gpsfailure.cpp

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/**
 * @file gpsfailure.cpp
 * Helper class for gpsfailure mode according to the OBC rules
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#include "gpsfailure.h"
#include "navigator.h"

#include <systemlib/mavlink_log.h>
#include <lib/ecl/geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <mathlib/mathlib.h>

using matrix::Eulerf;
using matrix::Quatf;

GpsFailure::GpsFailure(Navigator *navigator) :
    MissionBlock(navigator),
    ModuleParams(navigator)
{
}

void
GpsFailure::on_inactive()
{
    /* reset GPSF state only if setpoint moved */
    if (!_navigator->get_can_loiter_at_sp()) {
        _gpsf_state = GPSF_STATE_NONE;
    }
}

void
GpsFailure::on_activation()
{
    _gpsf_state = GPSF_STATE_NONE;
    _timestamp_activation = hrt_absolute_time();
    advance_gpsf();
    set_gpsf_item();
}

void
GpsFailure::on_active()
{
    switch (_gpsf_state) {
    case GPSF_STATE_LOITER: {
            /* Position controller does not run in this mode:
             * navigator has to publish an attitude setpoint */
            vehicle_attitude_setpoint_s att_sp = {};
            att_sp.timestamp = hrt_absolute_time();
            att_sp.roll_body = math::radians(_param_nav_gpsf_r.get());
            att_sp.pitch_body = math::radians(_param_nav_gpsf_p.get());
            att_sp.thrust_body[0] = _param_nav_gpsf_tr.get();

            Quatf q(Eulerf(att_sp.roll_body, att_sp.pitch_body, 0.0f));
            q.copyTo(att_sp.q_d);
            att_sp.q_d_valid = true;

            if (_navigator->get_vstatus()->is_vtol) {
                _fw_virtual_att_sp_pub.publish(att_sp);

            } else {
                _att_sp_pub.publish(att_sp);

            }

            /* Measure time */
            if ((_param_nav_gpsf_lt.get() > FLT_EPSILON) &&
                (hrt_elapsed_time(&_timestamp_activation) > _param_nav_gpsf_lt.get() * 1e6f)) {
                /* no recovery, advance the state machine */
                PX4_WARN("GPS not recovered, switching to next failure state");
                advance_gpsf();
            }

            break;
        }

    case GPSF_STATE_TERMINATE:
        set_gpsf_item();
        advance_gpsf();
        break;

    default:
        break;
    }
}

void
GpsFailure::set_gpsf_item()
{
    struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

    /* Set pos sp triplet to invalid to stop pos controller */
    pos_sp_triplet->previous.valid = false;
    pos_sp_triplet->current.valid = false;
    pos_sp_triplet->next.valid = false;

    switch (_gpsf_state) {
    case GPSF_STATE_TERMINATE: {
            /* Request flight termination from commander */
            _navigator->get_mission_result()->flight_termination = true;
            _navigator->set_mission_result_updated();
            PX4_WARN("GPS failure: request flight termination");
        }
        break;

    default:
        break;
    }

    _navigator->set_position_setpoint_triplet_updated();
}

void
GpsFailure::advance_gpsf()
{
    switch (_gpsf_state) {
    case GPSF_STATE_NONE:
        _gpsf_state = GPSF_STATE_LOITER;
        mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Global position failure: fixed bank loiter");
        break;

    case GPSF_STATE_LOITER:
        _gpsf_state = GPSF_STATE_TERMINATE;
        mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "no GPS recovery, terminating flight");
        break;

    case GPSF_STATE_TERMINATE:
        PX4_WARN("terminate");
        _gpsf_state = GPSF_STATE_END;
        break;

    default:
        break;
    }
}