source: flair-src/trunk/lib/FlairMeta/src/UavStateMachine.cpp @ 106

Last change on this file since 106 was 106, checked in by Sanahuja Guillaume, 5 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 <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(Uav* inUav,TargetController *controller):
55        Thread(getFrameworkManager(),"UavStateMachine",50),
56        uav(inUav),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(getFrameworkManager(),"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 Vector3D &UavStateMachine::GetCurrentAngularSpeed(void) const {
135  return currentAngularSpeed;
136}
137
138const Uav *UavStateMachine::GetUav(void) const { return uav; }
139
140void UavStateMachine::AltitudeValues(float &altitude,
141                                     float &verticalSpeed) const {
142  FailSafeAltitudeValues(altitude, verticalSpeed);
143}
144
145void UavStateMachine::FailSafeAltitudeValues(float &altitude,
146                                             float &verticalSpeed) const {
147  altitude = uav->GetMetaUsRangeFinder()->z();
148  verticalSpeed = uav->GetMetaUsRangeFinder()->Vz();
149}
150
151void UavStateMachine::Run() {
152  WarnUponSwitches(true);
153  uav->StartSensors();
154
155  if (getFrameworkManager()->ErrorOccured() == true) {
156    SafeStop();
157  }
158
159  while (!ToBeStopped()) {
160    SecurityCheck();
161
162    // get controller inputs
163    CheckJoystick();
164    CheckPushButton();
165
166    if (IsPeriodSet()) {
167      WaitPeriod();
168    } else {
169      WaitUpdate(uav->GetAhrs());
170    }
171    needToComputeDefaultTorques = true;
172    needToComputeDefaultThrust = true;
173
174    SignalEvent(Event_t::EnteringControlLoop);
175
176    ComputeOrientation();
177    ComputeAltitude();
178
179    // compute thrust and torques to apply
180    ComputeTorques();
181    ComputeThrust(); // logs are added to uz, so it must be updated at last
182
183    //check nan/inf problems
184    if(!IsValuePossible(currentTorques.roll,"roll torque")
185       || !IsValuePossible(currentTorques.pitch,"pitch torque")
186       || !IsValuePossible(currentTorques.yaw,"yaw torque")
187       || !IsValuePossible(currentThrust,"thrust")) {
188
189        if(altitudeState==AltitudeState_t::Stopped) {
190            SafeStop();
191        } else {
192
193          if(failSafeMode) {
194            Warn("We are already in safe mode, the uav is going to crash!\n");
195          } else {
196            Thread::Warn("switching back to safe mode\n");
197            EnterFailSafeMode();
198            needToComputeDefaultTorques = true;//should not be necessary, but put it to be sure to compute default thrust/torques
199            needToComputeDefaultThrust = true;
200
201            ComputeTorques();
202            ComputeThrust();
203          }
204        }
205    }
206
207    // Set torques for roll, pitch and yaw angles (value between -1 and 1). Set
208    // thrust (value between 0 and 1)
209    uav->GetUavMultiplex()->SetRoll(-currentTorques.roll);
210    uav->GetUavMultiplex()->SetPitch(-currentTorques.pitch);
211    uav->GetUavMultiplex()->SetYaw(-currentTorques.yaw);
212    uav->GetUavMultiplex()->SetThrust(-currentThrust); // on raisonne en negatif
213                                                       // sur l'altitude, a
214                                                       // revoir avec les
215                                                       // equations
216    uav->GetUavMultiplex()->SetRollTrim(joy->RollTrim());
217    uav->GetUavMultiplex()->SetPitchTrim(joy->PitchTrim());
218    uav->GetUavMultiplex()->SetYawTrim(0);
219    uav->GetUavMultiplex()->Update(GetTime());
220  }
221
222  WarnUponSwitches(false);
223}
224
225bool UavStateMachine::IsValuePossible(float value,std::string desc) {
226  if(isnan(value)) {
227    Warn("%s is not an number\n",desc.c_str());
228    return false;
229  } else if(isinf(value)) {
230    Warn("%s is infinite\n",desc.c_str());
231    return false;
232  } else {
233    return true;
234  }
235}
236
237
238void UavStateMachine::ComputeOrientation(void) {
239  if (failSafeMode) {
240    GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
241                                                          currentAngularSpeed);
242  } else {
243    GetOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
244                                                   currentAngularSpeed);
245  }
246}
247
248const AhrsData *UavStateMachine::GetOrientation(void) const {
249  return GetDefaultOrientation();
250}
251
252const AhrsData *UavStateMachine::GetDefaultOrientation(void) const {
253  return uav->GetAhrs()->GetDatas();
254}
255
256void UavStateMachine::ComputeAltitude(void) {
257  if (failSafeMode) {
258    FailSafeAltitudeValues(currentAltitude, currentVerticalSpeed);
259  } else {
260    AltitudeValues(currentAltitude, currentVerticalSpeed);
261  }
262}
263
264void UavStateMachine::ComputeReferenceAltitude(float &refAltitude,
265                                               float &refVerticalVelocity) {
266  if (altitudeMode == AltitudeMode_t::Manual) {
267    GetDefaultReferenceAltitude(refAltitude, refVerticalVelocity);
268  } else {
269    GetReferenceAltitude(refAltitude, refVerticalVelocity);
270  }
271}
272
273void UavStateMachine::GetDefaultReferenceAltitude(float &refAltitude,
274                                                  float &refVerticalVelocity) {
275  float zc, dzc;
276
277  switch (altitudeState) {
278  // initiate a takeoff: increase motor speed in open loop (see ComputeThrust)
279  // until we detect a take off of 0.03m (hard coded value) above the ground.
280  case AltitudeState_t::TakingOff: {
281    if (currentAltitude > groundAltitude + 0.03) {
282      altitudeTrajectory->StartTraj(currentAltitude,
283                                    desiredTakeoffAltitude->Value());
284      altitudeState = AltitudeState_t::Stabilized;
285      SignalEvent(Event_t::Stabilized);
286    }
287    break;
288  }
289  // landing, only check if we reach desired landing altitude
290  case AltitudeState_t::StartLanding: {
291    if (altitudeTrajectory->Position() == desiredLandingAltitude->Value()) {
292      // The Uav target altitude has reached its landing value (typically 0)
293      // but the real Uav altitude may not have reach this value yet because of
294      // command delay. Moreover, it may never exactly reach this value if the
295      // ground is not perfectly leveled (critical case: there's a
296      // deep and narrow hole right in the sensor line of sight). That's why we
297      // have a 2 phases landing strategy.
298      altitudeState = AltitudeState_t::FinishLanding;
299      SignalEvent(Event_t::FinishLanding);
300      joy->SetLedOFF(1); // DualShock3::led1
301    }
302  }
303  // stabilized: check if z trajectory is finished
304  case AltitudeState_t::Stabilized: {
305    if (!altitudeTrajectory->IsRunning() && !flagZTrajectoryFinished) {
306      SignalEvent(Event_t::ZTrajectoryFinished);
307      flagZTrajectoryFinished = true;
308    }
309    if (flagZTrajectoryFinished && desiredTakeoffAltitude->ValueChanged()) {
310      flagZTrajectoryFinished = false;
311      altitudeTrajectory->StartTraj(currentAltitude,
312                                    desiredTakeoffAltitude->Value());
313      joy->SetZRef(0);
314    }
315  }
316  }
317
318  // Récupère les consignes (du joystick dans l'implémentation par défaut). La
319  // consigne joystick est une vitesse ("delta_z", dzc). le zc est calculé par
320  // la manette
321  zc = joy->ZRef(); // a revoir, la position offset devrait se calculer dans le
322                    // generator
323  dzc = joy->DzRef();
324
325  // z control law
326  altitudeTrajectory->SetPositionOffset(zc);
327  altitudeTrajectory->SetSpeedOffset(dzc);
328
329  altitudeTrajectory->Update(GetTime());
330  refAltitude = altitudeTrajectory->Position();
331  refVerticalVelocity = altitudeTrajectory->Speed();
332}
333
334void UavStateMachine::GetReferenceAltitude(float &refAltitude,
335                                           float &refVerticalVelocity) {
336  Thread::Warn("Default GetReferenceAltitude method is not overloaded => "
337               "switching back to safe mode\n");
338  EnterFailSafeMode();
339};
340
341void UavStateMachine::ComputeThrust(void) {
342  if (altitudeMode == AltitudeMode_t::Manual) {
343    currentThrust = ComputeDefaultThrust();
344  } else {
345    currentThrust = ComputeCustomThrust();
346  }
347}
348
349float UavStateMachine::ComputeDefaultThrust(void) {
350  if (needToComputeDefaultThrust) {
351    // compute desired altitude
352    float refAltitude, refVerticalVelocity;
353    ComputeReferenceAltitude(refAltitude, refVerticalVelocity);
354
355    switch (altitudeState) {
356    case AltitudeState_t::TakingOff: {
357      // The progressive increase in motor speed is used to evaluate the motor
358      // speed that compensate the uav weight. This value
359      // will be used as an offset for altitude control afterwards
360      uZ->OffsetStepUp();
361      break;
362    }
363    case AltitudeState_t::StartLanding:
364    case AltitudeState_t::Stabilized: {
365      float p_error = currentAltitude - refAltitude;
366      float d_error = currentVerticalSpeed - refVerticalVelocity;
367      uZ->SetValues(p_error, d_error);
368      break;
369    }
370    // decrease motor speed in open loop until value offset_g , uav should have
371    // already landed or be very close to at this point
372    case AltitudeState_t::FinishLanding: {
373      if (uZ->OffsetStepDown() == false) {
374        StopMotors();
375      }
376      break;
377    }
378    }
379    uZ->Update(GetTime());
380
381    savedDefaultThrust = uZ->Output();
382    needToComputeDefaultThrust = false;
383  }
384
385  return savedDefaultThrust;
386}
387
388float UavStateMachine::ComputeCustomThrust(void) {
389  Thread::Warn("Default GetThrust method is not overloaded => switching back "
390               "to safe mode\n");
391  EnterFailSafeMode();
392  return ComputeDefaultThrust();
393}
394
395const AhrsData *UavStateMachine::ComputeReferenceOrientation(void) {
396  if (orientationMode == OrientationMode_t::Manual) {
397    return GetDefaultReferenceOrientation();
398  } else {
399    return GetReferenceOrientation();
400  }
401}
402
403const AhrsData *UavStateMachine::GetDefaultReferenceOrientation(void) const {
404  // We directly control yaw, pitch, roll angles
405  return joy->GetReferenceOrientation();
406}
407
408const AhrsData *UavStateMachine::GetReferenceOrientation(void) {
409  Thread::Warn("Default GetReferenceOrientation method is not overloaded => "
410               "switching back to safe mode\n");
411  EnterFailSafeMode();
412  return GetDefaultReferenceOrientation();
413}
414
415void UavStateMachine::ComputeTorques(void) {
416  if (torqueMode == TorqueMode_t::Default) {
417    ComputeDefaultTorques(currentTorques);
418  } else {
419    ComputeCustomTorques(currentTorques);
420  }
421}
422
423void UavStateMachine::ComputeDefaultTorques(Euler &torques) {
424  if (needToComputeDefaultTorques) {
425    const AhrsData *refOrientation = ComputeReferenceOrientation();
426    Quaternion refQuaternion;
427    Vector3D refAngularRates;
428    refOrientation->GetQuaternionAndAngularRates(refQuaternion,
429                                                 refAngularRates);
430    Euler refAngles = refQuaternion.ToEuler();
431    Euler currentAngles = currentQuaternion.ToEuler();
432
433    uYaw->SetValues(currentAngles.YawDistanceFrom(refAngles.yaw),
434                    currentAngularSpeed.z - refAngularRates.z);
435    uYaw->Update(GetTime());
436    torques.yaw = uYaw->Output();
437
438    uPitch->SetValues(refAngles.pitch, currentAngles.pitch,
439                      currentAngularSpeed.y);
440    uPitch->Update(GetTime());
441    torques.pitch = uPitch->Output();
442
443    uRoll->SetValues(refAngles.roll, currentAngles.roll, currentAngularSpeed.x);
444    uRoll->Update(GetTime());
445    torques.roll = uRoll->Output();
446
447    savedDefaultTorques = torques;
448    needToComputeDefaultTorques = false;
449  } else {
450    torques = savedDefaultTorques;
451  }
452}
453
454void UavStateMachine::ComputeCustomTorques(Euler &torques) {
455  Thread::Warn("Default ComputeCustomTorques method is not overloaded => "
456               "switching back to safe mode\n");
457  EnterFailSafeMode();
458  ComputeDefaultTorques(torques);
459}
460
461void UavStateMachine::TakeOff(void) {
462  flagZTrajectoryFinished = false;
463
464    if((altitudeState==AltitudeState_t::Stopped) && safeToFly) {// && GetBatteryMonitor()->IsBatteryLow()==false)
465        //The uav always takes off in fail safe mode
466        EnterFailSafeMode();
467        joy->SetLedOFF(4);//DualShock3::led4
468        joy->SetLedOFF(1);//DualShock3::led1
469        joy->Rumble(0x70);
470        joy->SetZRef(0);
471
472    uZ->SetOffset(); // positionne l'offset de compensation de la gravité à sa
473                     // valeur initiale (station sol)
474
475    uav->GetUavMultiplex()->LockUserInterface();
476    // Active les moteurs. Pouvoir les désactiver permet de pouvoir observer les
477    // consignes moteurs
478    // sans les faire tourner effectivement (en déplaçant à la main le drone)
479    uav->GetBldc()->SetEnabled(true);
480    groundAltitude = currentAltitude;
481    altitudeState = AltitudeState_t::TakingOff;
482
483    SignalEvent(Event_t::TakingOff);
484  } else {
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    Thread::Err("Connection lost\n");
576    EnterFailSafeMode();
577    if (altitudeState == AltitudeState_t::Stopped) {
578      SafeStop();
579    } else {
580      Land();
581    }
582  }
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();
588    }/*
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();
594        EmergencyLand();
595    }*/
596}
597
598void UavStateMachine::CheckJoystick(void) {
599  GenericCheckJoystick();
600  ExtraCheckJoystick();
601}
602
603void UavStateMachine::GenericCheckJoystick(void) {
604  static bool isEmergencyStopButtonPressed = false;
605  static bool isTakeOffButtonPressed = false;
606  static bool isSafeModeButtonPressed = false;
607
608  if (controller->IsButtonPressed(1)) { // select
609    if (!isEmergencyStopButtonPressed) {
610      isEmergencyStopButtonPressed = true;
611      Thread::Info("Emergency stop from joystick\n");
612      EmergencyStop();
613    }
614  } else
615    isEmergencyStopButtonPressed = false;
616
617  if (controller->IsButtonPressed(0)) { // start
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;
634
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
639  if (controller->IsButtonPressed(5) && !controller->IsButtonPressed(6) &&
640      !controller->IsButtonPressed(7) && !controller->IsButtonPressed(9) &&
641      !controller->IsButtonPressed(10)) {
642    if (!isSafeModeButtonPressed) {
643      isSafeModeButtonPressed = true;
644      Thread::Info("Entering fail safe mode\n");
645      EnterFailSafeMode();
646    }
647  } else
648    isSafeModeButtonPressed = false;
649}
650
651void UavStateMachine::CheckPushButton(void) {
652  GenericCheckPushButton();
653  ExtraCheckPushButton();
654}
655
656void UavStateMachine::GenericCheckPushButton(void) {
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();
667}
668
669void UavStateMachine::EnterFailSafeMode(void) {
670  SetAltitudeMode(AltitudeMode_t::Manual);
671  SetOrientationMode(OrientationMode_t::Manual);
672  SetThrustMode(ThrustMode_t::Default);
673  SetTorqueMode(TorqueMode_t::Default);
674
675  GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
676                                                        currentAngularSpeed);
677  joy->SetYawRef(currentQuaternion);
678  uYaw->Reset();
679  uPitch->Reset();
680  uRoll->Reset();
681
682  failSafeMode = true;
683  SignalEvent(Event_t::EnteringFailSafeMode);
684}
685
686bool UavStateMachine::ExitFailSafeMode(void) {
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  /*
691    if (altitudeState!=AltitudeState_t::Stabilized) {
692        return false;
693    } else*/ {
694    failSafeMode = false;
695    return true;
696  }
697}
698
699bool UavStateMachine::SetTorqueMode(TorqueMode_t const &newTorqueMode) {
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;
714}
715
716bool UavStateMachine::SetAltitudeMode(AltitudeMode_t const &newAltitudeMode) {
717  if ((newAltitudeMode == AltitudeMode_t::Custom) && (failSafeMode)) {
718    if (!ExitFailSafeMode())
719      return false;
720  }
721  altitudeMode = newAltitudeMode;
722  GotoAltitude(desiredTakeoffAltitude->Value());
723
724  return true;
725}
726
727bool UavStateMachine::GotoAltitude(float desiredAltitude) {
728  if (altitudeMode != AltitudeMode_t::Manual) {
729    return false;
730  }
731  altitudeTrajectory->StartTraj(uav->GetMetaUsRangeFinder()->z(),
732                                desiredAltitude);
733  return true;
734}
735
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;
751}
752
753bool UavStateMachine::SetThrustMode(ThrustMode_t const &newThrustMode) {
754  if ((newThrustMode == ThrustMode_t::Custom) && (failSafeMode)) {
755    if (!ExitFailSafeMode())
756      return false;
757  }
758  thrustMode = newThrustMode;
759  return true;
760}
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