Commander.hpp

/****************************************************************************
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 * modification, are permitted provided that the following conditions
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#ifndef COMMANDER_HPP_
#define COMMANDER_HPP_

#include "state_machine_helper.h"
#include "failure_detector/FailureDetector.hpp"

#include <lib/controllib/blocks.hpp>
#include <lib/mathlib/mathlib.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <systemlib/hysteresis/hysteresis.h>

// publications
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>

// subscriptions
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>

using math::constrain;
using uORB::Publication;
using uORB::Subscription;

using namespace time_literals;

class Commander : public ModuleBase<Commander>, public ModuleParams
{
public:
    Commander();
    ~Commander();

    static int task_spawn(int argc, char *argv[]);

    static Commander *instantiate(int argc, char *argv[]);

    static int custom_command(int argc, char *argv[]);

    static int print_usage(const char *reason = nullptr);

    void run() override;

    void enable_hil();

    // TODO: only temporarily static until low priority thread is removed
    static bool preflight_check(bool report);

private:

    DEFINE_PARAMETERS(

        (ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
        (ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,

        (ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
        (ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,

        (ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
        (ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,

        (ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
        (ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,

        (ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
        (ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
        (ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,

        (ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
        (ParamInt<px4::params::COM_POS_FS_PROB>) _param_com_pos_fs_prob,
        (ParamInt<px4::params::COM_POS_FS_GAIN>) _param_com_pos_fs_gain,

        (ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
        (ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,

        (ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
        (ParamInt<px4::params::COM_OA_BOOT_T>) _param_com_oa_boot_t,

        (ParamFloat<px4::params::COM_TAS_FS_INNOV>) _tas_innov_threshold,
        (ParamFloat<px4::params::COM_TAS_FS_INTEG>) _tas_innov_integ_threshold,
        (ParamInt<px4::params::COM_TAS_FS_T1>) _tas_use_stop_delay,
        (ParamInt<px4::params::COM_TAS_FS_T2>) _tas_use_start_delay,
        (ParamInt<px4::params::COM_ASPD_FS_ACT>) _airspeed_fail_action,
        (ParamFloat<px4::params::COM_ASPD_STALL>) _airspeed_stall,
        (ParamInt<px4::params::COM_ASPD_FS_DLY>) _airspeed_rtl_delay

    )

    const int64_t POSVEL_PROBATION_MIN = 1_s;   
    const int64_t POSVEL_PROBATION_MAX = 100_s; 
    hrt_abstime _last_gpos_fail_time_us{0}; 
    hrt_abstime _last_lpos_fail_time_us{0}; 
    hrt_abstime _last_lvel_fail_time_us{0}; 
    // Probation times for position and velocity validity checks to pass if failed
    hrt_abstime _gpos_probation_time_us = POSVEL_PROBATION_MIN;
    hrt_abstime _lpos_probation_time_us = POSVEL_PROBATION_MIN;
    hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;

    /* class variables used to check for navigation failure after takeoff */
    hrt_abstime _time_at_takeoff{0};        
    hrt_abstime _time_last_innov_pass{0};   
    bool        _nav_test_passed{false};    
    bool        _nav_test_failed{false};    
    /* class variables used to check for airspeed sensor failure */
    bool        _tas_check_fail{false}; 
    hrt_abstime _time_last_tas_pass{0};     
    hrt_abstime _time_last_tas_fail{0};     
    static constexpr hrt_abstime TAS_INNOV_FAIL_DELAY{1_s}; 
    bool        _tas_use_inhibit{false};    
    hrt_abstime _time_tas_good_declared{0}; 
    hrt_abstime _time_tas_bad_declared{0};  
    hrt_abstime _time_last_airspeed{0};     
    hrt_abstime _time_last_aspd_innov_check{0}; 
    char        *_airspeed_fault_type = new char[7];
    float       _load_factor_ratio{0.5f};   
    float       _apsd_innov_integ_state{0.0f};  
    FailureDetector _failure_detector;
    bool _failure_detector_termination_printed{false};

    bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
                orb_advert_t *command_ack_pub, bool *changed);

    bool set_home_position();
    bool set_home_position_alt_only();

    // Set the main system state based on RC and override device inputs
    transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);

    // Enable override (manual reversion mode) on the system
    transition_result_t set_main_state_override_on(const vehicle_status_s &status, bool *changed);

    // Set the system main state based on the current RC inputs
    transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);

    void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
             bool *changed);

    bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
                   const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
                   bool *validity_changed);

    void reset_posvel_validity(bool *changed);

    void mission_init();

    void estimator_check(bool *status_changed);

    void airspeed_use_check();

    void battery_status_check();

    void        data_link_check(bool &status_changed);

    int     _telemetry_status_sub{-1};

    hrt_abstime _datalink_last_heartbeat_gcs{0};

    hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
    bool                _onboard_controller_lost{false};

    hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
    bool                _avoidance_system_lost{false};

    bool        _avoidance_system_status_change{false};
    uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT};

    int         _iridiumsbd_status_sub{-1};

    hrt_abstime _high_latency_datalink_heartbeat{0};
    hrt_abstime _high_latency_datalink_lost{0};

    int _battery_sub{-1};
    uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
    float _battery_current{0.0f};

    systemlib::Hysteresis   _auto_disarm_landed{false};
    systemlib::Hysteresis   _auto_disarm_killed{false};

    bool _print_avoidance_msg_once{false};

    // Subscriptions
    Subscription<airspeed_s>            _airspeed_sub{ORB_ID(airspeed)};
    Subscription<estimator_status_s>        _estimator_status_sub{ORB_ID(estimator_status)};
    Subscription<mission_result_s>          _mission_result_sub{ORB_ID(mission_result)};
    Subscription<sensor_bias_s>         _sensor_bias_sub{ORB_ID(sensor_bias)};
    Subscription<vehicle_global_position_s>     _global_position_sub{ORB_ID(vehicle_global_position)};
    Subscription<vehicle_local_position_s>      _local_position_sub{ORB_ID(vehicle_local_position)};

    Publication<home_position_s>            _home_pub{ORB_ID(home_position)};

    orb_advert_t                    _status_pub{nullptr};
};

#endif /* COMMANDER_HPP_ */