source: flair-src/trunk/lib/FlairMeta/src/UavStateMachine.cpp@ 140

Last change on this file since 140 was 137, checked in by Sanahuja Guillaume, 8 years ago

singleton manager
File size: 24.3 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 Vector3D &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());
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 Vector3D 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) {// && GetBatteryMonitor()->IsBatteryLow()==false)
463 //The uav always takes off in fail safe mode
464 EnterFailSafeMode();
465 joy->SetLedOFF(4);//DualShock3::led4
466 joy->SetLedOFF(1);//DualShock3::led1
467 joy->Rumble(0x70);
468 joy->SetZRef(0);
469
470 uZ->SetOffset(); // positionne l'offset de compensation de la gravité à sa
471 // valeur initiale (station sol)
472
473 uav->GetUavMultiplex()->LockUserInterface();
474 // Active les moteurs. Pouvoir les désactiver permet de pouvoir observer les
475 // consignes moteurs
476 // sans les faire tourner effectivement (en déplaçant à la main le drone)
477 uav->GetBldc()->SetEnabled(true);
478 groundAltitude = currentAltitude;
479 altitudeState = AltitudeState_t::TakingOff;
480
481 SignalEvent(Event_t::TakingOff);
482 } else {
483 joy->ErrorNotify();
484 }
485}
486
487void UavStateMachine::Land(void) {
488 if (altitudeMode != AltitudeMode_t::Manual) {
489 SetAltitudeMode(AltitudeMode_t::Manual);
490 }
491 if (altitudeState == AltitudeState_t::Stabilized) {
492 joy->SetLedOFF(4); // DualShock3::led4
493 joy->Rumble(0x70);
494
495 altitudeTrajectory->StopTraj();
496 joy->SetZRef(0);
497 altitudeTrajectory->StartTraj(currentAltitude,desiredLandingAltitude->Value()); //shouldn't it be groundAltitude?
498 SignalEvent(Event_t::StartLanding);
499 altitudeState=AltitudeState_t::StartLanding;
500 } else if (altitudeState==AltitudeState_t::TakingOff) {
501 EmergencyLand();
502 } else {
503 joy->ErrorNotify();
504 }
505}
506
507void UavStateMachine::EmergencyLand(void) {
508 //Gradually decrease motor speed
509 //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)
510 altitudeState=AltitudeState_t::FinishLanding;
511 safeToFly=false;
512Printf("Emergency landing!\n");
513}
514
515void UavStateMachine::SignalEvent(Event_t event) {
516 switch (event) {
517 case Event_t::StartLanding:
518 Thread::Info("Altitude: entering 'StartLanding' state\n");
519 break;
520 case Event_t::Stopped:
521 Thread::Info("Altitude: entering 'Stopped' state\n");
522 break;
523 case Event_t::TakingOff:
524 Thread::Info("Altitude: taking off\n");
525 break;
526 case Event_t::Stabilized:
527 Thread::Info("Altitude: entering 'Stabilized' state\n");
528 break;
529 case Event_t::FinishLanding:
530 Thread::Info("Altitude: entering 'FinishLanding' state\n");
531 break;
532 case Event_t::EmergencyStop:
533 Thread::Info("Emergency stop!\n");
534 break;
535 }
536}
537
538void UavStateMachine::EmergencyStop(void) {
539 if(altitudeState!=AltitudeState_t::Stopped) {
540 StopMotors();
541 EnterFailSafeMode();
542 joy->Rumble(0x70);
543 SignalEvent(Event_t::EmergencyStop);
544 }
545 safeToFly=false;
546 Warn("Emergency stop, UAV will not take off again until program is rerunned\n");
547}
548
549void UavStateMachine::StopMotors(void) {
550 joy->FlashLed(1, 10, 10); // DualShock3::led1
551 uav->GetBldc()->SetEnabled(false);
552 uav->GetUavMultiplex()->UnlockUserInterface();
553 SignalEvent(Event_t::Stopped);
554 altitudeState = AltitudeState_t::Stopped;
555 uav->GetAhrs()->UnlockUserInterface();
556
557 uZ->SetValues(0, 0);
558 uZ->Reset();
559}
560
561GridLayout *UavStateMachine::GetButtonsLayout(void) const {
562 return buttonslayout;
563}
564
565void UavStateMachine::SecurityCheck(void) {
566 MandatorySecurityCheck();
567 ExtraSecurityCheck();
568}
569
570void UavStateMachine::MandatorySecurityCheck(void) {
571 if (getFrameworkManager()->ConnectionLost() && !flagConnectionLost) {
572 flagConnectionLost = true;
573 Thread::Err("Connection lost\n");
574 EnterFailSafeMode();
575 if (altitudeState == AltitudeState_t::Stopped) {
576 SafeStop();
577 } else {
578 Land();
579 }
580 }
581 if((altitudeState==AltitudeState_t::TakingOff || altitudeState==AltitudeState_t::Stabilized) && uav->GetBatteryMonitor()->IsBatteryLow() && !flagBatteryLow) {
582 flagBatteryLow=true;
583 Thread::Err("Low Battery\n");
584 EnterFailSafeMode();
585 Land();
586 }/*
587 Time now=GetTime();
588 if ((altitudeState==AltitudeState_t::Stopped) && (now-uav->GetAhrs()->lastUpdate>(Time)100*1000*1000)) { //100ms
589 flagCriticalSensorLost=true;
590 Thread::Err("Critical sensor lost\n");
591 EnterFailSafeMode();
592 EmergencyLand();
593 }*/
594}
595
596void UavStateMachine::CheckJoystick(void) {
597 GenericCheckJoystick();
598 ExtraCheckJoystick();
599}
600
601void UavStateMachine::GenericCheckJoystick(void) {
602 static bool isEmergencyStopButtonPressed = false;
603 static bool isTakeOffButtonPressed = false;
604 static bool isSafeModeButtonPressed = false;
605
606 if (controller->IsButtonPressed(1)) { // select
607 if (!isEmergencyStopButtonPressed) {
608 isEmergencyStopButtonPressed = true;
609 Thread::Info("Emergency stop from joystick\n");
610 EmergencyStop();
611 }
612 } else
613 isEmergencyStopButtonPressed = false;
614
615 if (controller->IsButtonPressed(0)) { // start
616 if (!isTakeOffButtonPressed) {
617 isTakeOffButtonPressed = true;
618 switch (altitudeState) {
619 case AltitudeState_t::Stopped:
620 TakeOff();
621 break;
622 case AltitudeState_t::Stabilized:
623 Land();
624 break;
625 default:
626 joy->ErrorNotify();
627 break;
628 }
629 }
630 } else
631 isTakeOffButtonPressed = false;
632
633 // cross
634 // gsanahuj:conflict with Majd programs.
635 // check if l1,l2,r1 and r2 are not pressed
636 // to allow a combination in user program
637 if (controller->IsButtonPressed(5) && !controller->IsButtonPressed(6) &&
638 !controller->IsButtonPressed(7) && !controller->IsButtonPressed(9) &&
639 !controller->IsButtonPressed(10)) {
640 if (!isSafeModeButtonPressed) {
641 isSafeModeButtonPressed = true;
642 Thread::Info("Entering fail safe mode\n");
643 EnterFailSafeMode();
644 }
645 } else
646 isSafeModeButtonPressed = false;
647}
648
649void UavStateMachine::CheckPushButton(void) {
650 GenericCheckPushButton();
651 ExtraCheckPushButton();
652}
653
654void UavStateMachine::GenericCheckPushButton(void) {
655 if (button_kill->Clicked() == true)
656 SafeStop();
657 if (button_take_off->Clicked() == true)
658 TakeOff();
659 if (button_land->Clicked() == true)
660 Land();
661 if (button_start_log->Clicked() == true)
662 getFrameworkManager()->StartLog();
663 if (button_stop_log->Clicked() == true)
664 getFrameworkManager()->StopLog();
665}
666
667void UavStateMachine::EnterFailSafeMode(void) {
668 if(altitudeState!=AltitudeState_t::StartLanding) SetAltitudeMode(AltitudeMode_t::Manual);//
669 SetOrientationMode(OrientationMode_t::Manual);
670 SetThrustMode(ThrustMode_t::Default);
671 SetTorqueMode(TorqueMode_t::Default);
672
673 GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
674 currentAngularSpeed);
675 joy->SetYawRef(currentQuaternion);
676 uYaw->Reset();
677 uPitch->Reset();
678 uRoll->Reset();
679
680 failSafeMode = true;
681 SignalEvent(Event_t::EnteringFailSafeMode);
682}
683
684bool UavStateMachine::ExitFailSafeMode(void) {
685 // only exit fail safe mode if in Stabilized altitude state
686 // gsanahuj: pour la demo inaugurale on ne peut pas etre en failsafe
687 // le ruban perturbe l'us
688 /*
689 if (altitudeState!=AltitudeState_t::Stabilized) {
690 return false;
691 } else*/ {
692 failSafeMode = false;
693 return true;
694 }
695}
696
697bool UavStateMachine::SetTorqueMode(TorqueMode_t const &newTorqueMode) {
698 if ((newTorqueMode == TorqueMode_t::Custom) && (failSafeMode)) {
699 if (!ExitFailSafeMode())
700 return false;
701 }
702 // When transitionning from Custom to Default torque mode, we should reset the
703 // default control laws
704 if ((torqueMode == TorqueMode_t::Custom) &&
705 (newTorqueMode == TorqueMode_t::Default)) {
706 uYaw->Reset();
707 uPitch->Reset();
708 uRoll->Reset();
709 }
710 torqueMode = newTorqueMode;
711 return true;
712}
713
714bool UavStateMachine::SetAltitudeMode(AltitudeMode_t const &newAltitudeMode) {
715 if ((newAltitudeMode == AltitudeMode_t::Custom) && (failSafeMode)) {
716 if (!ExitFailSafeMode())
717 return false;
718 }
719 altitudeMode = newAltitudeMode;
720 GotoAltitude(desiredTakeoffAltitude->Value());
721
722 return true;
723}
724
725bool UavStateMachine::GotoAltitude(float desiredAltitude) {
726 if (altitudeMode != AltitudeMode_t::Manual) {
727 return false;
728 }
729 altitudeTrajectory->StartTraj(uav->GetMetaUsRangeFinder()->z(),
730 desiredAltitude);
731 return true;
732}
733
734bool UavStateMachine::SetOrientationMode(
735 OrientationMode_t const &newOrientationMode) {
736 if ((newOrientationMode == OrientationMode_t::Custom) && (failSafeMode)) {
737 if (!ExitFailSafeMode())
738 return false;
739 }
740 // When transitionning from Custom to Manual mode we must reset to yaw
741 // reference to the current absolute yaw angle,
742 // overwise the Uav will abruptly change orientation
743 if ((orientationMode == OrientationMode_t::Custom) &&
744 (newOrientationMode == OrientationMode_t::Manual)) {
745 joy->SetYawRef(currentQuaternion);
746 }
747 orientationMode = newOrientationMode;
748 return true;
749}
750
751bool UavStateMachine::SetThrustMode(ThrustMode_t const &newThrustMode) {
752 if ((newThrustMode == ThrustMode_t::Custom) && (failSafeMode)) {
753 if (!ExitFailSafeMode())
754 return false;
755 }
756 thrustMode = newThrustMode;
757 return true;
758}
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