source: flair-src/trunk/lib/FlairMeta/src/UavStateMachine.cpp@ 192

Last change on this file since 192 was 186, checked in by Sanahuja Guillaume, 7 years ago

maj imu
File size: 24.6 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
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>
44#include <math.h>
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
54UavStateMachine::UavStateMachine(TargetController *controller):
55 Thread(getFrameworkManager(),"UavStateMachine",50),
56 uav(GetUav()),controller(controller),failSafeMode(true),flagConnectionLost(false),flagBatteryLow(false),flagCriticalSensorLost(false),flagZTrajectoryFinished(false),safeToFly(true){
57 altitudeState=AltitudeState_t::Stopped;
58 uav->UseDefaultPlot();
59
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");
67
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");
72
73 uRoll = new NestedSat(setupLawTab->At(0, 0), "u_roll");
74 uRoll->ConvertSatFromDegToRad();
75 uRoll->UseDefaultPlot(graphLawTab->NewRow());
76
77 uPitch = new NestedSat(setupLawTab->At(0, 1), "u_pitch");
78 uPitch->ConvertSatFromDegToRad();
79 uPitch->UseDefaultPlot(graphLawTab->LastRowLastCol());
80
81 uYaw = new Pid(setupLawTab->At(0, 2), "u_yaw");
82 uYaw->UseDefaultPlot(graphLawTab->LastRowLastCol());
83
84 uZ = new PidThrust(setupLawTab->At(1, 2), "u_z");
85 uZ->UseDefaultPlot(graphLawTab->LastRowLastCol());
86
87 getFrameworkManager()->AddDeviceToLog(uZ);
88 uZ->AddDeviceToLog(uRoll);
89 uZ->AddDeviceToLog(uPitch);
90 uZ->AddDeviceToLog(uYaw);
91
92 joy=new MetaDualShock3("uav high level controller",controller);
93 uav->GetAhrs()->AddPlot(joy->GetReferenceOrientation(),DataPlot::Blue);
94
95 altitudeMode = AltitudeMode_t::Manual;
96 orientationMode = OrientationMode_t::Manual;
97 thrustMode = ThrustMode_t::Default;
98 torqueMode = TorqueMode_t::Default;
99
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);
114}
115
116UavStateMachine::~UavStateMachine() {}
117
118void UavStateMachine::AddDeviceToControlLawLog(const IODevice *device) {
119 uZ->AddDeviceToLog(device);
120}
121
122void UavStateMachine::AddDataToControlLawLog(const core::io_data *data) {
123 uZ->AddDataToLog(data);
124}
125
126const TargetController *UavStateMachine::GetJoystick(void) const {
127 return controller;
128}
129
130const Quaternion &UavStateMachine::GetCurrentQuaternion(void) const {
131 return currentQuaternion;
132}
133
134const Vector3Df &UavStateMachine::GetCurrentAngularSpeed(void) const {
135 return currentAngularSpeed;
136}
137
138void UavStateMachine::AltitudeValues(float &altitude,
139 float &verticalSpeed) const {
140 FailSafeAltitudeValues(altitude, verticalSpeed);
141}
142
143void UavStateMachine::FailSafeAltitudeValues(float &altitude,
144 float &verticalSpeed) const {
145 altitude = uav->GetMetaUsRangeFinder()->z();
146 verticalSpeed = uav->GetMetaUsRangeFinder()->Vz();
147}
148
149void UavStateMachine::Run() {
150 WarnUponSwitches(true);
151 uav->StartSensors();
152
153 if (getFrameworkManager()->ErrorOccured() == true) {
154 SafeStop();
155 }
156
157 while (!ToBeStopped()) {
158 SecurityCheck();
159
160 // get controller inputs
161 CheckJoystick();
162 CheckPushButton();
163
164 if (IsPeriodSet()) {
165 WaitPeriod();
166 } else {
167 WaitUpdate(uav->GetAhrs());
168 }
169 needToComputeDefaultTorques = true;
170 needToComputeDefaultThrust = true;
171
172 SignalEvent(Event_t::EnteringControlLoop);
173
174 ComputeOrientation();
175 ComputeAltitude();
176
177 // compute thrust and torques to apply
178 ComputeTorques();
179 ComputeThrust(); // logs are added to uz, so it must be updated at last
180
181 //check nan/inf problems
182 if(!IsValuePossible(currentTorques.roll,"roll torque")
183 || !IsValuePossible(currentTorques.pitch,"pitch torque")
184 || !IsValuePossible(currentTorques.yaw,"yaw torque")
185 || !IsValuePossible(currentThrust,"thrust")) {
186
187 if(altitudeState==AltitudeState_t::Stopped) {
188 SafeStop();
189 } else {
190
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 }
203 }
204
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 }
219
220 WarnUponSwitches(false);
221}
222
223bool UavStateMachine::IsValuePossible(float value,std::string desc) {
224 if(isnan(value)) {
225 Warn("%s is not an number\n",desc.c_str());
226 return false;
227 } else if(isinf(value)) {
228 Warn("%s is infinite\n",desc.c_str());
229 return false;
230 } else {
231 return true;
232 }
233}
234
235
236void UavStateMachine::ComputeOrientation(void) {
237 if (failSafeMode) {
238 GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
239 currentAngularSpeed);
240 } else {
241 GetOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
242 currentAngularSpeed);
243 }
244}
245
246const AhrsData *UavStateMachine::GetOrientation(void) const {
247 return GetDefaultOrientation();
248}
249
250const AhrsData *UavStateMachine::GetDefaultOrientation(void) const {
251 return uav->GetAhrs()->GetDatas();
252}
253
254void UavStateMachine::ComputeAltitude(void) {
255 if (failSafeMode) {
256 FailSafeAltitudeValues(currentAltitude, currentVerticalSpeed);
257 } else {
258 AltitudeValues(currentAltitude, currentVerticalSpeed);
259 }
260}
261
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 }
269}
270
271void UavStateMachine::GetDefaultReferenceAltitude(float &refAltitude,
272 float &refVerticalVelocity) {
273 float zc, dzc;
274
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(),currentVerticalSpeed);
282 altitudeState = AltitudeState_t::Stabilized;
283 SignalEvent(Event_t::Stabilized);
284 }
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
292 // command delay. Moreover, it may never exactly reach this value if the
293 // ground is not perfectly leveled (critical case: there's a
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 }
315
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();
322
323 // z control law
324 altitudeTrajectory->SetPositionOffset(zc);
325 altitudeTrajectory->SetSpeedOffset(dzc);
326
327 altitudeTrajectory->Update(GetTime());
328 refAltitude = altitudeTrajectory->Position();
329 refVerticalVelocity = altitudeTrajectory->Speed();
330}
331
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();
337};
338
339void UavStateMachine::ComputeThrust(void) {
340 if (altitudeMode == AltitudeMode_t::Manual) {
341 currentThrust = ComputeDefaultThrust();
342 } else {
343 currentThrust = ComputeCustomThrust();
344 }
345}
346
347float UavStateMachine::ComputeDefaultThrust(void) {
348 if (needToComputeDefaultThrust) {
349 // compute desired altitude
350 float refAltitude, refVerticalVelocity;
351 ComputeReferenceAltitude(refAltitude, refVerticalVelocity);
352
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;
360 }
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());
378
379 savedDefaultThrust = uZ->Output();
380 needToComputeDefaultThrust = false;
381 }
382
383 return savedDefaultThrust;
384}
385
386float UavStateMachine::ComputeCustomThrust(void) {
387 Thread::Warn("Default GetThrust method is not overloaded => switching back "
388 "to safe mode\n");
389 EnterFailSafeMode();
390 return ComputeDefaultThrust();
391}
392
393const AhrsData *UavStateMachine::ComputeReferenceOrientation(void) {
394 if (orientationMode == OrientationMode_t::Manual) {
395 return GetDefaultReferenceOrientation();
396 } else {
397 return GetReferenceOrientation();
398 }
399}
400
401const AhrsData *UavStateMachine::GetDefaultReferenceOrientation(void) const {
402 // We directly control yaw, pitch, roll angles
403 return joy->GetReferenceOrientation();
404}
405
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();
411}
412
413void UavStateMachine::ComputeTorques(void) {
414 if (torqueMode == TorqueMode_t::Default) {
415 ComputeDefaultTorques(currentTorques);
416 } else {
417 ComputeCustomTorques(currentTorques);
418 }
419}
420
421void UavStateMachine::ComputeDefaultTorques(Euler &torques) {
422 if (needToComputeDefaultTorques) {
423 const AhrsData *refOrientation = ComputeReferenceOrientation();
424 Quaternion refQuaternion;
425 Vector3Df refAngularRates;
426 refOrientation->GetQuaternionAndAngularRates(refQuaternion,
427 refAngularRates);
428 Euler refAngles = refQuaternion.ToEuler();
429 Euler currentAngles = currentQuaternion.ToEuler();
430
431 uYaw->SetValues(currentAngles.YawDistanceFrom(refAngles.yaw),
432 currentAngularSpeed.z - refAngularRates.z);
433 uYaw->Update(GetTime());
434 torques.yaw = uYaw->Output();
435
436 uPitch->SetValues(refAngles.pitch, currentAngles.pitch,
437 currentAngularSpeed.y);
438 uPitch->Update(GetTime());
439 torques.pitch = uPitch->Output();
440
441 uRoll->SetValues(refAngles.roll, currentAngles.roll, currentAngularSpeed.x);
442 uRoll->Update(GetTime());
443 torques.roll = uRoll->Output();
444
445 savedDefaultTorques = torques;
446 needToComputeDefaultTorques = false;
447 } else {
448 torques = savedDefaultTorques;
449 }
450}
451
452void UavStateMachine::ComputeCustomTorques(Euler &torques) {
453 Thread::Warn("Default ComputeCustomTorques method is not overloaded => "
454 "switching back to safe mode\n");
455 EnterFailSafeMode();
456 ComputeDefaultTorques(torques);
457}
458
459void UavStateMachine::TakeOff(void) {
460 flagZTrajectoryFinished = false;
461
462 if((altitudeState==AltitudeState_t::Stopped) && safeToFly && uav->isReadyToFly() && uav->GetBatteryMonitor()->IsBatteryLow()==false && !flagConnectionLost) {
463 //The uav always takes off in fail safe mode
464 flagBatteryLow=false;
465 EnterFailSafeMode();
466 joy->SetLedOFF(4);//DualShock3::led4
467 joy->SetLedOFF(1);//DualShock3::led1
468 joy->Rumble(0x70);
469 joy->SetZRef(0);
470
471 uZ->SetOffset(); // positionne l'offset de compensation de la gravité à sa
472 // valeur initiale (station sol)
473
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;
481
482 SignalEvent(Event_t::TakingOff);
483 } else {
484 Warn("cannot takeoff\n");
485 joy->ErrorNotify();
486 }
487}
488
489void UavStateMachine::Land(void) {
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);
496
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 }
507}
508
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
517void UavStateMachine::SignalEvent(Event_t event) {
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 }
538}
539
540void UavStateMachine::EmergencyStop(void) {
541 if(altitudeState!=AltitudeState_t::Stopped) {
542 StopMotors();
543 EnterFailSafeMode();
544 joy->Rumble(0x70);
545 SignalEvent(Event_t::EmergencyStop);
546 }
547 //safeToFly=false;
548 //Warn("Emergency stop, UAV will not take off again until program is rerunned\n");
549}
550
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();
558
559 uZ->SetValues(0, 0);
560 uZ->Reset();
561}
562
563GridLayout *UavStateMachine::GetButtonsLayout(void) const {
564 return buttonslayout;
565}
566
567void UavStateMachine::SecurityCheck(void) {
568 MandatorySecurityCheck();
569 ExtraSecurityCheck();
570}
571
572void UavStateMachine::MandatorySecurityCheck(void) {
573 if (getFrameworkManager()->ConnectionLost() && !flagConnectionLost) {
574 flagConnectionLost = true;
575
576 EnterFailSafeMode();
577 if (altitudeState == AltitudeState_t::Stopped) {
578 Thread::Warn("Connection lost\n");
579 Thread::Warn("UAV won't take off\n");
580 } else {
581 Thread::Err("Connection lost\n");
582 Land();
583 }
584 }
585 if((altitudeState==AltitudeState_t::TakingOff || altitudeState==AltitudeState_t::Stabilized) && uav->GetBatteryMonitor()->IsBatteryLow() && !flagBatteryLow) {
586 flagBatteryLow=true;
587 Thread::Err("Low Battery\n");
588 EnterFailSafeMode();
589 Land();
590 }/*
591 Time now=GetTime();
592 if ((altitudeState==AltitudeState_t::Stopped) && (now-uav->GetAhrs()->lastUpdate>(Time)100*1000*1000)) { //100ms
593 flagCriticalSensorLost=true;
594 Thread::Err("Critical sensor lost\n");
595 EnterFailSafeMode();
596 EmergencyLand();
597 }*/
598}
599
600void UavStateMachine::CheckJoystick(void) {
601 GenericCheckJoystick();
602 ExtraCheckJoystick();
603}
604
605void UavStateMachine::GenericCheckJoystick(void) {
606 static bool isEmergencyStopButtonPressed = false;
607 static bool isTakeOffButtonPressed = false;
608 static bool isSafeModeButtonPressed = false;
609
610 if (controller->IsButtonPressed(1)) { // select
611 if (!isEmergencyStopButtonPressed) {
612 isEmergencyStopButtonPressed = true;
613 Thread::Info("Emergency stop from joystick\n");
614 EmergencyStop();
615 }
616 } else
617 isEmergencyStopButtonPressed = false;
618
619 if (controller->IsButtonPressed(0)) { // start
620 if (!isTakeOffButtonPressed) {
621 isTakeOffButtonPressed = true;
622 switch (altitudeState) {
623 case AltitudeState_t::Stopped:
624 TakeOff();
625 break;
626 case AltitudeState_t::Stabilized:
627 Land();
628 break;
629 default:
630 joy->ErrorNotify();
631 break;
632 }
633 }
634 } else
635 isTakeOffButtonPressed = false;
636
637 // cross
638 // gsanahuj:conflict with Majd programs.
639 // check if l1,l2,r1 and r2 are not pressed
640 // to allow a combination in user program
641 if (controller->IsButtonPressed(5) && !controller->IsButtonPressed(6) &&
642 !controller->IsButtonPressed(7) && !controller->IsButtonPressed(9) &&
643 !controller->IsButtonPressed(10)) {
644 if (!isSafeModeButtonPressed) {
645 isSafeModeButtonPressed = true;
646 Thread::Info("Entering fail safe mode\n");
647 EnterFailSafeMode();
648 }
649 } else
650 isSafeModeButtonPressed = false;
651}
652
653void UavStateMachine::CheckPushButton(void) {
654 GenericCheckPushButton();
655 ExtraCheckPushButton();
656}
657
658void UavStateMachine::GenericCheckPushButton(void) {
659 if (button_kill->Clicked() == true)
660 SafeStop();
661 if (button_take_off->Clicked() == true)
662 TakeOff();
663 if (button_land->Clicked() == true)
664 Land();
665 if (button_start_log->Clicked() == true)
666 getFrameworkManager()->StartLog();
667 if (button_stop_log->Clicked() == true)
668 getFrameworkManager()->StopLog();
669}
670
671void UavStateMachine::EnterFailSafeMode(void) {
672 if(altitudeState!=AltitudeState_t::StartLanding) SetAltitudeMode(AltitudeMode_t::Manual);//
673 SetOrientationMode(OrientationMode_t::Manual);
674 SetThrustMode(ThrustMode_t::Default);
675 SetTorqueMode(TorqueMode_t::Default);
676
677 GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
678 currentAngularSpeed);
679 joy->SetYawRef(currentQuaternion);
680 uYaw->Reset();
681 uPitch->Reset();
682 uRoll->Reset();
683
684 failSafeMode = true;
685 SignalEvent(Event_t::EnteringFailSafeMode);
686}
687
688bool UavStateMachine::ExitFailSafeMode(void) {
689 // only exit fail safe mode if in Stabilized altitude state
690 // gsanahuj: pour la demo inaugurale on ne peut pas etre en failsafe
691 // le ruban perturbe l'us
692 /*
693 if (altitudeState!=AltitudeState_t::Stabilized) {
694 return false;
695 } else*/ {
696 failSafeMode = false;
697 return true;
698 }
699}
700
701bool UavStateMachine::SetTorqueMode(TorqueMode_t const &newTorqueMode) {
702 if ((newTorqueMode == TorqueMode_t::Custom) && (failSafeMode)) {
703 if (!ExitFailSafeMode())
704 return false;
705 }
706 // When transitionning from Custom to Default torque mode, we should reset the
707 // default control laws
708 if ((torqueMode == TorqueMode_t::Custom) &&
709 (newTorqueMode == TorqueMode_t::Default)) {
710 uYaw->Reset();
711 uPitch->Reset();
712 uRoll->Reset();
713 }
714 torqueMode = newTorqueMode;
715 return true;
716}
717
718bool UavStateMachine::SetAltitudeMode(AltitudeMode_t const &newAltitudeMode) {
719 if ((newAltitudeMode == AltitudeMode_t::Custom) && (failSafeMode)) {
720 if (!ExitFailSafeMode())
721 return false;
722 }
723 altitudeMode = newAltitudeMode;
724 //avoid starting trajectory at take off (it will be started when altitudeState==AltitudeState_t::Stabilized)
725 if(altitudeState!=AltitudeState_t::Stopped) GotoAltitude(desiredTakeoffAltitude->Value());
726
727 return true;
728}
729
730bool UavStateMachine::GotoAltitude(float desiredAltitude) {
731 if (altitudeMode != AltitudeMode_t::Manual) {
732 return false;
733 }
734 altitudeTrajectory->StartTraj(uav->GetMetaUsRangeFinder()->z(),
735 desiredAltitude);
736 return true;
737}
738
739bool UavStateMachine::SetOrientationMode(
740 OrientationMode_t const &newOrientationMode) {
741 if ((newOrientationMode == OrientationMode_t::Custom) && (failSafeMode)) {
742 if (!ExitFailSafeMode())
743 return false;
744 }
745 // When transitionning from Custom to Manual mode we must reset to yaw
746 // reference to the current absolute yaw angle,
747 // overwise the Uav will abruptly change orientation
748 if ((orientationMode == OrientationMode_t::Custom) &&
749 (newOrientationMode == OrientationMode_t::Manual)) {
750 joy->SetYawRef(currentQuaternion);
751 }
752 orientationMode = newOrientationMode;
753 return true;
754}
755
756bool UavStateMachine::SetThrustMode(ThrustMode_t const &newThrustMode) {
757 if ((newThrustMode == ThrustMode_t::Custom) && (failSafeMode)) {
758 if (!ExitFailSafeMode())
759 return false;
760 }
761 thrustMode = newThrustMode;
762 return true;
763}
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