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Code Issues Releases Activity

OP-1216 modified alarms for manualcontrol/receiver to reflect new architecture

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This commit is contained in:
Corvus Corax 2014-03-02 20:06:05 +01:00
parent 564a991222
commit 12eed41e58
13 changed files with 54 additions and 42 deletions
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2
flight/modules/ManualControl/altitudehandler.c
View File

@ -122,7 +122,7 @@ void altitudeHandler(bool newinit)
#else /* if defined(REVOLUTION) */
void altitudeHandler(__attribute__((unused)) bool newinit)
{
PIOS_Assert(0); // should not be called
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
}
#endif // REVOLUTION

18
flight/modules/ManualControl/armhandler.c
View File

@ -64,16 +64,16 @@ static bool forcedDisArm(void);
*/
void armHandler(bool newinit)
{
static portTickType lastSysTime;
static ArmState_t armState;
if (newinit) {
AccessoryDesiredInitialize();
lastSysTime = xTaskGetTickCount();
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
armState = ARM_STATE_DISARMED;
armState = ARM_STATE_DISARMED;
}
portTickType sysTime = xTaskGetTickCount();
FlightModeSettingsData settings;
FlightModeSettingsGet(&settings);
ManualControlCommandData cmd;
@ -190,7 +190,7 @@ void armHandler(bool newinit)
// only allow arming if it's OK too
if (manualArm && okToArm()) {
armedDisarmStart = lastSysTime;
armedDisarmStart = sysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
break;
@ -198,7 +198,7 @@ void armHandler(bool newinit)
case ARM_STATE_ARMING_MANUAL:
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmingSequenceTime)) {
if (manualArm && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmingSequenceTime)) {
armState = ARM_STATE_ARMED;
} else if (!manualArm) {
armState = ARM_STATE_DISARMED;
@ -208,27 +208,27 @@ void armHandler(bool newinit)
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armedDisarmStart = sysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if ((settings.ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)) {
if ((settings.ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmedTimeout)) {
armState = ARM_STATE_DISARMED;
}
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armedDisarmStart = sysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
// arming switch disarms immediately,
if (manualDisarm && (armSwitch || (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.DisarmingSequenceTime))) {
if (manualDisarm && (armSwitch || (timeDifferenceMs(armedDisarmStart, sysTime) > settings.DisarmingSequenceTime))) {
armState = ARM_STATE_DISARMED;
} else if (!manualDisarm) {
armState = ARM_STATE_ARMED;

28
flight/modules/ManualControl/manualcontrol.c
View File

@ -83,6 +83,14 @@ static controlHandler handler_ALTITUDE = {
},
.handler = &altitudeHandler,
};
static controlHandler handler_AUTOTUNE = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
.PathPlanner = false,
},
.handler = NULL,
};
static controlHandler handler_PATHFOLLOWER = {
.controlChain = {
@ -127,6 +135,8 @@ int32_t ManualControlStart()
ManualControlSettingsConnectCallback(configurationUpdatedCb);
ManualControlCommandConnectCallback(commandUpdatedCb);
// clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Make sure unarmed on power up
armHandler(true);
@ -207,19 +217,19 @@ static void manualControlTask(void)
handler = &handler_ALTITUDE;
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
handler = NULL;
handler = &handler_AUTOTUNE;
break;
// There is no default, so if a flightmode is forgotten the compiler can throw a warning!
}
if (handler) {
bool newinit = false;
if (flightStatus.FlightMode != newMode) {
flightStatus.ControlChain = handler->controlChain;
flightStatus.FlightMode = newMode;
FlightStatusSet(&flightStatus);
newinit = true;
}
bool newinit = false;
if (flightStatus.FlightMode != newMode) {
flightStatus.ControlChain = handler->controlChain;
flightStatus.FlightMode = newMode;
FlightStatusSet(&flightStatus);
newinit = true;
}
if (handler->handler) {
handler->handler(newinit);
}
}

2
flight/modules/ManualControl/pathfollowerhandler.c
View File

@ -120,7 +120,7 @@ void pathFollowerHandler(bool newinit)
#else /* if defined(REVOLUTION) */
void pathFollowerHandler(__attribute__((unused)) bool newinit)
{
PIOS_Assert(0); // should not be called
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
}
#endif // REVOLUTION

1
flight/modules/ManualControl/stabilizedhandler.c
View File

@ -80,6 +80,7 @@ void stabilizedHandler(bool newinit)
break;
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
stab_settings = cast_struct_to_array(settings.Stabilization1Settings, settings.Stabilization1Settings.Roll);
return;
}

18
flight/modules/Receiver/receiver.c
View File

@ -260,7 +260,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
&& (settings.ChannelGroups.FlightMode >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_INVALID
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_NODRIVER))) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
@ -324,32 +324,32 @@ static void receiverTask(__attribute__((unused)) void *parameters)
if (settings.FailsafeFlightModeSwitchPosition >= 0 && settings.FailsafeFlightModeSwitchPosition < settings.FlightModeNumber) {
cmd.FlightModeSwitchPosition = (uint8_t)settings.FailsafeFlightModeSwitchPosition;
}
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = settings.FailsafeChannel.Accessory0;
if (AccessoryDesiredInstSet(0, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 1
if (settings.ChannelGroups.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = settings.FailsafeChannel.Accessory1;
if (AccessoryDesiredInstSet(1, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 2
if (settings.ChannelGroups.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = settings.FailsafeChannel.Accessory2;
if (AccessoryDesiredInstSet(2, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
} else if (valid_input_detected) {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
AlarmsClear(SYSTEMALARMS_ALARM_RECEIVER);
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL];
@ -411,7 +411,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings, dT);
#endif
if (AccessoryDesiredInstSet(0, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 1
@ -421,7 +421,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings, dT);
#endif
if (AccessoryDesiredInstSet(1, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 2
@ -432,7 +432,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
#endif
if (AccessoryDesiredInstSet(2, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
}

18
ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
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@ -701,7 +701,7 @@
<rect
inkscape:label="#rect4000-8-0-9"
style="fill:#332d2d;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
id="ManualControl"
id="Receiver"
width="13.893178"
height="56.637238"
x="576.71594"
@ -1135,7 +1135,7 @@
</g>
<g
style="display:none"
inkscape:label="ManualControl-OK"
inkscape:label="Receiver-OK"
id="layer36"
inkscape:groupmode="layer">
<rect
@ -1143,14 +1143,14 @@
x="576.71594"
height="56.637238"
width="13.893178"
id="ManualControl-OK"
id="Receiver-OK"
style="fill:#04b629;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
inkscape:label="#rect4000-8-0-9"
transform="translate(-497.66563,-344.28037)" />
</g>
<g
style="display:none"
inkscape:label="ManualControl-Warning"
inkscape:label="Receiver-Warning"
id="layer33"
inkscape:groupmode="layer">
<rect
@ -1158,19 +1158,19 @@
x="576.71594"
height="56.637238"
width="13.893178"
id="ManualControl-Warning"
id="Receiver-Warning"
style="fill:#f1b907;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
inkscape:label="#rect4000-8-0-9"
transform="translate(-497.66563,-344.28037)" />
</g>
<g
style="display:none"
inkscape:label="ManualControl-Error"
inkscape:label="Receiver-Error"
id="layer34"
inkscape:groupmode="layer">
<g
transform="translate(78,0)"
id="ManualControl-Error"
id="Receiver-Error"
style="stroke:#cf0e0e;stroke-opacity:1;display:inline"
inkscape:label="#g3878">
<path
@ -1185,14 +1185,14 @@
</g>
<g
style="display:none"
inkscape:label="ManualControl-Critical"
inkscape:label="Receiver-Critical"
id="layer35"
inkscape:groupmode="layer">
<rect
transform="translate(-497.66563,-344.28037)"
inkscape:label="#rect4000-8-0-9"
style="fill:#cf0e0e;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
id="ManualControl-Critical"
id="Receiver-Critical"
width="13.893178"
height="56.637238"
x="576.71594"

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Width:  |  Height:  |  Size: 235 KiB

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0
ground/openpilotgcs/src/plugins/systemhealth/html/ManualControl-Critical.html → ground/openpilotgcs/src/plugins/systemhealth/html/Receiver-Critical.html
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0
ground/openpilotgcs/src/plugins/systemhealth/html/ManualControl-Warning.html → ground/openpilotgcs/src/plugins/systemhealth/html/Receiver-Warning.html
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0
ground/openpilotgcs/src/plugins/systemhealth/html/fr/ManualControl-Critical.html → ground/openpilotgcs/src/plugins/systemhealth/html/fr/Receiver-Critical.html
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0
ground/openpilotgcs/src/plugins/systemhealth/html/fr/ManualControl-Warning.html → ground/openpilotgcs/src/plugins/systemhealth/html/fr/Receiver-Warning.html
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8
ground/openpilotgcs/src/plugins/systemhealth/systemhealth.qrc
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@ -1,8 +1,8 @@
<RCC>
<qresource prefix="/systemhealth">
<file>html/Actuator-Critical.html</file>
<file>html/ManualControl-Critical.html</file>
<file>html/ManualControl-Warning.html</file>
<file>html/Receiver-Critical.html</file>
<file>html/Receiver-Warning.html</file>
<file>html/CPU-Critical.html</file>
<file>html/CPU-Warning.html</file>
<file>html/FlightTime-Error.html</file>
@ -29,8 +29,8 @@
</qresource>
<qresource prefix="/systemhealth" lang="fr">
<file alias="html/Actuator-Critical.html">html/fr/Actuator-Critical.html</file>
<file alias="html/ManualControl-Critical.html">html/fr/ManualControl-Critical.html</file>
<file alias="html/ManualControl-Warning.html">html/fr/ManualControl-Warning.html</file>
<file alias="html/Receiver-Critical.html">html/fr/Receiver-Critical.html</file>
<file alias="html/Receiver-Warning.html">html/fr/Receiver-Warning.html</file>
<file alias="html/CPU-Critical.html">html/fr/CPU-Critical.html</file>
<file alias="html/CPU-Warning.html">html/fr/CPU-Warning.html</file>
<file alias="html/FlightTime-Error.html">html/fr/FlightTime-Error.html</file>

1
shared/uavobjectdefinition/systemalarms.xml
View File

@ -10,6 +10,7 @@
<elementname>CPUOverload</elementname>
<elementname>EventSystem</elementname>
<elementname>Telemetry</elementname>
<elementname>Receiver</elementname>
<elementname>ManualControl</elementname>
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>