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Tumble check: platform-specific settings #1408

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merged 3 commits into from
Sep 10, 2024
Merged

Tumble check: platform-specific settings #1408

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d7425d2
Enabling tumble-check settings to be platform-specific
matejkarasek Aug 22, 2024
ed55d64
Tumble check can be disabled via parameter
matejkarasek Aug 27, 2024
2c74eb9
returning SUPERVISOR_TUMBLE_CHECK_ENABLE
matejkarasek Sep 9, 2024
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20 changes: 15 additions & 5 deletions src/modules/src/supervisor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -205,11 +205,11 @@ static bool isFlyingCheck(SupervisorMem_t* this, const uint32_t tick) {
static bool isTumbledCheck(SupervisorMem_t* this, const sensorData_t *data, const uint32_t tick) {
const float freeFallThreshold = 0.1;

const float acceptedTiltAccZ = 0.5; // 60 degrees tilt (when stationary)
const uint32_t maxTiltTime = M2T(1000);
const float acceptedTiltAccZ = SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_ACCZ; // 60 degrees tilt (when stationary)
const uint32_t maxTiltTime = M2T(SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_TIME);

const float acceptedUpsideDownAccZ = -0.2;
const uint32_t maxUpsideDownTime = M2T(100);
const float acceptedUpsideDownAccZ = SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_ACCZ;
const uint32_t maxUpsideDownTime = M2T(SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_TIME);

const bool isFreeFalling = (fabsf(data->acc.z) < freeFallThreshold && fabsf(data->acc.y) < freeFallThreshold && fabsf(data->acc.x) < freeFallThreshold);
if (isFreeFalling) {
Expand Down Expand Up @@ -297,6 +297,8 @@ static void postTransitionActions(SupervisorMem_t* this, const supervisorState_t
}
}

uint8_t tumbleCheckEnabled = SUPERVISOR_TUMBLE_CHECK_ENABLE;

static supervisorConditionBits_t updateAndPopulateConditions(SupervisorMem_t* this, const sensorData_t *sensors, const setpoint_t* setpoint, const uint32_t currentTick) {
supervisorConditionBits_t conditions = 0;

Expand All @@ -311,7 +313,10 @@ static supervisorConditionBits_t updateAndPopulateConditions(SupervisorMem_t* th

const bool isTumbled = isTumbledCheck(this, sensors, currentTick);
if (isTumbled) {
conditions |= SUPERVISOR_CB_IS_TUMBLED;
if (tumbleCheckEnabled)
{
conditions |= SUPERVISOR_CB_IS_TUMBLED;
}
}

const uint32_t setpointAge = currentTick - setpoint->timestamp;
Expand Down Expand Up @@ -534,4 +539,9 @@ PARAM_ADD(PARAM_UINT8, infdmp, &supervisorMem.doinfodump)
*/
PARAM_ADD(PARAM_UINT16 | PARAM_PERSISTENT, landedTimeout, &landingTimeoutDuration)

/**
* @brief Set to zero to disable tumble check
*/
PARAM_ADD(PARAM_UINT8 | PARAM_PERSISTENT, tmblChckEn, &tumbleCheckEnabled)

PARAM_GROUP_STOP(supervisor)
18 changes: 6 additions & 12 deletions src/modules/src/supervisor_state_machine.c
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Expand Up @@ -63,12 +63,6 @@ static const char* const conditionNames[] = {
};
static_assert(sizeof(conditionNames) / sizeof(conditionNames[0]) == supervisorCondition_NrOfConditions);

#if SUPERVISOR_TUMBLE_CHECK_ENABLE
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#define SUPERVISOR_CB_CONF_IS_TUMBLED (SUPERVISOR_CB_IS_TUMBLED)
#else
#define SUPERVISOR_CB_CONF_IS_TUMBLED (SUPERVISOR_CB_NONE)
#endif

// State transition definitions
static SupervisorStateTransition_t transitionsNotInitialized[] = {
{
Expand All @@ -93,7 +87,7 @@ static SupervisorStateTransition_t transitionsPreFlChecksNotPassed[] = {

.triggerCombiner = supervisorAlways,

.blockers = SUPERVISOR_CB_CONF_IS_TUMBLED,
.blockers = SUPERVISOR_CB_IS_TUMBLED,
.negatedBlockers = SUPERVISOR_CB_NONE,
.blockerCombiner = supervisorAny,
}
Expand All @@ -112,7 +106,7 @@ static SupervisorStateTransition_t transitionsPreFlChecksPassed[] = {
{
.newState = supervisorStatePreFlChecksNotPassed,

.triggers = SUPERVISOR_CB_CONF_IS_TUMBLED,
.triggers = SUPERVISOR_CB_IS_TUMBLED,
.negatedTriggers = SUPERVISOR_CB_NONE,
.triggerCombiner = supervisorAny,

Expand All @@ -125,7 +119,7 @@ static SupervisorStateTransition_t transitionsPreFlChecksPassed[] = {
.negatedTriggers = SUPERVISOR_CB_NONE,
.triggerCombiner = supervisorAll,

.blockers = SUPERVISOR_CB_CONF_IS_TUMBLED,
.blockers = SUPERVISOR_CB_IS_TUMBLED,
.negatedBlockers = SUPERVISOR_CB_NONE,
.blockerCombiner = supervisorAny,
},
Expand All @@ -144,7 +138,7 @@ static SupervisorStateTransition_t transitionsReadyToFly[] = {
{
.newState = supervisorStatePreFlChecksNotPassed,

.triggers = SUPERVISOR_CB_CONF_IS_TUMBLED,
.triggers = SUPERVISOR_CB_IS_TUMBLED,
.negatedTriggers = SUPERVISOR_CB_ARMED,
.triggerCombiner = supervisorAny,

Expand Down Expand Up @@ -174,7 +168,7 @@ static SupervisorStateTransition_t transitionsFlying[] = {
{
.newState = supervisorStateCrashed,

.triggers = SUPERVISOR_CB_CONF_IS_TUMBLED,
.triggers = SUPERVISOR_CB_IS_TUMBLED,
.negatedTriggers = SUPERVISOR_CB_ARMED,
.triggerCombiner = supervisorAny,

Expand Down Expand Up @@ -235,7 +229,7 @@ static SupervisorStateTransition_t transitionsWarningLevelOut[] = {
{
.newState = supervisorStateExceptFreeFall,

.triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_CONF_IS_TUMBLED | SUPERVISOR_CB_EMERGENCY_STOP,
.triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_IS_TUMBLED | SUPERVISOR_CB_EMERGENCY_STOP,
.negatedTriggers = SUPERVISOR_CB_ARMED,
.triggerCombiner = supervisorAny,

Expand Down
23 changes: 21 additions & 2 deletions src/platform/interface/platform_defaults.h
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Original file line number Diff line number Diff line change
Expand Up @@ -120,14 +120,33 @@
#define PID_VEL_Z_FILT_CUTOFF 20.0f
#endif
#ifndef PID_VEL_Z_FILT_CUTOFF_BARO_Z_HOLD
#define PID_VEL_Z_FILT_CUTOFF_BARO_Z_HOLD 0.7 f
#define PID_VEL_Z_FILT_CUTOFF_BARO_Z_HOLD 0.7f
#endif

// Tumble detection enabled by default
// Tumble detection settings
#ifndef SUPERVISOR_TUMBLE_CHECK_ENABLE
#define SUPERVISOR_TUMBLE_CHECK_ENABLE true
#endif

// 60 degrees tilt (when stationary)
#ifndef SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_ACCZ
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_ACCZ 0.5f
#endif


#ifndef SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_TIME
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_TIME 1000
#endif

#ifndef SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_ACCZ
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_ACCZ -0.2f
#endif


#ifndef SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_TIME
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_TIME 100
#endif

// Landing timeout before disarming
#ifndef LANDING_TIMEOUT_MS
#define LANDING_TIMEOUT_MS 3000
Expand Down
9 changes: 6 additions & 3 deletions src/platform/interface/platform_defaults_flapper.h
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Expand Up @@ -144,8 +144,11 @@
#define IMU_PSI 180.0f
#endif

// Disable tumble check //
//////////////////////////
#define SUPERVISOR_TUMBLE_CHECK_ENABLE false
// Tumble check settings //
///////////////////////////
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_ACCZ 0.0f
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_TIME 2000
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_ACCZ -0.5f
#define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_TIME 200

#define YAW_MAX_DELTA 30.0