mirror of
https://bitbucket.org/librepilot/librepilot.git
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7d66a075de
1. Fix autoyaw to 0 attitude on takeoff post launch. 2. An error condition abort now properly disarms and continues to contrain thrust and stabi during disarmed state. 3. Increase thrustdown time from 2 to 5 seconds on an error condition (e.g. if 3 m deviation from takeoff position on NE).
556 lines
20 KiB
C++
556 lines
20 KiB
C++
/*
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******************************************************************************
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*
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* @file vtolautotakeofffsm.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief This autotakeoff state machine is a helper state machine to the
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* VtolAutoTakeoffController.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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extern "C" {
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#include <openpilot.h>
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#include <callbackinfo.h>
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#include <math.h>
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#include <pid.h>
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#include <pathdesired.h>
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#include <paths.h>
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#include "plans.h"
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#include <sanitycheck.h>
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#include <homelocation.h>
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#include <accelstate.h>
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#include <vtolpathfollowersettings.h>
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#include <flightstatus.h>
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#include <flightmodesettings.h>
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#include <pathstatus.h>
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#include <positionstate.h>
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#include <velocitystate.h>
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#include <velocitydesired.h>
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#include <stabilizationdesired.h>
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#include <attitudestate.h>
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#include <takeofflocation.h>
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#include <manualcontrolcommand.h>
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#include <systemsettings.h>
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#include <stabilizationbank.h>
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#include <stabilizationdesired.h>
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#include <vtolselftuningstats.h>
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#include <statusvtolautotakeoff.h>
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#include <pathsummary.h>
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}
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// C++ includes
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#include <vtolautotakeofffsm.h>
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// Private constants
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#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
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#define TIMEOUT_SLOWSTART (2 * TIMER_COUNT_PER_SECOND)
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#define TIMEOUT_THRUSTUP (1 * TIMER_COUNT_PER_SECOND)
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#define TIMEOUT_THRUSTDOWN (5 * TIMER_COUNT_PER_SECOND)
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#define AUTOTAKEOFFING_SLOWDOWN_HEIGHT -5.0f
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VtolAutoTakeoffFSM::PathFollowerFSM_AutoTakeoffStateHandler_T VtolAutoTakeoffFSM::sAutoTakeoffStateTable[AUTOTAKEOFF_STATE_SIZE] = {
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[AUTOTAKEOFF_STATE_INACTIVE] = { .setup = &VtolAutoTakeoffFSM::setup_inactive, .run = 0 },
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[AUTOTAKEOFF_STATE_CHECKSTATE] = { .setup = &VtolAutoTakeoffFSM::setup_checkstate, .run = 0 },
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[AUTOTAKEOFF_STATE_SLOWSTART] = { .setup = &VtolAutoTakeoffFSM::setup_slowstart, .run = &VtolAutoTakeoffFSM::run_slowstart },
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[AUTOTAKEOFF_STATE_THRUSTUP] = { .setup = &VtolAutoTakeoffFSM::setup_thrustup, .run = &VtolAutoTakeoffFSM::run_thrustup },
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[AUTOTAKEOFF_STATE_TAKEOFF] = { .setup = &VtolAutoTakeoffFSM::setup_takeoff, .run = &VtolAutoTakeoffFSM::run_takeoff },
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[AUTOTAKEOFF_STATE_HOLD] = { .setup = &VtolAutoTakeoffFSM::setup_hold, .run = &VtolAutoTakeoffFSM::run_hold },
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[AUTOTAKEOFF_STATE_THRUSTDOWN] = { .setup = &VtolAutoTakeoffFSM::setup_thrustdown, .run = &VtolAutoTakeoffFSM::run_thrustdown },
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[AUTOTAKEOFF_STATE_THRUSTOFF] = { .setup = &VtolAutoTakeoffFSM::setup_thrustoff, .run = &VtolAutoTakeoffFSM::run_thrustoff },
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[AUTOTAKEOFF_STATE_DISARMED] = { .setup = &VtolAutoTakeoffFSM::setup_disarmed, .run = &VtolAutoTakeoffFSM::run_disarmed }
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};
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// pointer to a singleton instance
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VtolAutoTakeoffFSM *VtolAutoTakeoffFSM::p_inst = 0;
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VtolAutoTakeoffFSM::VtolAutoTakeoffFSM()
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: mAutoTakeoffData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
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{}
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// Private types
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// Private functions
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// Public API methods
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t VtolAutoTakeoffFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
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PathDesiredData *ptr_pathDesired,
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FlightStatusData *ptr_flightStatus)
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{
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PIOS_Assert(ptr_vtolPathFollowerSettings);
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PIOS_Assert(ptr_pathDesired);
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PIOS_Assert(ptr_flightStatus);
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if (mAutoTakeoffData == 0) {
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mAutoTakeoffData = (VtolAutoTakeoffFSMData_T *)pios_malloc(sizeof(VtolAutoTakeoffFSMData_T));
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PIOS_Assert(mAutoTakeoffData);
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}
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memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
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vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
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pathDesired = ptr_pathDesired;
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flightStatus = ptr_flightStatus;
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initFSM();
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return 0;
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}
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void VtolAutoTakeoffFSM::Inactive(void)
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{
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memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
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initFSM();
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}
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// Initialise the FSM
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void VtolAutoTakeoffFSM::initFSM(void)
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{
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if (vtolPathFollowerSettings != 0) {
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setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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} else {
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mAutoTakeoffData->currentState = STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE;
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}
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}
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void VtolAutoTakeoffFSM::Activate()
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{
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memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
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mAutoTakeoffData->currentState = STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE;
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mAutoTakeoffData->flLowAltitude = true;
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mAutoTakeoffData->flAltitudeHold = false;
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mAutoTakeoffData->boundThrustMin = 0.0f;
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mAutoTakeoffData->boundThrustMax = 0.0f;
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mAutoTakeoffData->flZeroStabiHorizontal = true; // turn off positional controllers
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TakeOffLocationGet(&(mAutoTakeoffData->takeOffLocation));
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mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE] = 0.0f;
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mAutoTakeoffData->fsmAutoTakeoffStatus.ControlState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
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assessAltitude();
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// Check if we are already flying. This can happen in pathplanner mode
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// going into a second loop of the waypoints.
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StabilizationDesiredData stabDesired;
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StabilizationDesiredGet(&stabDesired);
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if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
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setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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return;
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}
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// initially inactive and wait for a change in controlstate.
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setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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}
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PathFollowerFSMState_T VtolAutoTakeoffFSM::GetCurrentState(void)
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{
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switch (mAutoTakeoffData->currentState) {
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case STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE:
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return PFFSM_STATE_INACTIVE;
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break;
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case STATUSVTOLAUTOTAKEOFF_STATE_DISARMED:
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return PFFSM_STATE_DISARMED;
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break;
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default:
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return PFFSM_STATE_ACTIVE;
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break;
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}
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}
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void VtolAutoTakeoffFSM::Update()
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{
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runState();
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if (GetCurrentState() != PFFSM_STATE_INACTIVE) {
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runAlways();
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}
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}
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int32_t VtolAutoTakeoffFSM::runState(void)
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{
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uint8_t flTimeout = false;
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mAutoTakeoffData->stateRunCount++;
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if (mAutoTakeoffData->stateTimeoutCount > 0 && mAutoTakeoffData->stateRunCount > mAutoTakeoffData->stateTimeoutCount) {
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flTimeout = true;
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}
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// If the current state has a static function, call it
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if (sAutoTakeoffStateTable[mAutoTakeoffData->currentState].run) {
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(this->*sAutoTakeoffStateTable[mAutoTakeoffData->currentState].run)(flTimeout);
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}
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return 0;
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}
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int32_t VtolAutoTakeoffFSM::runAlways(void)
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{
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void assessAltitude(void);
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return 0;
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}
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// PathFollower implements the PID scheme and has a objective
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// set by a PathDesired object. Based on the mode, pathfollower
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// uses FSM's as helper functions that manage state and event detection.
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// PathFollower calls into FSM methods to alter its commands.
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void VtolAutoTakeoffFSM::BoundThrust(float &ulow, float &uhigh)
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{
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ulow = mAutoTakeoffData->boundThrustMin;
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uhigh = mAutoTakeoffData->boundThrustMax;
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if (mAutoTakeoffData->flConstrainThrust) {
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uhigh = mAutoTakeoffData->thrustLimit;
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}
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}
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void VtolAutoTakeoffFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDesired)
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{
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if (mAutoTakeoffData->flZeroStabiHorizontal && stabDesired) {
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stabDesired->Pitch = 0.0f;
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stabDesired->Roll = 0.0f;
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stabDesired->Yaw = 0.0f;
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}
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}
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// Set the new state and perform setup for subsequent state run calls
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// This is called by state run functions on event detection that drive
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// state transitions.
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void VtolAutoTakeoffFSM::setState(StatusVtolAutoTakeoffStateOptions newState, StatusVtolAutoTakeoffStateExitReasonOptions reason)
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{
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mAutoTakeoffData->fsmAutoTakeoffStatus.StateExitReason[mAutoTakeoffData->currentState] = reason;
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if (mAutoTakeoffData->currentState == newState) {
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return;
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}
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mAutoTakeoffData->currentState = newState;
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if (newState != STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE) {
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PositionStateData positionState;
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PositionStateGet(&positionState);
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float takeOffDown = 0.0f;
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if (mAutoTakeoffData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
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takeOffDown = mAutoTakeoffData->takeOffLocation.Down;
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}
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mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[newState] = positionState.Down - takeOffDown;
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assessAltitude();
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}
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// Restart state timer counter
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mAutoTakeoffData->stateRunCount = 0;
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// Reset state timeout to disabled/zero
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mAutoTakeoffData->stateTimeoutCount = 0;
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if (sAutoTakeoffStateTable[mAutoTakeoffData->currentState].setup) {
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(this->*sAutoTakeoffStateTable[mAutoTakeoffData->currentState].setup)();
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}
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updateVtolAutoTakeoffFSMStatus();
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}
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// Timeout utility function for use by state init implementations
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void VtolAutoTakeoffFSM::setStateTimeout(int32_t count)
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{
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mAutoTakeoffData->stateTimeoutCount = count;
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}
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void VtolAutoTakeoffFSM::updateVtolAutoTakeoffFSMStatus()
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{
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mAutoTakeoffData->fsmAutoTakeoffStatus.State = mAutoTakeoffData->currentState;
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if (mAutoTakeoffData->flLowAltitude) {
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mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeState = STATUSVTOLAUTOTAKEOFF_ALTITUDESTATE_LOW;
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} else {
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mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeState = STATUSVTOLAUTOTAKEOFF_ALTITUDESTATE_HIGH;
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}
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StatusVtolAutoTakeoffSet(&mAutoTakeoffData->fsmAutoTakeoffStatus);
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}
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void VtolAutoTakeoffFSM::assessAltitude(void)
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{
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float positionDown;
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PositionStateDownGet(&positionDown);
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float takeOffDown = 0.0f;
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if (mAutoTakeoffData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
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takeOffDown = mAutoTakeoffData->takeOffLocation.Down;
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}
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float positionDownRelativeToTakeoff = positionDown - takeOffDown;
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if (positionDownRelativeToTakeoff < AUTOTAKEOFFING_SLOWDOWN_HEIGHT) {
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mAutoTakeoffData->flLowAltitude = false;
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} else {
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mAutoTakeoffData->flLowAltitude = true;
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}
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}
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// Action the required state from plans.c
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void VtolAutoTakeoffFSM::setControlState(StatusVtolAutoTakeoffControlStateOptions controlState)
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{
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mAutoTakeoffData->fsmAutoTakeoffStatus.ControlState = controlState;
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switch (controlState) {
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case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
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setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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break;
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case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
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setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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break;
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case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
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setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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break;
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case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
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setState(STATUSVTOLAUTOTAKEOFF_STATE_CHECKSTATE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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break;
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case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
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setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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break;
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case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
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setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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break;
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}
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}
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// State: INACTIVE
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void VtolAutoTakeoffFSM::setup_inactive(void)
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{
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// Re-initialise local variables
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mAutoTakeoffData->flZeroStabiHorizontal = false;
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mAutoTakeoffData->flConstrainThrust = false;
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}
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// State: CHECKSTATE
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void VtolAutoTakeoffFSM::setup_checkstate(void)
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{
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// Assumptions that do not need to be checked if flight mode is AUTOTAKEOFF
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// 1. Already armed
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// 2. Not in flight. This was checked in plans.c
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// 3. User has placed throttle position to more than 50% to allow autotakeoff
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// If pathplanner, we need additional checks
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// E.g. if inflight, this mode is just positon hol
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StabilizationDesiredData stabDesired;
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StabilizationDesiredGet(&stabDesired);
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if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
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setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
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return;
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}
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// Start from a enforced thrust off condition
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mAutoTakeoffData->flConstrainThrust = false;
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mAutoTakeoffData->boundThrustMin = -0.1f;
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mAutoTakeoffData->boundThrustMax = 0.0f;
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setState(STATUSVTOLAUTOTAKEOFF_STATE_SLOWSTART, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
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}
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// STATE: SLOWSTART spools up motors to vtol min over 2 seconds for effect.
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// PID loops may be cumulating I terms but that problem needs to be solved
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#define SLOWSTART_INITIAL_THRUST 0.05f // assumed to be less than vtol min
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void VtolAutoTakeoffFSM::setup_slowstart(void)
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{
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setStateTimeout(TIMEOUT_SLOWSTART);
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mAutoTakeoffData->flZeroStabiHorizontal = true; // turn off positional controllers
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StabilizationDesiredData stabDesired;
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StabilizationDesiredGet(&stabDesired);
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float vtol_thrust_min = vtolPathFollowerSettings->ThrustLimits.Min;
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if (vtol_thrust_min < SLOWSTART_INITIAL_THRUST) {
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vtol_thrust_min = SLOWSTART_INITIAL_THRUST;
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}
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mAutoTakeoffData->sum1 = (vtol_thrust_min - SLOWSTART_INITIAL_THRUST) / (float)TIMEOUT_SLOWSTART;
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mAutoTakeoffData->sum2 = vtol_thrust_min;
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mAutoTakeoffData->boundThrustMin = SLOWSTART_INITIAL_THRUST;
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mAutoTakeoffData->boundThrustMax = SLOWSTART_INITIAL_THRUST;
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PositionStateData positionState;
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PositionStateGet(&positionState);
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mAutoTakeoffData->expectedAutoTakeoffPositionNorth = positionState.North;
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mAutoTakeoffData->expectedAutoTakeoffPositionEast = positionState.East;
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}
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void VtolAutoTakeoffFSM::run_slowstart(__attribute__((unused)) uint8_t flTimeout)
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{
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// increase thrust setpoint step by step
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if (mAutoTakeoffData->boundThrustMin < mAutoTakeoffData->sum2) {
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mAutoTakeoffData->boundThrustMin += mAutoTakeoffData->sum1;
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}
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mAutoTakeoffData->boundThrustMax += mAutoTakeoffData->sum1;
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if (mAutoTakeoffData->boundThrustMax > mAutoTakeoffData->sum2) {
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mAutoTakeoffData->boundThrustMax = mAutoTakeoffData->sum2;
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}
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if (flTimeout) {
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setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTUP, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
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}
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}
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// STATE: THRUSTUP spools up motors to vtol min over 5 seconds for effect.
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// PID loops may be cumulating I terms but that problem needs to be solved
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#define THRUSTUP_FINAL_THRUST_AS_RATIO_OF_VTOLMAX 0.8f
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void VtolAutoTakeoffFSM::setup_thrustup(void)
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{
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setStateTimeout(TIMEOUT_THRUSTUP);
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mAutoTakeoffData->flZeroStabiHorizontal = false;
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StabilizationDesiredData stabDesired;
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StabilizationDesiredGet(&stabDesired);
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mAutoTakeoffData->sum2 = THRUSTUP_FINAL_THRUST_AS_RATIO_OF_VTOLMAX * vtolPathFollowerSettings->ThrustLimits.Max;
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mAutoTakeoffData->sum1 = (mAutoTakeoffData->sum2 - mAutoTakeoffData->boundThrustMax) / (float)TIMEOUT_THRUSTUP;
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mAutoTakeoffData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
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}
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void VtolAutoTakeoffFSM::run_thrustup(__attribute__((unused)) uint8_t flTimeout)
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{
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// increase thrust setpoint step by step
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mAutoTakeoffData->boundThrustMax += mAutoTakeoffData->sum1;
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if (mAutoTakeoffData->boundThrustMax > mAutoTakeoffData->sum2) {
|
|
mAutoTakeoffData->boundThrustMax = mAutoTakeoffData->sum2;
|
|
}
|
|
|
|
if (flTimeout) {
|
|
setState(STATUSVTOLAUTOTAKEOFF_STATE_TAKEOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
|
|
}
|
|
}
|
|
|
|
|
|
// STATE: TAKEOFF
|
|
void VtolAutoTakeoffFSM::setup_takeoff(void)
|
|
{
|
|
mAutoTakeoffData->flZeroStabiHorizontal = false;
|
|
}
|
|
void VtolAutoTakeoffFSM::run_takeoff(__attribute__((unused)) uint8_t flTimeout)
|
|
{
|
|
StabilizationDesiredData stabDesired;
|
|
|
|
StabilizationDesiredGet(&stabDesired);
|
|
if (stabDesired.Thrust < 0.0f) {
|
|
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
|
|
return;
|
|
}
|
|
|
|
// detect broad sideways drift.
|
|
PositionStateData positionState;
|
|
PositionStateGet(&positionState);
|
|
float north_error = mAutoTakeoffData->expectedAutoTakeoffPositionNorth - positionState.North;
|
|
float east_error = mAutoTakeoffData->expectedAutoTakeoffPositionEast - positionState.East;
|
|
float down_error = pathDesired->End.Down - positionState.Down;
|
|
float positionError = sqrtf(north_error * north_error + east_error * east_error);
|
|
if (positionError > 3.0f) {
|
|
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTDOWN, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_POSITIONERROR);
|
|
return;
|
|
}
|
|
if (fabsf(down_error) < 0.5f) {
|
|
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ARRIVEDATALT);
|
|
return;
|
|
}
|
|
}
|
|
|
|
// STATE: HOLD
|
|
void VtolAutoTakeoffFSM::setup_hold(void)
|
|
{
|
|
mAutoTakeoffData->flZeroStabiHorizontal = false;
|
|
mAutoTakeoffData->flAltitudeHold = true;
|
|
}
|
|
void VtolAutoTakeoffFSM::run_hold(__attribute__((unused)) uint8_t flTimeout)
|
|
{}
|
|
|
|
uint8_t VtolAutoTakeoffFSM::PositionHoldState(void)
|
|
{
|
|
return mAutoTakeoffData->flAltitudeHold;
|
|
}
|
|
|
|
// STATE: THRUSTDOWN
|
|
void VtolAutoTakeoffFSM::setup_thrustdown(void)
|
|
{
|
|
setStateTimeout(TIMEOUT_THRUSTDOWN);
|
|
mAutoTakeoffData->flZeroStabiHorizontal = true;
|
|
mAutoTakeoffData->flConstrainThrust = true;
|
|
StabilizationDesiredData stabDesired;
|
|
StabilizationDesiredGet(&stabDesired);
|
|
mAutoTakeoffData->thrustLimit = stabDesired.Thrust;
|
|
mAutoTakeoffData->sum1 = stabDesired.Thrust / (float)TIMEOUT_THRUSTDOWN;
|
|
mAutoTakeoffData->boundThrustMin = -0.1f;
|
|
mAutoTakeoffData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Neutral;
|
|
}
|
|
|
|
void VtolAutoTakeoffFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
|
|
{
|
|
// reduce thrust setpoint step by step
|
|
mAutoTakeoffData->thrustLimit -= mAutoTakeoffData->sum1;
|
|
|
|
StabilizationDesiredData stabDesired;
|
|
StabilizationDesiredGet(&stabDesired);
|
|
if (stabDesired.Thrust < 0.0f || mAutoTakeoffData->thrustLimit < 0.0f) {
|
|
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
|
|
}
|
|
|
|
if (flTimeout) {
|
|
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
|
|
}
|
|
}
|
|
|
|
// STATE: THRUSTOFF
|
|
void VtolAutoTakeoffFSM::setup_thrustoff(void)
|
|
{
|
|
mAutoTakeoffData->thrustLimit = -1.0f;
|
|
mAutoTakeoffData->flConstrainThrust = true;
|
|
mAutoTakeoffData->boundThrustMin = -0.1f;
|
|
mAutoTakeoffData->boundThrustMax = 0.0f;
|
|
}
|
|
|
|
void VtolAutoTakeoffFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
|
|
{
|
|
setState(STATUSVTOLAUTOTAKEOFF_STATE_DISARMED, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
|
|
}
|
|
|
|
// STATE: DISARMED
|
|
void VtolAutoTakeoffFSM::setup_disarmed(void)
|
|
{
|
|
mAutoTakeoffData->thrustLimit = -1.0f;
|
|
mAutoTakeoffData->flConstrainThrust = true;
|
|
mAutoTakeoffData->flZeroStabiHorizontal = true;
|
|
mAutoTakeoffData->observationCount = 0;
|
|
mAutoTakeoffData->boundThrustMin = -0.1f;
|
|
mAutoTakeoffData->boundThrustMax = 0.0f;
|
|
|
|
if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
|
|
}
|
|
}
|
|
|
|
void VtolAutoTakeoffFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
|
|
{
|
|
if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
|
|
}
|
|
#ifdef DEBUG_GROUNDIMPACT
|
|
if (mAutoTakeoffData->observationCount++ > 100) {
|
|
setState(AUTOTAKEOFF_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
|
|
}
|
|
#endif
|
|
}
|