);
266  } else {
267    GetReferenceAltitude(refAltitude, refVerticalVelocity);
268  }
[7]269}
270
[15]271void UavStateMachine::GetDefaultReferenceAltitude(float &refAltitude,
272                                                  float &refVerticalVelocity) {
273  float zc, dzc;
[7]274
[15]275  switch (altitudeState) {
276  // initiate a takeoff: increase motor speed in open loop (see ComputeThrust)
277  // until we detect a take off of 0.03m (hard coded value) above the ground.
278  case AltitudeState_t::TakingOff: {
279    if (currentAltitude > groundAltitude + 0.03) {
280      altitudeTrajectory->StartTraj(currentAltitude,
281                                    desiredTakeoffAltitude->Value());
282      altitudeState = AltitudeState_t::Stabilized;
283      SignalEvent(Event_t::Stabilized);
[7]284    }
[15]285    break;
286  }
287  // landing, only check if we reach desired landing altitude
288  case AltitudeState_t::StartLanding: {
289    if (altitudeTrajectory->Position() == desiredLandingAltitude->Value()) {
290      // The Uav target altitude has reached its landing value (typically 0)
291      // but the real Uav altitude may not have reach this value yet because of
[42]292      // command delay. Moreover, it may never exactly reach this value if the
[38]293      // ground is not perfectly leveled (critical case: there's a
[15]294      // deep and narrow hole right in the sensor line of sight). That's why we
295      // have a 2 phases landing strategy.
296      altitudeState = AltitudeState_t::FinishLanding;
297      SignalEvent(Event_t::FinishLanding);
298      joy->SetLedOFF(1); // DualShock3::led1
299    }
300  }
301  // stabilized: check if z trajectory is finished
302  case AltitudeState_t::Stabilized: {
303    if (!altitudeTrajectory->IsRunning() && !flagZTrajectoryFinished) {
304      SignalEvent(Event_t::ZTrajectoryFinished);
305      flagZTrajectoryFinished = true;
306    }
307    if (flagZTrajectoryFinished && desiredTakeoffAltitude->ValueChanged()) {
308      flagZTrajectoryFinished = false;
309      altitudeTrajectory->StartTraj(currentAltitude,
310                                    desiredTakeoffAltitude->Value());
311      joy->SetZRef(0);
312    }
313  }
314  }
[7]315
[15]316  // Récupère les consignes (du joystick dans l'implémentation par défaut). La
317  // consigne joystick est une vitesse ("delta_z", dzc). le zc est calculé par
318  // la manette
319  zc = joy->ZRef(); // a revoir, la position offset devrait se calculer dans le
320                    // generator
321  dzc = joy->DzRef();
[7]322
[15]323  // z control law
324  altitudeTrajectory->SetPositionOffset(zc);
325  altitudeTrajectory->SetSpeedOffset(dzc);
[7]326
[15]327  altitudeTrajectory->Update(GetTime());
328  refAltitude = altitudeTrajectory->Position();
329  refVerticalVelocity = altitudeTrajectory->Speed();
[7]330}
331
[15]332void UavStateMachine::GetReferenceAltitude(float &refAltitude,
333                                           float &refVerticalVelocity) {
334  Thread::Warn("Default GetReferenceAltitude method is not overloaded => "
335               "switching back to safe mode\n");
336  EnterFailSafeMode();
[7]337};
338
339void UavStateMachine::ComputeThrust(void) {
[15]340  if (altitudeMode == AltitudeMode_t::Manual) {
341    currentThrust = ComputeDefaultThrust();
342  } else {
343    currentThrust = ComputeCustomThrust();
344  }
[7]345}
346
347float UavStateMachine::ComputeDefaultThrust(void) {
[15]348  if (needToComputeDefaultThrust) {
349    // compute desired altitude
350    float refAltitude, refVerticalVelocity;
351    ComputeReferenceAltitude(refAltitude, refVerticalVelocity);
[7]352
[15]353    switch (altitudeState) {
354    case AltitudeState_t::TakingOff: {
355      // The progressive increase in motor speed is used to evaluate the motor
356      // speed that compensate the uav weight. This value
357      // will be used as an offset for altitude control afterwards
358      uZ->OffsetStepUp();
359      break;
[7]360    }
[15]361    case AltitudeState_t::StartLanding:
362    case AltitudeState_t::Stabilized: {
363      float p_error = currentAltitude - refAltitude;
364      float d_error = currentVerticalSpeed - refVerticalVelocity;
365      uZ->SetValues(p_error, d_error);
366      break;
367    }
368    // decrease motor speed in open loop until value offset_g , uav should have
369    // already landed or be very close to at this point
370    case AltitudeState_t::FinishLanding: {
371      if (uZ->OffsetStepDown() == false) {
372        StopMotors();
373      }
374      break;
375    }
376    }
377    uZ->Update(GetTime());
[7]378
[15]379    savedDefaultThrust = uZ->Output();
380    needToComputeDefaultThrust = false;
381  }
382
383  return savedDefaultThrust;
[7]384}
385
386float UavStateMachine::ComputeCustomThrust(void) {
[15]387  Thread::Warn("Default GetThrust method is not overloaded => switching back "
388               "to safe mode\n");
389  EnterFailSafeMode();
390  return ComputeDefaultThrust();
[7]391}
392
[15]393const AhrsData *UavStateMachine::ComputeReferenceOrientation(void) {
394  if (orientationMode == OrientationMode_t::Manual) {
395    return GetDefaultReferenceOrientation();
396  } else {
397    return GetReferenceOrientation();
398  }
[7]399}
400
[15]401const AhrsData *UavStateMachine::GetDefaultReferenceOrientation(void) const {
402  // We directly control yaw, pitch, roll angles
403  return joy->GetReferenceOrientation();
[7]404}
405
[15]406const AhrsData *UavStateMachine::GetReferenceOrientation(void) {
407  Thread::Warn("Default GetReferenceOrientation method is not overloaded => "
408               "switching back to safe mode\n");
409  EnterFailSafeMode();
410  return GetDefaultReferenceOrientation();
[7]411}
412
413void UavStateMachine::ComputeTorques(void) {
[15]414  if (torqueMode == TorqueMode_t::Default) {
415    ComputeDefaultTorques(currentTorques);
416  } else {
417    ComputeCustomTorques(currentTorques);
418  }
[7]419}
420
421void UavStateMachine::ComputeDefaultTorques(Euler &torques) {
[15]422  if (needToComputeDefaultTorques) {
423    const AhrsData *refOrientation = ComputeReferenceOrientation();
424    Quaternion refQuaternion;
425    Vector3D refAngularRates;
426    refOrientation->GetQuaternionAndAngularRates(refQuaternion,
427                                                 refAngularRates);
428    Euler refAngles = refQuaternion.ToEuler();
429    Euler currentAngles = currentQuaternion.ToEuler();
[7]430
[15]431    uYaw->SetValues(currentAngles.YawDistanceFrom(refAngles.yaw),
432                    currentAngularSpeed.z - refAngularRates.z);
433    uYaw->Update(GetTime());
434    torques.yaw = uYaw->Output();
[7]435
[15]436    uPitch->SetValues(refAngles.pitch, currentAngles.pitch,
437                      currentAngularSpeed.y);
438    uPitch->Update(GetTime());
439    torques.pitch = uPitch->Output();
[7]440
[15]441    uRoll->SetValues(refAngles.roll, currentAngles.roll, currentAngularSpeed.x);
442    uRoll->Update(GetTime());
443    torques.roll = uRoll->Output();
[7]444
[15]445    savedDefaultTorques = torques;
446    needToComputeDefaultTorques = false;
447  } else {
448    torques = savedDefaultTorques;
449  }
[7]450}
451
452void UavStateMachine::ComputeCustomTorques(Euler &torques) {
[15]453  Thread::Warn("Default ComputeCustomTorques method is not overloaded => "
454               "switching back to safe mode\n");
455  EnterFailSafeMode();
456  ComputeDefaultTorques(torques);
[7]457}
458
459void UavStateMachine::TakeOff(void) {
[15]460  flagZTrajectoryFinished = false;
[7]461
[164]462  if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly()  && uav->GetBatteryMonitor()->IsBatteryLow()==false) {
[157]463    //The uav always takes off in fail safe mode
[164]464    flagBatteryLow=false;
[157]465    EnterFailSafeMode();
466    joy->SetLedOFF(4);//DualShock3::led4
467    joy->SetLedOFF(1);//DualShock3::led1
468    joy->Rumble(0x70);
469    joy->SetZRef(0);
[7]470
[15]471    uZ->SetOffset(); // positionne l'offset de compensation de la gravité à sa
472                     // valeur initiale (station sol)
[7]473
[15]474    uav->GetUavMultiplex()->LockUserInterface();
475    // Active les moteurs. Pouvoir les désactiver permet de pouvoir observer les
476    // consignes moteurs
477    // sans les faire tourner effectivement (en déplaçant à la main le drone)
478    uav->GetBldc()->SetEnabled(true);
479    groundAltitude = currentAltitude;
480    altitudeState = AltitudeState_t::TakingOff;
[7]481
[15]482    SignalEvent(Event_t::TakingOff);
483  } else {
[157]484    Warn("cannot takeoff\n");
[15]485    joy->ErrorNotify();
486  }
[7]487}
488
489void UavStateMachine::Land(void) {
[15]490  if (altitudeMode != AltitudeMode_t::Manual) {
491    SetAltitudeMode(AltitudeMode_t::Manual);
492  }
493  if (altitudeState == AltitudeState_t::Stabilized) {
494    joy->SetLedOFF(4); // DualShock3::led4
495    joy->Rumble(0x70);
[7]496
[38]497        altitudeTrajectory->StopTraj();
498        joy->SetZRef(0);
499        altitudeTrajectory->StartTraj(currentAltitude,desiredLandingAltitude->Value()); //shouldn't it be groundAltitude?
500        SignalEvent(Event_t::StartLanding);
501        altitudeState=AltitudeState_t::StartLanding;
502    } else if (altitudeState==AltitudeState_t::TakingOff) {
503        EmergencyLand();
504    } else {
505        joy->ErrorNotify();
506    }
[7]507}
508
[38]509void UavStateMachine::EmergencyLand(void) {
510    //Gradually decrease motor speed
511    //Called if landing is required during take off (motors are accelerating but Uav did not actually left the ground yet), or if critical sensors have been lost (attitude is lost)
512    altitudeState=AltitudeState_t::FinishLanding;
513    safeToFly=false;
514Printf("Emergency landing!\n");
515}
516
[7]517void UavStateMachine::SignalEvent(Event_t event) {
[15]518  switch (event) {
519  case Event_t::StartLanding:
520    Thread::Info("Altitude: entering 'StartLanding' state\n");
521    break;
522  case Event_t::Stopped:
523    Thread::Info("Altitude: entering 'Stopped' state\n");
524    break;
525  case Event_t::TakingOff:
526    Thread::Info("Altitude: taking off\n");
527    break;
528  case Event_t::Stabilized:
529    Thread::Info("Altitude: entering 'Stabilized' state\n");
530    break;
531  case Event_t::FinishLanding:
532    Thread::Info("Altitude: entering 'FinishLanding' state\n");
533    break;
534  case Event_t::EmergencyStop:
535    Thread::Info("Emergency stop!\n");
536    break;
537  }
[7]538}
539
540void UavStateMachine::EmergencyStop(void) {
[38]541    if(altitudeState!=AltitudeState_t::Stopped) {
542        StopMotors();
543        EnterFailSafeMode();
544        joy->Rumble(0x70);
545        SignalEvent(Event_t::EmergencyStop);
546    }
[153]547    //safeToFly=false;
548    //Warn("Emergency stop, UAV will not take off again until program is rerunned\n");
[7]549}
550
[15]551void UavStateMachine::StopMotors(void) {
552  joy->FlashLed(1, 10, 10); // DualShock3::led1
553  uav->GetBldc()->SetEnabled(false);
554  uav->GetUavMultiplex()->UnlockUserInterface();
555  SignalEvent(Event_t::Stopped);
556  altitudeState = AltitudeState_t::Stopped;
557  uav->GetAhrs()->UnlockUserInterface();
[7]558
[15]559  uZ->SetValues(0, 0);
560  uZ->Reset();
[7]561}
562
[15]563GridLayout *UavStateMachine::GetButtonsLayout(void) const {
564  return buttonslayout;
[7]565}
566
567void UavStateMachine::SecurityCheck(void) {
[15]568  MandatorySecurityCheck();
569  ExtraSecurityCheck();
[7]570}
571
572void UavStateMachine::MandatorySecurityCheck(void) {
[15]573  if (getFrameworkManager()->ConnectionLost() && !flagConnectionLost) {
574    flagConnectionLost = true;
575    Thread::Err("Connection lost\n");
576    EnterFailSafeMode();
577    if (altitudeState == AltitudeState_t::Stopped) {
578      SafeStop();
579    } else {
580      Land();
[7]581    }
[15]582  }
[38]583    if((altitudeState==AltitudeState_t::TakingOff || altitudeState==AltitudeState_t::Stabilized) && uav->GetBatteryMonitor()->IsBatteryLow() && !flagBatteryLow) {
584        flagBatteryLow=true;
585        Thread::Err("Low Battery\n");
586        EnterFailSafeMode();
587        Land();
[42]588    }/*
[38]589    Time now=GetTime();
590    if ((altitudeState==AltitudeState_t::Stopped) && (now-uav->GetAhrs()->lastUpdate>(Time)100*1000*1000)) { //100ms
591        flagCriticalSensorLost=true;
592        Thread::Err("Critical sensor lost\n");
593        EnterFailSafeMode();
[42]594        EmergencyLand();
595    }*/
[7]596}
597
598void UavStateMachine::CheckJoystick(void) {
[15]599  GenericCheckJoystick();
600  ExtraCheckJoystick();
[7]601}
602
603void UavStateMachine::GenericCheckJoystick(void) {
[15]604  static bool isEmergencyStopButtonPressed = false;
605  static bool isTakeOffButtonPressed = false;
606  static bool isSafeModeButtonPressed = false;
[7]607
[38]608  if (controller->IsButtonPressed(1)) { // select
[15]609    if (!isEmergencyStopButtonPressed) {
610      isEmergencyStopButtonPressed = true;
611      Thread::Info("Emergency stop from joystick\n");
612      EmergencyStop();
613    }
614  } else
615    isEmergencyStopButtonPressed = false;
[7]616
[38]617  if (controller->IsButtonPressed(0)) { // start
[15]618    if (!isTakeOffButtonPressed) {
619      isTakeOffButtonPressed = true;
620      switch (altitudeState) {
621      case AltitudeState_t::Stopped:
622        TakeOff();
623        break;
624      case AltitudeState_t::Stabilized:
625        Land();
626        break;
627      default:
628        joy->ErrorNotify();
629        break;
630      }
631    }
632  } else
633    isTakeOffButtonPressed = false;
[7]634
[15]635  // cross
636  // gsanahuj:conflict with Majd programs.
637  // check if l1,l2,r1 and r2 are not pressed
638  // to allow a combination in user program
[38]639  if (controller->IsButtonPressed(5) && !controller->IsButtonPressed(6) &&
640      !controller->IsButtonPressed(7) && !controller->IsButtonPressed(9) &&
641      !controller->IsButtonPressed(10)) {
[15]642    if (!isSafeModeButtonPressed) {
643      isSafeModeButtonPressed = true;
644      Thread::Info("Entering fail safe mode\n");
645      EnterFailSafeMode();
646    }
647  } else
648    isSafeModeButtonPressed = false;
[7]649}
650
651void UavStateMachine::CheckPushButton(void) {
[15]652  GenericCheckPushButton();
653  ExtraCheckPushButton();
[7]654}
655
656void UavStateMachine::GenericCheckPushButton(void) {
[15]657  if (button_kill->Clicked() == true)
658    SafeStop();
659  if (button_take_off->Clicked() == true)
660    TakeOff();
661  if (button_land->Clicked() == true)
662    Land();
663  if (button_start_log->Clicked() == true)
664    getFrameworkManager()->StartLog();
665  if (button_stop_log->Clicked() == true)
666    getFrameworkManager()->StopLog();
[7]667}
668
669void UavStateMachine::EnterFailSafeMode(void) {
[129]670  if(altitudeState!=AltitudeState_t::StartLanding) SetAltitudeMode(AltitudeMode_t::Manual);//
[15]671  SetOrientationMode(OrientationMode_t::Manual);
672  SetThrustMode(ThrustMode_t::Default);
673  SetTorqueMode(TorqueMode_t::Default);
[7]674
[15]675  GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
676                                                        currentAngularSpeed);
677  joy->SetYawRef(currentQuaternion);
678  uYaw->Reset();
679  uPitch->Reset();
680  uRoll->Reset();
[7]681
[15]682  failSafeMode = true;
683  SignalEvent(Event_t::EnteringFailSafeMode);
[7]684}
685
686bool UavStateMachine::ExitFailSafeMode(void) {
[15]687  // only exit fail safe mode if in Stabilized altitude state
688  // gsanahuj: pour la demo inaugurale on ne peut pas etre en failsafe
689  // le ruban perturbe l'us
690  /*
[7]691    if (altitudeState!=AltitudeState_t::Stabilized) {
692        return false;
693    } else*/ {
[15]694    failSafeMode = false;
695    return true;
696  }
[7]697}
698
699bool UavStateMachine::SetTorqueMode(TorqueMode_t const &newTorqueMode) {
[15]700  if ((newTorqueMode == TorqueMode_t::Custom) && (failSafeMode)) {
701    if (!ExitFailSafeMode())
702      return false;
703  }
704  // When transitionning from Custom to Default torque mode, we should reset the
705  // default control laws
706  if ((torqueMode == TorqueMode_t::Custom) &&
707      (newTorqueMode == TorqueMode_t::Default)) {
708    uYaw->Reset();
709    uPitch->Reset();
710    uRoll->Reset();
711  }
712  torqueMode = newTorqueMode;
713  return true;
[7]714}
715
716bool UavStateMachine::SetAltitudeMode(AltitudeMode_t const &newAltitudeMode) {
[15]717  if ((newAltitudeMode == AltitudeMode_t::Custom) && (failSafeMode)) {
718    if (!ExitFailSafeMode())
719      return false;
720  }
721  altitudeMode = newAltitudeMode;
722  GotoAltitude(desiredTakeoffAltitude->Value());
[7]723
[15]724  return true;
[7]725}
726
727bool UavStateMachine::GotoAltitude(float desiredAltitude) {
[15]728  if (altitudeMode != AltitudeMode_t::Manual) {
729    return false;
730  }
731  altitudeTrajectory->StartTraj(uav->GetMetaUsRangeFinder()->z(),
732                                desiredAltitude);
733  return true;
[7]734}
735
[15]736bool UavStateMachine::SetOrientationMode(
737    OrientationMode_t const &newOrientationMode) {
738  if ((newOrientationMode == OrientationMode_t::Custom) && (failSafeMode)) {
739    if (!ExitFailSafeMode())
740      return false;
741  }
742  // When transitionning from Custom to Manual mode we must reset to yaw
743  // reference to the current absolute yaw angle,
744  // overwise the Uav will abruptly change orientation
745  if ((orientationMode == OrientationMode_t::Custom) &&
746      (newOrientationMode == OrientationMode_t::Manual)) {
747    joy->SetYawRef(currentQuaternion);
748  }
749  orientationMode = newOrientationMode;
750  return true;
[7]751}
752
753bool UavStateMachine::SetThrustMode(ThrustMode_t const &newThrustMode) {
[15]754  if ((newThrustMode == ThrustMode_t::Custom) && (failSafeMode)) {
755    if (!ExitFailSafeMode())
756      return false;
757  }
758  thrustMode = newThrustMode;
759  return true;
[7]760}
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