rcloss.cpp

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/**
 * @file rcloss.cpp
 * Helper class for RC Loss Mode according to the OBC rules
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>

#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <lib/ecl/geo/geo.h>

#include <uORB/uORB.h>
#include <navigator/navigation.h>
#include <uORB/topics/home_position.h>

#include "navigator.h"
#include "datalinkloss.h"

RCLoss::RCLoss(Navigator *navigator) :
    MissionBlock(navigator),
    ModuleParams(navigator),
    _rcl_state(RCL_STATE_NONE)
{
}

void
RCLoss::on_inactive()
{
    /* reset RCL state only if setpoint moved */
    if (!_navigator->get_can_loiter_at_sp()) {
        _rcl_state = RCL_STATE_NONE;
    }
}

void
RCLoss::on_activation()
{
    _rcl_state = RCL_STATE_NONE;
    advance_rcl();
    set_rcl_item();
}

void
RCLoss::on_active()
{
    if (is_mission_item_reached()) {
        advance_rcl();
        set_rcl_item();
    }
}

void
RCLoss::set_rcl_item()
{
    struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

    pos_sp_triplet->previous = pos_sp_triplet->current;
    _navigator->set_can_loiter_at_sp(false);

    switch (_rcl_state) {
    case RCL_STATE_LOITER: {
            _mission_item.lat = _navigator->get_global_position()->lat;
            _mission_item.lon = _navigator->get_global_position()->lon;
            _mission_item.altitude = _navigator->get_global_position()->alt;
            _mission_item.altitude_is_relative = false;
            _mission_item.yaw = _navigator->get_global_position()->yaw;
            _mission_item.loiter_radius = _navigator->get_loiter_radius();
            _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
            _mission_item.acceptance_radius = _navigator->get_acceptance_radius();
            _mission_item.time_inside = _param_nav_gpsf_lt.get() < 0.0f ? 0.0f : _param_nav_gpsf_lt.get();
            _mission_item.autocontinue = true;
            _mission_item.origin = ORIGIN_ONBOARD;

            _navigator->set_can_loiter_at_sp(true);
            break;
        }

    case RCL_STATE_TERMINATE: {
            /* Request flight termination from the commander */
            _navigator->get_mission_result()->flight_termination = true;
            _navigator->set_mission_result_updated();
            warnx("RC not recovered: request flight termination");
            pos_sp_triplet->previous.valid = false;
            pos_sp_triplet->current.valid = false;
            pos_sp_triplet->next.valid = false;
            break;
        }

    default:
        break;
    }

    reset_mission_item_reached();

    /* convert mission item to current position setpoint and make it valid */
    mission_apply_limitation(_mission_item);
    mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
    pos_sp_triplet->next.valid = false;

    _navigator->set_position_setpoint_triplet_updated();
}

void
RCLoss::advance_rcl()
{
    switch (_rcl_state) {
    case RCL_STATE_NONE:
        if (_param_nav_gpsf_lt.get() > 0.0f) {
            warnx("RC loss, OBC mode, loiter");
            mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC loss, loitering");
            _rcl_state = RCL_STATE_LOITER;

        } else {
            warnx("RC loss, OBC mode, slip loiter, terminate");
            mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC loss, terminating");
            _rcl_state = RCL_STATE_TERMINATE;
            _navigator->get_mission_result()->stay_in_failsafe = true;
            _navigator->set_mission_result_updated();
            reset_mission_item_reached();
        }

        break;

    case RCL_STATE_LOITER:
        _rcl_state = RCL_STATE_TERMINATE;
        warnx("time is up, no RC regain, terminating");
        mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC not regained, terminating");
        _navigator->get_mission_result()->stay_in_failsafe = true;
        _navigator->set_mission_result_updated();
        reset_mission_item_reached();
        break;

    case RCL_STATE_TERMINATE:
        warnx("rcl end");
        _rcl_state = RCL_STATE_END;
        break;

    default:
        break;
    }
}