source: flair-src/trunk/lib/FlairMeta/src/UavStateMachine.cpp@ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 5 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 24.3 KB
Line 
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 && uav->isReadyToFly()) {// && 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 Warn("cannot takeoff\n");
484 joy->ErrorNotify();
485 }
486}
487
488void UavStateMachine::Land(void) {
489 if (altitudeMode != AltitudeMode_t::Manual) {
490 SetAltitudeMode(AltitudeMode_t::Manual);
491 }
492 if (altitudeState == AltitudeState_t::Stabilized) {
493 joy->SetLedOFF(4); // DualShock3::led4
494 joy->Rumble(0x70);
495
496 altitudeTrajectory->StopTraj();
497 joy->SetZRef(0);
498 altitudeTrajectory->StartTraj(currentAltitude,desiredLandingAltitude->Value()); //shouldn't it be groundAltitude?
499 SignalEvent(Event_t::StartLanding);
500 altitudeState=AltitudeState_t::StartLanding;
501 } else if (altitudeState==AltitudeState_t::TakingOff) {
502 EmergencyLand();
503 } else {
504 joy->ErrorNotify();
505 }
506}
507
508void UavStateMachine::EmergencyLand(void) {
509 //Gradually decrease motor speed
510 //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)
511 altitudeState=AltitudeState_t::FinishLanding;
512 safeToFly=false;
513Printf("Emergency landing!\n");
514}
515
516void UavStateMachine::SignalEvent(Event_t event) {
517 switch (event) {
518 case Event_t::StartLanding:
519 Thread::Info("Altitude: entering 'StartLanding' state\n");
520 break;
521 case Event_t::Stopped:
522 Thread::Info("Altitude: entering 'Stopped' state\n");
523 break;
524 case Event_t::TakingOff:
525 Thread::Info("Altitude: taking off\n");
526 break;
527 case Event_t::Stabilized:
528 Thread::Info("Altitude: entering 'Stabilized' state\n");
529 break;
530 case Event_t::FinishLanding:
531 Thread::Info("Altitude: entering 'FinishLanding' state\n");
532 break;
533 case Event_t::EmergencyStop:
534 Thread::Info("Emergency stop!\n");
535 break;
536 }
537}
538
539void UavStateMachine::EmergencyStop(void) {
540 if(altitudeState!=AltitudeState_t::Stopped) {
541 StopMotors();
542 EnterFailSafeMode();
543 joy->Rumble(0x70);
544 SignalEvent(Event_t::EmergencyStop);
545 }
546 //safeToFly=false;
547 //Warn("Emergency stop, UAV will not take off again until program is rerunned\n");
548}
549
550void UavStateMachine::StopMotors(void) {
551 joy->FlashLed(1, 10, 10); // DualShock3::led1
552 uav->GetBldc()->SetEnabled(false);
553 uav->GetUavMultiplex()->UnlockUserInterface();
554 SignalEvent(Event_t::Stopped);
555 altitudeState = AltitudeState_t::Stopped;
556 uav->GetAhrs()->UnlockUserInterface();
557
558 uZ->SetValues(0, 0);
559 uZ->Reset();
560}
561
562GridLayout *UavStateMachine::GetButtonsLayout(void) const {
563 return buttonslayout;
564}
565
566void UavStateMachine::SecurityCheck(void) {
567 MandatorySecurityCheck();
568 ExtraSecurityCheck();
569}
570
571void UavStateMachine::MandatorySecurityCheck(void) {
572 if (getFrameworkManager()->ConnectionLost() && !flagConnectionLost) {
573 flagConnectionLost = true;
574 Thread::Err("Connection lost\n");
575 EnterFailSafeMode();
576 if (altitudeState == AltitudeState_t::Stopped) {
577 SafeStop();
578 } else {
579 Land();
580 }
581 }
582 if((altitudeState==AltitudeState_t::TakingOff || altitudeState==AltitudeState_t::Stabilized) && uav->GetBatteryMonitor()->IsBatteryLow() && !flagBatteryLow) {
583 flagBatteryLow=true;
584 Thread::Err("Low Battery\n");
585 EnterFailSafeMode();
586 Land();
587 }/*
588 Time now=GetTime();
589 if ((altitudeState==AltitudeState_t::Stopped) && (now-uav->GetAhrs()->lastUpdate>(Time)100*1000*1000)) { //100ms
590 flagCriticalSensorLost=true;
591 Thread::Err("Critical sensor lost\n");
592 EnterFailSafeMode();
593 EmergencyLand();
594 }*/
595}
596
597void UavStateMachine::CheckJoystick(void) {
598 GenericCheckJoystick();
599 ExtraCheckJoystick();
600}
601
602void UavStateMachine::GenericCheckJoystick(void) {
603 static bool isEmergencyStopButtonPressed = false;
604 static bool isTakeOffButtonPressed = false;
605 static bool isSafeModeButtonPressed = false;
606
607 if (controller->IsButtonPressed(1)) { // select
608 if (!isEmergencyStopButtonPressed) {
609 isEmergencyStopButtonPressed = true;
610 Thread::Info("Emergency stop from joystick\n");
611 EmergencyStop();
612 }
613 } else
614 isEmergencyStopButtonPressed = false;
615
616 if (controller->IsButtonPressed(0)) { // start
617 if (!isTakeOffButtonPressed) {
618 isTakeOffButtonPressed = true;
619 switch (altitudeState) {
620 case AltitudeState_t::Stopped:
621 TakeOff();
622 break;
623 case AltitudeState_t::Stabilized:
624 Land();
625 break;
626 default:
627 joy->ErrorNotify();
628 break;
629 }
630 }
631 } else
632 isTakeOffButtonPressed = false;
633
634 // cross
635 // gsanahuj:conflict with Majd programs.
636 // check if l1,l2,r1 and r2 are not pressed
637 // to allow a combination in user program
638 if (controller->IsButtonPressed(5) && !controller->IsButtonPressed(6) &&
639 !controller->IsButtonPressed(7) && !controller->IsButtonPressed(9) &&
640 !controller->IsButtonPressed(10)) {
641 if (!isSafeModeButtonPressed) {
642 isSafeModeButtonPressed = true;
643 Thread::Info("Entering fail safe mode\n");
644 EnterFailSafeMode();
645 }
646 } else
647 isSafeModeButtonPressed = false;
648}
649
650void UavStateMachine::CheckPushButton(void) {
651 GenericCheckPushButton();
652 ExtraCheckPushButton();
653}
654
655void UavStateMachine::GenericCheckPushButton(void) {
656 if (button_kill->Clicked() == true)
657 SafeStop();
658 if (button_take_off->Clicked() == true)
659 TakeOff();
660 if (button_land->Clicked() == true)
661 Land();
662 if (button_start_log->Clicked() == true)
663 getFrameworkManager()->StartLog();
664 if (button_stop_log->Clicked() == true)
665 getFrameworkManager()->StopLog();
666}
667
668void UavStateMachine::EnterFailSafeMode(void) {
669 if(altitudeState!=AltitudeState_t::StartLanding) SetAltitudeMode(AltitudeMode_t::Manual);//
670 SetOrientationMode(OrientationMode_t::Manual);
671 SetThrustMode(ThrustMode_t::Default);
672 SetTorqueMode(TorqueMode_t::Default);
673
674 GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
675 currentAngularSpeed);
676 joy->SetYawRef(currentQuaternion);
677 uYaw->Reset();
678 uPitch->Reset();
679 uRoll->Reset();
680
681 failSafeMode = true;
682 SignalEvent(Event_t::EnteringFailSafeMode);
683}
684
685bool UavStateMachine::ExitFailSafeMode(void) {
686 // only exit fail safe mode if in Stabilized altitude state
687 // gsanahuj: pour la demo inaugurale on ne peut pas etre en failsafe
688 // le ruban perturbe l'us
689 /*
690 if (altitudeState!=AltitudeState_t::Stabilized) {
691 return false;
692 } else*/ {
693 failSafeMode = false;
694 return true;
695 }
696}
697
698bool UavStateMachine::SetTorqueMode(TorqueMode_t const &newTorqueMode) {
699 if ((newTorqueMode == TorqueMode_t::Custom) && (failSafeMode)) {
700 if (!ExitFailSafeMode())
701 return false;
702 }
703 // When transitionning from Custom to Default torque mode, we should reset the
704 // default control laws
705 if ((torqueMode == TorqueMode_t::Custom) &&
706 (newTorqueMode == TorqueMode_t::Default)) {
707 uYaw->Reset();
708 uPitch->Reset();
709 uRoll->Reset();
710 }
711 torqueMode = newTorqueMode;
712 return true;
713}
714
715bool UavStateMachine::SetAltitudeMode(AltitudeMode_t const &newAltitudeMode) {
716 if ((newAltitudeMode == AltitudeMode_t::Custom) && (failSafeMode)) {
717 if (!ExitFailSafeMode())
718 return false;
719 }
720 altitudeMode = newAltitudeMode;
721 GotoAltitude(desiredTakeoffAltitude->Value());
722
723 return true;
724}
725
726bool UavStateMachine::GotoAltitude(float desiredAltitude) {
727 if (altitudeMode != AltitudeMode_t::Manual) {
728 return false;
729 }
730 altitudeTrajectory->StartTraj(uav->GetMetaUsRangeFinder()->z(),
731 desiredAltitude);
732 return true;
733}
734
735bool UavStateMachine::SetOrientationMode(
736 OrientationMode_t const &newOrientationMode) {
737 if ((newOrientationMode == OrientationMode_t::Custom) && (failSafeMode)) {
738 if (!ExitFailSafeMode())
739 return false;
740 }
741 // When transitionning from Custom to Manual mode we must reset to yaw
742 // reference to the current absolute yaw angle,
743 // overwise the Uav will abruptly change orientation
744 if ((orientationMode == OrientationMode_t::Custom) &&
745 (newOrientationMode == OrientationMode_t::Manual)) {
746 joy->SetYawRef(currentQuaternion);
747 }
748 orientationMode = newOrientationMode;
749 return true;
750}
751
752bool UavStateMachine::SetThrustMode(ThrustMode_t const &newThrustMode) {
753 if ((newThrustMode == ThrustMode_t::Custom) && (failSafeMode)) {
754 if (!ExitFailSafeMode())
755 return false;
756 }
757 thrustMode = newThrustMode;
758 return true;
759}
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