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Introduce boat vehicle type #24310

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Introduce boat vehicle type #24310

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f72845e
[add] Decoupling boat and rover in the commander module
TomasTwardzik Jan 14, 2025
59c25aa
[fix] Making altitude acceptance radius equal to infinity
TomasTwardzik Jan 14, 2025
0df117b
[mod] Allowing boat vehicles to override mission with strong stick input
TomasTwardzik Jan 14, 2025
d4c51ce
[add] Adding a boat config to Control Allocator (one engine, one stee…
TomasTwardzik Jan 14, 2025
18d823f
[add] throttle high fix for boats and rovers
TomasTwardzik Jan 14, 2025
f419124
Fix style
MaEtUgR Jan 15, 2025
e907fb0
Suggestions for boat and rover handling
MaEtUgR Jan 15, 2025
af17bd7
Merge branch 'main' into pr_boat_decoupling
TomasTwardzik Mar 6, 2025
5793c00
[del] remove boat CA entries
TomasTwardzik Mar 6, 2025
d230215
[refactor] using less verbose convenience method instead of vehicle_s…
TomasTwardzik Mar 6, 2025
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2 changes: 2 additions & 0 deletions msg/versioned/VehicleStatus.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ uint8 vehicle_type
uint8 VEHICLE_TYPE_ROTARY_WING = 0
uint8 VEHICLE_TYPE_FIXED_WING = 1
uint8 VEHICLE_TYPE_ROVER = 2
uint8 VEHICLE_TYPE_BOAT = 5
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Before we introduce the new type type here, let's discuss the meaning of this field, see #24367

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I agree with the points made. As is it currently stands, the code is a bit confusing what is what and these changes should clear it up.



uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
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20 changes: 17 additions & 3 deletions src/modules/commander/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -583,6 +583,16 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
return TRANSITION_DENIED;
}

if ((is_ground_vehicle(_vehicle_status))
&& !_failsafe_flags.manual_control_signal_lost && !_is_throttle_near_center) {

mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle not centered\t");
events::send(events::ID("commander_arm_denied_throttle_not_centered"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: throttle not centered");
tune_negative(true);
return TRANSITION_DENIED;
}

} else if (calling_reason == arm_disarm_reason_t::stick_gesture
|| calling_reason == arm_disarm_reason_t::rc_switch
|| calling_reason == arm_disarm_reason_t::rc_button) {
Expand Down Expand Up @@ -1723,7 +1733,6 @@ void Commander::updateParameters()
&& _vtol_vehicle_status.vehicle_vtol_state != vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_fixed = is_fixed_wing(_vehicle_status) || (is_vtol(_vehicle_status)
&& _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_ground = is_ground_vehicle(_vehicle_status);

/* disable manual override for all systems that rely on electronic stabilization */
if (is_rotary) {
Expand All @@ -1732,8 +1741,11 @@ void Commander::updateParameters()
} else if (is_fixed) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;

} else if (is_ground) {
} else if (is_rover_type(_vehicle_status)) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;

} else if (is_boat_type(_vehicle_status)) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_BOAT;
}

_vehicle_status.is_vtol = is_vtol(_vehicle_status);
Expand Down Expand Up @@ -2901,13 +2913,15 @@ void Commander::manualControlCheck()

_is_throttle_above_center = (manual_control_setpoint.throttle > 0.2f);
_is_throttle_low = (manual_control_setpoint.throttle < -0.8f);
_is_throttle_near_center = (fabsf(manual_control_setpoint.throttle) < 0.05f);

if (isArmed()) {
// Abort autonomous mode and switch to position mode if sticks are moved significantly
// but only if actually in air.
if (manual_control_setpoint.sticks_moving
&& !_vehicle_control_mode.flag_control_manual_enabled
&& (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
|| _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT)
) {
bool override_enabled = false;

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1 change: 1 addition & 0 deletions src/modules/commander/Commander.hpp
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Expand Up @@ -275,6 +275,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams

bool _is_throttle_above_center{false};
bool _is_throttle_low{false};
bool _is_throttle_near_center{false};

bool _arm_tune_played{false};
bool _have_taken_off_since_arming{false};
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10 changes: 10 additions & 0 deletions src/modules/commander/commander_helper.cpp
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Expand Up @@ -122,6 +122,16 @@ bool is_ground_vehicle(const vehicle_status_s &current_status)
return (current_status.system_type == VEHICLE_TYPE_BOAT || current_status.system_type == VEHICLE_TYPE_GROUND_ROVER);
}

bool is_rover_type(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_GROUND_ROVER;
}

bool is_boat_type(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_BOAT;
}

// End time for currently blinking LED message, 0 if no blink message
static hrt_abstime blink_msg_end = 0;
static int fd_leds{-1};
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2 changes: 2 additions & 0 deletions src/modules/commander/commander_helper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,8 @@ bool is_vtol(const vehicle_status_s &current_status);
bool is_vtol_tailsitter(const vehicle_status_s &current_status);
bool is_fixed_wing(const vehicle_status_s &current_status);
bool is_ground_vehicle(const vehicle_status_s &current_status);
bool is_rover_type(const vehicle_status_s &current_status);
bool is_boat_type(const vehicle_status_s &current_status);

int buzzer_init(void);
void buzzer_deinit(void);
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5 changes: 3 additions & 2 deletions src/modules/navigator/mission_block.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,8 +206,9 @@ MissionBlock::is_mission_item_reached_or_completed()
_waypoint_position_reached = true;
}

} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF &&
(_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER
|| _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT)) {
// Accept takeoff waypoint to be reached if the distance in 2D plane is within acceptance radius
if (dist_xy >= 0.0f && dist_xy <= _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
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3 changes: 2 additions & 1 deletion src/modules/navigator/navigator_main.cpp
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Expand Up @@ -1137,7 +1137,8 @@ float Navigator::get_altitude_acceptance_radius()
return _param_nav_fw_alt_rad.get();
}

} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER
|| get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT) {
return INFINITY;

} else {
Expand Down
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