source: flair-src/trunk/lib/FlairMeta/src/UavStateMachine.cpp@ 215

Last change on this file since 215 was 214, checked in by Sanahuja Guillaume, 7 years ago

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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 <Matrix.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->GetMatrix()->Element(0), DataPlot::Green);
112 uav->GetMetaUsRangeFinder()->GetVzPlot()->AddCurve(
113 altitudeTrajectory->GetMatrix()->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 flagZTrajectoryFinished = true;
305 SignalEvent(Event_t::ZTrajectoryFinished);
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) {
463 Warn("cannot takeoff, altitudeState!=AltitudeState_t::Stopped\n");
464 joy->ErrorNotify();
465 } else if(!safeToFly) {
466 Warn("cannot takeoff, uav is not safe to fly\n");
467 joy->ErrorNotify();
468 } else if(!uav->isReadyToFly()) {
469 Warn("cannot takeoff, uav is not ready\n");
470 joy->ErrorNotify();
471 } else if(uav->GetBatteryMonitor()->IsBatteryLow()) {
472 Warn("cannot takeoff, battery is low\n");
473 joy->ErrorNotify();
474 } else if(flagConnectionLost) {
475 Warn("cannot takeoff, connection with flairgcs lost\n");
476 joy->ErrorNotify();
477 } else {
478 //The uav always takes off in fail safe mode
479 flagBatteryLow=false;
480 EnterFailSafeMode();
481 joy->SetLedOFF(4);//DualShock3::led4
482 joy->SetLedOFF(1);//DualShock3::led1
483 joy->Rumble(0x70);
484 joy->SetZRef(0);
485
486 uZ->SetDefaultOffset(); // positionne l'offset de compensation de la gravité à sa
487 // valeur initiale (station sol)
488
489 uav->GetUavMultiplex()->LockUserInterface();
490 // Active les moteurs. Pouvoir les désactiver permet de pouvoir observer les
491 // consignes moteurs
492 // sans les faire tourner effectivement (en déplaçant à la main le drone)
493 uav->GetBldc()->SetEnabled(true);
494 groundAltitude = currentAltitude;
495 altitudeState = AltitudeState_t::TakingOff;
496 SignalEvent(Event_t::TakingOff);
497 }
498}
499
500void UavStateMachine::Land(void) {
501 if (altitudeMode != AltitudeMode_t::Manual) {
502 SetAltitudeMode(AltitudeMode_t::Manual);
503 }
504 if (altitudeState == AltitudeState_t::Stabilized) {
505 joy->SetLedOFF(4); // DualShock3::led4
506 joy->Rumble(0x70);
507
508 altitudeTrajectory->StopTraj();
509 joy->SetZRef(0);
510 altitudeTrajectory->StartTraj(currentAltitude,desiredLandingAltitude->Value()); //shouldn't it be groundAltitude?
511 altitudeState=AltitudeState_t::StartLanding;
512 SignalEvent(Event_t::StartLanding);
513 } else if (altitudeState==AltitudeState_t::TakingOff) {
514 EmergencyLand();
515 } else {
516 joy->ErrorNotify();
517 }
518}
519
520void UavStateMachine::EmergencyLand(void) {
521 //Gradually decrease motor speed
522 //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)
523 altitudeState=AltitudeState_t::FinishLanding;
524 safeToFly=false;
525 Warn("Emergency landing!\n");
526 Warn("You will not be able to take off again\n");
527}
528
529void UavStateMachine::SignalEvent(Event_t event) {
530 switch (event) {
531 case Event_t::StartLanding:
532 Thread::Info("Altitude: entering 'StartLanding' state\n");
533 break;
534 case Event_t::Stopped:
535 Thread::Info("Altitude: entering 'Stopped' state\n");
536 break;
537 case Event_t::TakingOff:
538 Thread::Info("Altitude: taking off\n");
539 break;
540 case Event_t::Stabilized:
541 Thread::Info("Altitude: entering 'Stabilized' state\n");
542 break;
543 case Event_t::FinishLanding:
544 Thread::Info("Altitude: entering 'FinishLanding' state\n");
545 break;
546 case Event_t::EmergencyStop:
547 Thread::Info("Emergency stop!\n");
548 break;
549 }
550}
551
552void UavStateMachine::EmergencyStop(void) {
553 if(altitudeState!=AltitudeState_t::Stopped) {
554 StopMotors();
555 EnterFailSafeMode();
556 joy->Rumble(0x70);
557 SignalEvent(Event_t::EmergencyStop);
558 }
559 //safeToFly=false;
560 //Warn("Emergency stop, UAV will not take off again until program is rerunned\n");
561}
562
563void UavStateMachine::StopMotors(void) {
564 joy->FlashLed(1, 10, 10); // DualShock3::led1
565 uav->GetBldc()->SetEnabled(false);
566 uav->GetUavMultiplex()->UnlockUserInterface();
567 altitudeState = AltitudeState_t::Stopped;
568 SignalEvent(Event_t::Stopped);
569 uav->GetAhrs()->UnlockUserInterface();
570
571 uZ->SetValues(0, 0);
572 uZ->Reset();
573}
574
575GridLayout *UavStateMachine::GetButtonsLayout(void) const {
576 return buttonslayout;
577}
578
579void UavStateMachine::SecurityCheck(void) {
580 MandatorySecurityCheck();
581 ExtraSecurityCheck();
582}
583
584void UavStateMachine::MandatorySecurityCheck(void) {
585 if (getFrameworkManager()->ConnectionLost() && !flagConnectionLost) {
586 flagConnectionLost = true;
587
588 EnterFailSafeMode();
589 if (altitudeState == AltitudeState_t::Stopped) {
590 Thread::Warn("Connection lost\n");
591 Thread::Warn("UAV won't take off\n");
592 } else {
593 Thread::Err("Connection lost\n");
594 Land();
595 }
596 }
597 if((altitudeState==AltitudeState_t::TakingOff || altitudeState==AltitudeState_t::Stabilized) && uav->GetBatteryMonitor()->IsBatteryLow() && !flagBatteryLow) {
598 flagBatteryLow=true;
599 Thread::Err("Low Battery\n");
600 EnterFailSafeMode();
601 Land();
602 }/*
603 Time now=GetTime();
604 if ((altitudeState==AltitudeState_t::Stopped) && (now-uav->GetAhrs()->lastUpdate>(Time)100*1000*1000)) { //100ms
605 flagCriticalSensorLost=true;
606 Thread::Err("Critical sensor lost\n");
607 EnterFailSafeMode();
608 EmergencyLand();
609 }*/
610}
611
612void UavStateMachine::CheckJoystick(void) {
613 GenericCheckJoystick();
614 ExtraCheckJoystick();
615}
616
617void UavStateMachine::GenericCheckJoystick(void) {
618 static bool isEmergencyStopButtonPressed = false;
619 static bool isTakeOffButtonPressed = false;
620 static bool isSafeModeButtonPressed = false;
621
622 if (controller->IsButtonPressed(1)) { // select
623 if (!isEmergencyStopButtonPressed) {
624 isEmergencyStopButtonPressed = true;
625 Thread::Info("Emergency stop from joystick\n");
626 EmergencyStop();
627 }
628 } else
629 isEmergencyStopButtonPressed = false;
630
631 if (controller->IsButtonPressed(0)) { // start
632 if (!isTakeOffButtonPressed) {
633 isTakeOffButtonPressed = true;
634 switch (altitudeState) {
635 case AltitudeState_t::Stopped:
636 TakeOff();
637 break;
638 case AltitudeState_t::Stabilized:
639 Land();
640 break;
641 default:
642 joy->ErrorNotify();
643 break;
644 }
645 }
646 } else
647 isTakeOffButtonPressed = false;
648
649 // cross
650 // gsanahuj:conflict with Majd programs.
651 // check if l1,l2,r1 and r2 are not pressed
652 // to allow a combination in user program
653 if (controller->IsButtonPressed(5) && !controller->IsButtonPressed(6) &&
654 !controller->IsButtonPressed(7) && !controller->IsButtonPressed(9) &&
655 !controller->IsButtonPressed(10)) {
656 if (!isSafeModeButtonPressed) {
657 isSafeModeButtonPressed = true;
658 Thread::Info("Entering fail safe mode\n");
659 EnterFailSafeMode();
660 }
661 } else
662 isSafeModeButtonPressed = false;
663}
664
665void UavStateMachine::CheckPushButton(void) {
666 GenericCheckPushButton();
667 ExtraCheckPushButton();
668}
669
670void UavStateMachine::GenericCheckPushButton(void) {
671 if (button_kill->Clicked() == true)
672 SafeStop();
673 if (button_take_off->Clicked() == true)
674 TakeOff();
675 if (button_land->Clicked() == true)
676 Land();
677 if (button_start_log->Clicked() == true)
678 getFrameworkManager()->StartLog();
679 if (button_stop_log->Clicked() == true)
680 getFrameworkManager()->StopLog();
681}
682
683void UavStateMachine::EnterFailSafeMode(void) {
684 if(altitudeState!=AltitudeState_t::StartLanding) SetAltitudeMode(AltitudeMode_t::Manual);//
685 SetOrientationMode(OrientationMode_t::Manual);
686 SetThrustMode(ThrustMode_t::Default);
687 SetTorqueMode(TorqueMode_t::Default);
688
689 GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
690 currentAngularSpeed);
691 joy->SetYawRef(currentQuaternion);
692 uYaw->Reset();
693 uPitch->Reset();
694 uRoll->Reset();
695
696 failSafeMode = true;
697 SignalEvent(Event_t::EnteringFailSafeMode);
698}
699
700bool UavStateMachine::ExitFailSafeMode(void) {
701 // only exit fail safe mode if in Stabilized altitude state
702 // gsanahuj: pour la demo inaugurale on ne peut pas etre en failsafe
703 // le ruban perturbe l'us
704 /*
705 if (altitudeState!=AltitudeState_t::Stabilized) {
706 return false;
707 } else*/ {
708 failSafeMode = false;
709 return true;
710 }
711}
712
713bool UavStateMachine::SetTorqueMode(TorqueMode_t const &newTorqueMode) {
714 if ((newTorqueMode == TorqueMode_t::Custom) && (failSafeMode)) {
715 if (!ExitFailSafeMode())
716 return false;
717 }
718 // When transitionning from Custom to Default torque mode, we should reset the
719 // default control laws
720 if ((torqueMode == TorqueMode_t::Custom) &&
721 (newTorqueMode == TorqueMode_t::Default)) {
722 uYaw->Reset();
723 uPitch->Reset();
724 uRoll->Reset();
725 }
726 torqueMode = newTorqueMode;
727 return true;
728}
729
730bool UavStateMachine::SetAltitudeMode(AltitudeMode_t const &newAltitudeMode) {
731 if ((newAltitudeMode == AltitudeMode_t::Custom) && (failSafeMode)) {
732 if (!ExitFailSafeMode())
733 return false;
734 }
735 altitudeMode = newAltitudeMode;
736 //avoid starting trajectory at take off (it will be started when altitudeState==AltitudeState_t::Stabilized)
737 if(altitudeState!=AltitudeState_t::Stopped) GotoAltitude(desiredTakeoffAltitude->Value());
738
739 return true;
740}
741
742bool UavStateMachine::GotoAltitude(float desiredAltitude) {
743 if (altitudeMode != AltitudeMode_t::Manual) {
744 return false;
745 }
746 altitudeTrajectory->StartTraj(uav->GetMetaUsRangeFinder()->z(),
747 desiredAltitude);
748 return true;
749}
750
751bool UavStateMachine::SetOrientationMode(
752 OrientationMode_t const &newOrientationMode) {
753 if ((newOrientationMode == OrientationMode_t::Custom) && (failSafeMode)) {
754 if (!ExitFailSafeMode())
755 return false;
756 }
757 // When transitionning from Custom to Manual mode we must reset to yaw
758 // reference to the current absolute yaw angle,
759 // overwise the Uav will abruptly change orientation
760 if ((orientationMode == OrientationMode_t::Custom) &&
761 (newOrientationMode == OrientationMode_t::Manual)) {
762 joy->SetYawRef(currentQuaternion);
763 }
764 orientationMode = newOrientationMode;
765 return true;
766}
767
768bool UavStateMachine::SetThrustMode(ThrustMode_t const &newThrustMode) {
769 if ((newThrustMode == ThrustMode_t::Custom) && (failSafeMode)) {
770 if (!ExitFailSafeMode())
771 return false;
772 }
773 thrustMode = newThrustMode;
774 return true;
775}
776
777NestedSat* UavStateMachine::GetURoll(void) { return uRoll;};
778NestedSat* UavStateMachine::GetUPitch(void) { return uPitch;};
779Pid* UavStateMachine::GetUYaw(void) { return uYaw;};
780PidThrust* UavStateMachine::GetUZ(void) { return uZ;};
781TrajectoryGenerator1D * UavStateMachine::GetAltitudeTrajectory(void) { return altitudeTrajectory;};
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