source: flair-src/trunk/lib/FlairMeta/src/UavStateMachine.cpp@ 213

Last change on this file since 213 was 206, 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 <cvmatrix.h>
42#include <stdio.h>
43#include <TrajectoryGenerator1D.h>
44#include <math.h>
45
46using namespace std;
47using namespace flair::core;
48using namespace flair::gui;
49using namespace flair::sensor;
50using namespace flair::actuator;
51using namespace flair::filter;
52using namespace flair::meta;
53
54UavStateMachine::UavStateMachine(TargetController *controller):
55 Thread(getFrameworkManager(),"UavStateMachine",50),
56 uav(GetUav()),controller(controller),failSafeMode(true),flagConnectionLost(false),flagBatteryLow(false),flagCriticalSensorLost(false),flagZTrajectoryFinished(false),safeToFly(true){
57 altitudeState=AltitudeState_t::Stopped;
58 uav->UseDefaultPlot();
59
60 Tab *uavTab = new Tab(getFrameworkManager()->GetTabWidget(), "uav", 0);
61 buttonslayout = new GridLayout(uavTab->NewRow(), "buttons");
62 button_kill = new PushButton(buttonslayout->NewRow(), "kill");
63 button_start_log = new PushButton(buttonslayout->NewRow(), "start_log");
64 button_stop_log = new PushButton(buttonslayout->LastRowLastCol(), "stop_log");
65 button_take_off = new PushButton(buttonslayout->NewRow(), "take_off");
66 button_land = new PushButton(buttonslayout->LastRowLastCol(), "land");
67
68 Tab *lawTab = new Tab(getFrameworkManager()->GetTabWidget(), "control laws");
69 TabWidget *tabWidget = new TabWidget(lawTab->NewRow(), "laws");
70 setupLawTab = new Tab(tabWidget, "Setup");
71 graphLawTab = new Tab(tabWidget, "Graphes");
72
73 uRoll = new NestedSat(setupLawTab->At(0, 0), "u_roll");
74 uRoll->ConvertSatFromDegToRad();
75 uRoll->UseDefaultPlot(graphLawTab->NewRow());
76
77 uPitch = new NestedSat(setupLawTab->At(0, 1), "u_pitch");
78 uPitch->ConvertSatFromDegToRad();
79 uPitch->UseDefaultPlot(graphLawTab->LastRowLastCol());
80
81 uYaw = new Pid(setupLawTab->At(0, 2), "u_yaw");
82 uYaw->UseDefaultPlot(graphLawTab->LastRowLastCol());
83
84 uZ = new PidThrust(setupLawTab->At(1, 2), "u_z");
85 uZ->UseDefaultPlot(graphLawTab->LastRowLastCol());
86
87 getFrameworkManager()->AddDeviceToLog(uZ);
88 uZ->AddDeviceToLog(uRoll);
89 uZ->AddDeviceToLog(uPitch);
90 uZ->AddDeviceToLog(uYaw);
91
92 joy=new MetaDualShock3("uav high level controller",controller);
93 uav->GetAhrs()->AddPlot(joy->GetReferenceOrientation(),DataPlot::Blue);
94
95 altitudeMode = AltitudeMode_t::Manual;
96 orientationMode = OrientationMode_t::Manual;
97 thrustMode = ThrustMode_t::Default;
98 torqueMode = TorqueMode_t::Default;
99
100 GroupBox *reglagesGroupbox =
101 new GroupBox(uavTab->NewRow(), "takeoff/landing");
102 desiredTakeoffAltitude =
103 new DoubleSpinBox(reglagesGroupbox->NewRow(), "desired takeoff altitude",
104 " m", 0, 5, 0.1, 2, 1);
105 desiredLandingAltitude =
106 new DoubleSpinBox(reglagesGroupbox->LastRowLastCol(),
107 "desired landing altitude", " m", 0, 1, 0.1, 1);
108 altitudeTrajectory =
109 new TrajectoryGenerator1D(uavTab->NewRow(), "alt cons", "m");
110 uav->GetMetaUsRangeFinder()->GetZPlot()->AddCurve(
111 altitudeTrajectory->Matrix()->Element(0), DataPlot::Green);
112 uav->GetMetaUsRangeFinder()->GetVzPlot()->AddCurve(
113 altitudeTrajectory->Matrix()->Element(1), DataPlot::Green);
114}
115
116UavStateMachine::~UavStateMachine() {}
117
118void UavStateMachine::AddDeviceToControlLawLog(const IODevice *device) {
119 uZ->AddDeviceToLog(device);
120}
121
122void UavStateMachine::AddDataToControlLawLog(const core::io_data *data) {
123 uZ->AddDataToLog(data);
124}
125
126const TargetController *UavStateMachine::GetJoystick(void) const {
127 return controller;
128}
129
130const Quaternion &UavStateMachine::GetCurrentQuaternion(void) const {
131 return currentQuaternion;
132}
133
134const Vector3Df &UavStateMachine::GetCurrentAngularSpeed(void) const {
135 return currentAngularSpeed;
136}
137
138void UavStateMachine::AltitudeValues(float &altitude,
139 float &verticalSpeed) const {
140 FailSafeAltitudeValues(altitude, verticalSpeed);
141}
142
143void UavStateMachine::FailSafeAltitudeValues(float &altitude,
144 float &verticalSpeed) const {
145 altitude = uav->GetMetaUsRangeFinder()->z();
146 verticalSpeed = uav->GetMetaUsRangeFinder()->Vz();
147}
148
149void UavStateMachine::Run() {
150 WarnUponSwitches(true);
151 uav->StartSensors();
152
153 if (getFrameworkManager()->ErrorOccured() == true) {
154 SafeStop();
155 }
156
157 while (!ToBeStopped()) {
158 SecurityCheck();
159
160 // get controller inputs
161 CheckJoystick();
162 CheckPushButton();
163
164 if (IsPeriodSet()) {
165 WaitPeriod();
166 } else {
167 WaitUpdate(uav->GetAhrs());
168 }
169 needToComputeDefaultTorques = true;
170 needToComputeDefaultThrust = true;
171
172 SignalEvent(Event_t::EnteringControlLoop);
173
174 ComputeOrientation();
175 ComputeAltitude();
176
177 // compute thrust and torques to apply
178 ComputeTorques();
179 ComputeThrust(); // logs are added to uz, so it must be updated at last
180
181 //check nan/inf problems
182 if(!IsValuePossible(currentTorques.roll,"roll torque")
183 || !IsValuePossible(currentTorques.pitch,"pitch torque")
184 || !IsValuePossible(currentTorques.yaw,"yaw torque")
185 || !IsValuePossible(currentThrust,"thrust")) {
186
187 if(altitudeState==AltitudeState_t::Stopped) {
188 SafeStop();
189 } else {
190
191 if(failSafeMode) {
192 Warn("We are already in safe mode, the uav is going to crash!\n");
193 } else {
194 Thread::Warn("switching back to safe mode\n");
195 EnterFailSafeMode();
196 needToComputeDefaultTorques = true;//should not be necessary, but put it to be sure to compute default thrust/torques
197 needToComputeDefaultThrust = true;
198
199 ComputeTorques();
200 ComputeThrust();
201 }
202 }
203 }
204
205 // Set torques for roll, pitch and yaw angles (value between -1 and 1). Set
206 // thrust (value between 0 and 1)
207 uav->GetUavMultiplex()->SetRoll(-currentTorques.roll);
208 uav->GetUavMultiplex()->SetPitch(-currentTorques.pitch);
209 uav->GetUavMultiplex()->SetYaw(-currentTorques.yaw);
210 uav->GetUavMultiplex()->SetThrust(-currentThrust); // on raisonne en negatif
211 // sur l'altitude, a
212 // revoir avec les
213 // equations
214 uav->GetUavMultiplex()->SetRollTrim(joy->RollTrim());
215 uav->GetUavMultiplex()->SetPitchTrim(joy->PitchTrim());
216 uav->GetUavMultiplex()->SetYawTrim(0);
217 uav->GetUavMultiplex()->Update(GetTime());
218 }
219
220 WarnUponSwitches(false);
221}
222
223bool UavStateMachine::IsValuePossible(float value,std::string desc) {
224 if(isnan(value)) {
225 Warn("%s is not an number\n",desc.c_str());
226 return false;
227 } else if(isinf(value)) {
228 Warn("%s is infinite\n",desc.c_str());
229 return false;
230 } else {
231 return true;
232 }
233}
234
235
236void UavStateMachine::ComputeOrientation(void) {
237 if (failSafeMode) {
238 GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
239 currentAngularSpeed);
240 } else {
241 GetOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
242 currentAngularSpeed);
243 }
244}
245
246const AhrsData *UavStateMachine::GetOrientation(void) const {
247 return GetDefaultOrientation();
248}
249
250const AhrsData *UavStateMachine::GetDefaultOrientation(void) const {
251 return uav->GetAhrs()->GetDatas();
252}
253
254void UavStateMachine::ComputeAltitude(void) {
255 if (failSafeMode) {
256 FailSafeAltitudeValues(currentAltitude, currentVerticalSpeed);
257 } else {
258 AltitudeValues(currentAltitude, currentVerticalSpeed);
259 }
260}
261
262void UavStateMachine::ComputeReferenceAltitude(float &refAltitude,
263 float &refVerticalVelocity) {
264 if (altitudeMode == AltitudeMode_t::Manual) {
265 GetDefaultReferenceAltitude(refAltitude, refVerticalVelocity);
266 } else {
267 GetReferenceAltitude(refAltitude, refVerticalVelocity);
268 }
269}
270
271void UavStateMachine::GetDefaultReferenceAltitude(float &refAltitude,
272 float &refVerticalVelocity) {
273 float zc, dzc;
274
275 switch (altitudeState) {
276 // initiate a takeoff: increase motor speed in open loop (see ComputeThrust)
277 // until we detect a take off of 0.03m (hard coded value) above the ground.
278 case AltitudeState_t::TakingOff: {
279 if (currentAltitude > groundAltitude + 0.03) {
280 altitudeTrajectory->StartTraj(currentAltitude,
281 desiredTakeoffAltitude->Value(),currentVerticalSpeed);
282 altitudeState = AltitudeState_t::Stabilized;
283 SignalEvent(Event_t::Stabilized);
284 }
285 break;
286 }
287 // landing, only check if we reach desired landing altitude
288 case AltitudeState_t::StartLanding: {
289 if (altitudeTrajectory->Position() == desiredLandingAltitude->Value()) {
290 // The Uav target altitude has reached its landing value (typically 0)
291 // but the real Uav altitude may not have reach this value yet because of
292 // command delay. Moreover, it may never exactly reach this value if the
293 // ground is not perfectly leveled (critical case: there's a
294 // deep and narrow hole right in the sensor line of sight). That's why we
295 // have a 2 phases landing strategy.
296 altitudeState = AltitudeState_t::FinishLanding;
297 SignalEvent(Event_t::FinishLanding);
298 joy->SetLedOFF(1); // DualShock3::led1
299 }
300 }
301 // stabilized: check if z trajectory is finished
302 case AltitudeState_t::Stabilized: {
303 if (!altitudeTrajectory->IsRunning() && !flagZTrajectoryFinished) {
304 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) && safeToFly && uav->isReadyToFly() && uav->GetBatteryMonitor()->IsBatteryLow()==false && !flagConnectionLost) {
463 //The uav always takes off in fail safe mode
464 flagBatteryLow=false;
465 EnterFailSafeMode();
466 joy->SetLedOFF(4);//DualShock3::led4
467 joy->SetLedOFF(1);//DualShock3::led1
468 joy->Rumble(0x70);
469 joy->SetZRef(0);
470
471 uZ->SetDefaultOffset(); // positionne l'offset de compensation de la gravité à sa
472 // valeur initiale (station sol)
473
474 uav->GetUavMultiplex()->LockUserInterface();
475 // Active les moteurs. Pouvoir les désactiver permet de pouvoir observer les
476 // consignes moteurs
477 // sans les faire tourner effectivement (en déplaçant à la main le drone)
478 uav->GetBldc()->SetEnabled(true);
479 groundAltitude = currentAltitude;
480 altitudeState = AltitudeState_t::TakingOff;
481 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 altitudeState=AltitudeState_t::StartLanding;
500 SignalEvent(Event_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 altitudeState = AltitudeState_t::Stopped;
555 SignalEvent(Event_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
575 EnterFailSafeMode();
576 if (altitudeState == AltitudeState_t::Stopped) {
577 Thread::Warn("Connection lost\n");
578 Thread::Warn("UAV won't take off\n");
579 } else {
580 Thread::Err("Connection lost\n");
581 Land();
582 }
583 }
584 if((altitudeState==AltitudeState_t::TakingOff || altitudeState==AltitudeState_t::Stabilized) && uav->GetBatteryMonitor()->IsBatteryLow() && !flagBatteryLow) {
585 flagBatteryLow=true;
586 Thread::Err("Low Battery\n");
587 EnterFailSafeMode();
588 Land();
589 }/*
590 Time now=GetTime();
591 if ((altitudeState==AltitudeState_t::Stopped) && (now-uav->GetAhrs()->lastUpdate>(Time)100*1000*1000)) { //100ms
592 flagCriticalSensorLost=true;
593 Thread::Err("Critical sensor lost\n");
594 EnterFailSafeMode();
595 EmergencyLand();
596 }*/
597}
598
599void UavStateMachine::CheckJoystick(void) {
600 GenericCheckJoystick();
601 ExtraCheckJoystick();
602}
603
604void UavStateMachine::GenericCheckJoystick(void) {
605 static bool isEmergencyStopButtonPressed = false;
606 static bool isTakeOffButtonPressed = false;
607 static bool isSafeModeButtonPressed = false;
608
609 if (controller->IsButtonPressed(1)) { // select
610 if (!isEmergencyStopButtonPressed) {
611 isEmergencyStopButtonPressed = true;
612 Thread::Info("Emergency stop from joystick\n");
613 EmergencyStop();
614 }
615 } else
616 isEmergencyStopButtonPressed = false;
617
618 if (controller->IsButtonPressed(0)) { // start
619 if (!isTakeOffButtonPressed) {
620 isTakeOffButtonPressed = true;
621 switch (altitudeState) {
622 case AltitudeState_t::Stopped:
623 TakeOff();
624 break;
625 case AltitudeState_t::Stabilized:
626 Land();
627 break;
628 default:
629 joy->ErrorNotify();
630 break;
631 }
632 }
633 } else
634 isTakeOffButtonPressed = false;
635
636 // cross
637 // gsanahuj:conflict with Majd programs.
638 // check if l1,l2,r1 and r2 are not pressed
639 // to allow a combination in user program
640 if (controller->IsButtonPressed(5) && !controller->IsButtonPressed(6) &&
641 !controller->IsButtonPressed(7) && !controller->IsButtonPressed(9) &&
642 !controller->IsButtonPressed(10)) {
643 if (!isSafeModeButtonPressed) {
644 isSafeModeButtonPressed = true;
645 Thread::Info("Entering fail safe mode\n");
646 EnterFailSafeMode();
647 }
648 } else
649 isSafeModeButtonPressed = false;
650}
651
652void UavStateMachine::CheckPushButton(void) {
653 GenericCheckPushButton();
654 ExtraCheckPushButton();
655}
656
657void UavStateMachine::GenericCheckPushButton(void) {
658 if (button_kill->Clicked() == true)
659 SafeStop();
660 if (button_take_off->Clicked() == true)
661 TakeOff();
662 if (button_land->Clicked() == true)
663 Land();
664 if (button_start_log->Clicked() == true)
665 getFrameworkManager()->StartLog();
666 if (button_stop_log->Clicked() == true)
667 getFrameworkManager()->StopLog();
668}
669
670void UavStateMachine::EnterFailSafeMode(void) {
671 if(altitudeState!=AltitudeState_t::StartLanding) SetAltitudeMode(AltitudeMode_t::Manual);//
672 SetOrientationMode(OrientationMode_t::Manual);
673 SetThrustMode(ThrustMode_t::Default);
674 SetTorqueMode(TorqueMode_t::Default);
675
676 GetDefaultOrientation()->GetQuaternionAndAngularRates(currentQuaternion,
677 currentAngularSpeed);
678 joy->SetYawRef(currentQuaternion);
679 uYaw->Reset();
680 uPitch->Reset();
681 uRoll->Reset();
682
683 failSafeMode = true;
684 SignalEvent(Event_t::EnteringFailSafeMode);
685}
686
687bool UavStateMachine::ExitFailSafeMode(void) {
688 // only exit fail safe mode if in Stabilized altitude state
689 // gsanahuj: pour la demo inaugurale on ne peut pas etre en failsafe
690 // le ruban perturbe l'us
691 /*
692 if (altitudeState!=AltitudeState_t::Stabilized) {
693 return false;
694 } else*/ {
695 failSafeMode = false;
696 return true;
697 }
698}
699
700bool UavStateMachine::SetTorqueMode(TorqueMode_t const &newTorqueMode) {
701 if ((newTorqueMode == TorqueMode_t::Custom) && (failSafeMode)) {
702 if (!ExitFailSafeMode())
703 return false;
704 }
705 // When transitionning from Custom to Default torque mode, we should reset the
706 // default control laws
707 if ((torqueMode == TorqueMode_t::Custom) &&
708 (newTorqueMode == TorqueMode_t::Default)) {
709 uYaw->Reset();
710 uPitch->Reset();
711 uRoll->Reset();
712 }
713 torqueMode = newTorqueMode;
714 return true;
715}
716
717bool UavStateMachine::SetAltitudeMode(AltitudeMode_t const &newAltitudeMode) {
718 if ((newAltitudeMode == AltitudeMode_t::Custom) && (failSafeMode)) {
719 if (!ExitFailSafeMode())
720 return false;
721 }
722 altitudeMode = newAltitudeMode;
723 //avoid starting trajectory at take off (it will be started when altitudeState==AltitudeState_t::Stabilized)
724 if(altitudeState!=AltitudeState_t::Stopped) GotoAltitude(desiredTakeoffAltitude->Value());
725
726 return true;
727}
728
729bool UavStateMachine::GotoAltitude(float desiredAltitude) {
730 if (altitudeMode != AltitudeMode_t::Manual) {
731 return false;
732 }
733 altitudeTrajectory->StartTraj(uav->GetMetaUsRangeFinder()->z(),
734 desiredAltitude);
735 return true;
736}
737
738bool UavStateMachine::SetOrientationMode(
739 OrientationMode_t const &newOrientationMode) {
740 if ((newOrientationMode == OrientationMode_t::Custom) && (failSafeMode)) {
741 if (!ExitFailSafeMode())
742 return false;
743 }
744 // When transitionning from Custom to Manual mode we must reset to yaw
745 // reference to the current absolute yaw angle,
746 // overwise the Uav will abruptly change orientation
747 if ((orientationMode == OrientationMode_t::Custom) &&
748 (newOrientationMode == OrientationMode_t::Manual)) {
749 joy->SetYawRef(currentQuaternion);
750 }
751 orientationMode = newOrientationMode;
752 return true;
753}
754
755bool UavStateMachine::SetThrustMode(ThrustMode_t const &newThrustMode) {
756 if ((newThrustMode == ThrustMode_t::Custom) && (failSafeMode)) {
757 if (!ExitFailSafeMode())
758 return false;
759 }
760 thrustMode = newThrustMode;
761 return true;
762}
763
764NestedSat* UavStateMachine::GetURoll(void) { return uRoll;};
765NestedSat* UavStateMachine::GetUPitch(void) { return uPitch;};
766Pid* UavStateMachine::GetUYaw(void) { return uYaw;};
767PidThrust* UavStateMachine::GetUZ(void) { return uZ;};
768TrajectoryGenerator1D * UavStateMachine::GetAltitudeTrajectory(void) { return altitudeTrajectory;};
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