2022 12 14 Px4 Autopilot Firmware Development

./src/modules/navigator/MODUL_poligon.cpp
void Poligon::zs_updateFence()
{
 zs__poligon_s zs__poligon;
 mission_stats_entry_s stats;
 int ret2 = dm_read(DM_KEY_ZS__POLIGON, 0, &stats, sizeof(mission_stats_entry_s));
 int sizret = sizeof(mission_stats_entry_s);
 int num_fence_items = 0;
 if (ret2 == sizeof(mission_stats_entry_s)) {
 num_fence_items = stats.num_items;
 _update_counter = stats.update_counter;
 }
 _num_polygons = 0;
 int current_seq = 1;
 while (current_seq <= num_fence_items) {
 if (dm_read(DM_KEY_ZS__POLIGON, current_seq, &zs__poligon, si
 zeof(zs__poligon_s)) !=
 sizeof(zs__poligon_s)) {
 break;
 }
 switch (zs__poligon.nav_cmd) {
 case NAV_CMD_LAMA_KOSE:
 PX4_WARN("update case de");
 if (_polygons) {
 PX4_WARN("update if poligonda");
 PolygonInfo *new_polygons = new PolygonInfo[_num_poly
 gons + 1];
 if (new_polygons)
 {
 memcpy(new_polygons, _polygons, sizeof(Polygo
 nInfo) * _num_polygons);
 }
                        delete[](_polygons);
                        _polygons = new_polygons;
 }
                   else
                   {
 _polygons = new PolygonInfo[1];
 }

 if (!_polygons)
                {
 _num_polygons = 0;
 PX4_ERR("alloc failed");
 return;
 }
                PolygonInfo &polygon = _polygons[_num_polygons];
 polygon.dataman_index = current_seq;
 polygon.fence_type = zs__poligon.nav_cmd;
 polygon.vertex_count = zs__poligon.vertex_count;
 current_seq += zs__poligon.vertex_count;
 ++_num_polygons;
                PX4_WARN("poligon : %d num_polygon %d", polygon.vertex_count, 
 _num_polygons);
 break;
 }
 }
}

./src/modules/navigator/MODUL_poligon.cpp
bool Poligon::isInsidePolygonOrCircle(double lat, double lon, float altitude)
{
 mission_stats_entry_s stats;
 int ret = dm_read(DM_KEY_ZS__POLIGON, 0, &stats, sizeof(mission_stats_entry_s));
 if (ret == sizeof(mission_stats_entry_s) && _update_counter != stats.update_counter)
 {
 zs_updateFence();
 }
 for (int polygon_idx = 0; polygon_idx < _num_polygons; ++polygon_idx)
 {
 bool inside = insidePolygon(_polygons[polygon_idx], lat, lon, altitude);
 if (inside)
 {
 _zs_inside__poligon = true;
 }

 else
 {
 _zs_inside__poligon = false;
 }
 }
 return _zs_inside__poligon;
}
bool Poligon::insidePolygon(const PolygonInfo &polygon, double lat, double lon, float alti-
tude)
{
 zs__poligon_s temp_vertex_i;
 zs__poligon_s temp_vertex_j;
 bool c = false;
 for (unsigned i = 0, j = polygon.vertex_count - 1; i < polygon.vertex_count; j = i++) {
 if (dm_read(DM_KEY_ZS__POLIGON, polygon.dataman_index + i, &temp_vertex_i,
 sizeof(zs__poligon_s)) != sizeof(zs__poligon_s)) {
 break;
 }
 if (dm_read(DM_KEY_ZS__POLIGON, polygon.dataman_index + j, &temp_vertex_j,
 sizeof(zs__poligon_s)) != sizeof(zs__poligon_s)) {
 break;
 }
 if (temp_vertex_i.frame != NAV_FRAME_GLOBAL && temp_vertex_i.frame != 
 NAV_FRAME_GLOBAL_INT
 && temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT
 && temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
 PX4_ERR("Frame type %i not supported <-- ./navigator/MODUL_poli
 gon/'insidePolygon'", (int)temp_vertex_i.frame);
 break;
 }
 if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) &&
 (lat <= (double)(temp_vertex_j.lat - temp_vertex_i.lat) * (lon - (do
 uble)temp_vertex_i.lon) / (double)(temp_vertex_j.lon - temp_vertex_i.lon) + 
 (double)temp_vertex_i.lat)) {
 c = !c;
 }
 }
 return c;
}

./src/modules/navigator/MODUL_poligon.cpp
double Poligon::poligonUzaklik(double lat, double lon)
{
 zs__poligon_s temp_vertex_i;
 zs__poligon_s temp_vertex_j;
 double uzaklik = 0;
 double coefA =0;
 double coefB =0;
 double coefC =0;
 for (int polygon_idx = 0; polygon_idx < _num_polygons; ++polygon_idx) {
 for (unsigned i = 0, j = _polygons[polygon_idx].vertex_count - 1; i < _poly-
gons[polygon_idx].vertex_count; j = i++)
 {
 if (dm_read(DM_KEY_ZS__POLIGON, _polygons[polygon_idx].dataman_index 
+ i, &temp_vertex_i, sizeof(zs__poligon_s)) != sizeof(zs__poligon_s))
 {
 PX4_ERR("UYARI : Poligon Bilgisi %i Alinamadi", (int)temp_ver-
tex_i.frame);
 break;
 }
 if (dm_read(DM_KEY_ZS__POLIGON, _polygons[polygon_idx].dataman_index 
+ j, &temp_vertex_j, sizeof(zs__poligon_s)) != sizeof(zs__poligon_s))
 {
 PX4_ERR("UYARI : Poligon Bilgisi %i Alinamadi", (int)temp_ver-
tex_j.frame);
 break;
 }
 if (temp_vertex_i.frame != NAV_FRAME_GLOBAL && temp_vertex_i.frame != 
NAV_FRAME_GLOBAL_INT && temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT && temp_ver-
tex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT)
 {
 PX4_ERR("Poligon Bilgisi %i Desteklenmiyor", (int)temp_ver-
tex_i.frame);
 break;
 }

 // Ax + By + C = 0 : dogru denkleminde ki A, B, C katsayilarinin hesap-
lanmasi :
 coefA = (double)temp_vertex_i.lon - (double)temp_vertex_j.lon; // A = 
x.(yi) - x.(yj) : A katsayisi
 coefB = (double)temp_vertex_i.lat - (double)temp_vertex_j.lat; // B = 
y.(xi) - y.(xj) : B katsayisi
 coefC = ((double)temp_vertex_i.lat * (double)temp_vertex_j.lon) - ((do-
uble)temp_vertex_j.lat * (double)temp_vertex_i.lon); // C = (xi).(yj) - (xj).(yi) : C katsayisi
 //Cihazin, en yakin poligon sinirina uzakligi
                    uzaklik = ((coefA * lat) + (coefB * lon) + coefC) / (double)sqrtf((coefA
* coefA) + (coefB * coefB));
 // Cihazin Poligonda kendisine en yakin noktanin uzakligi : d = 
(A.cihaz_lat + B.cihaz_lon + C) / sqrt(A*A + B*B)
 PX4_WARN("temp-i poligonu %f %f temp-j poligonu %f %f Uzaklik %f", (do-
uble)temp_vertex_i.lat, (double)temp_vertex_i.lon, (double)temp_vertex_j.lat, (double)temp_ver-
tex_j.lon, uzaklik);
 }
 }
 return uzaklik;
}

I. Alan(ABN) = ½ . d . |AB| → d = (2.Alan(ABN)) / |AB|
    II. Alan(ABN) = ½ . kx . (yj – yi) + xj . (yi – ky) + xi . (ky – yi)
    III. |AB| = |C/AB| . sqrt(A . A + B . B)
dir.
     d = (|C/AB| . |Akx + Bky + C|) / (|C/AB| . sqrt(A . A + B . B)
                                           = (| Akx + Bky + C|) / sqrt(A . A + B . B)

 A = x.(yi) – x.(yj)
     B = y.(xi) – y.(xj)
dir.

./src/modules/navigator/MODUL_poligon.cpp
double Poligon::koseUzaklik(double lat, double lon, int numvertex)
{
 zs__poligon_s temp_vertex_i;
 double vertexDist = 0;
 double msgDist = 0;
 double distArray[numvertex];
 for (int polygon_idx = 0; polygon_idx < _num_polygons; ++polygon_idx)
 {
 for (unsigned i = 0; i < _polygons[polygon_idx].vertex_count; i++)
 {
 if (dm_read(DM_KEY_ZS__POLIGON, _polygons[polygon_idx].dataman_index 
                        + i, &temp_vertex_i, sizeof(zs__poligon_s)) != 
                        sizeof(zs__poligon_s))
 {
 PX4_ERR("UYARI : Poligon Bilgisi %i Alinamadi", (int)temp_ver
                             tex_i.frame);
 break;
 }
 if (temp_vertex_i.frame != NAV_FRAME_GLOBAL && temp_vertex_i.frame != 
                        NAV_FRAME_GLOBAL_INT && temp_vertex_i.frame != 
                             NAV_FRAME_GLOBAL_RELATIVE_ALT && temp_vertex_i.frame != 
                                  NAV_FRAME_GLOBAL_RELATIVE_ALT_INT)
 {
 PX4_ERR("Poligon Bilgisi %i Desteklenmiyor", (int)temp_ver
                             tex_i.frame);
 break;
 }
 vertexDist = (double)sqrtf(((temp_vertex_i.lat - lat) * (temp_ver
              tex_i.lat - lat)) + ((temp_vertex_i.lon - lon) * (temp_vertex_i.lon - lon)));
 distArray[i] = vertexDist;
 PX4_WARN("poligon sayisi vertex_count : %d", _polygons[polygon_idx].ver

tex_count);
 PX4_WARN("poligon sayisi numvertex : %d", numvertex);
 PX4_WARN("poligon koses is correct? : %f", distArray[i]);
 }
 }
 return 0;
}

./src/modules/navigator/MODUL_poligon.h
public :
...
virtual bool isInsidePolygonOrCircle(double lat, double lon, float altitude);
...
void zs_updateFence();
...
double poligonUzaklik(double lat, double lon);
double koseUzaklik(double lat, double lon, int numvertex);
...
private :
...
bool insidePolygon(const PolygonInfo &polygon, double lat, double lon, float alti
              tude);
...

./src/modules/navigator/navigator_main.cpp
void Navigator::MODUL_main(double lat, double lon, double alt)
{
     //Acil durum olup olmadığını anlamak için '_commander' kanalı aboneliği
 __commander_sub.update(&__commander);
     //GPS gürültüsü değerini alabilmek için 'sensor_gps' kanalı aboneliği
 _sensor_gps_sub.update(&_sensor_gps);
     //'MODUL' kanalında ki parametreleri içeren yapı tanımı
 MODUL_nav_s Nav;
 memset(&Nav, 0, sizeof(Nav));
 //QGC den belirlenen arazi sınırları bilgilerini içerecek yapı – dm_read ile okuduğum veriler
 mission_stats_entry_s stats;
 int ret = dm_read(DM_KEY_ZS__POLIGON, 0, &stats, sizeof(mission_stats_entry_s));
 int Kapa[4] = {(__commander.batarya_durum), (_sensor_gps.jamming_indicator), 
(__commander.kumanda_durum), (__commander.heart_beat)}; //acil durumları içeren dizi
 double konum[3] = {lat, lon, alt}; //anlık konum bilgileri
 double sonKonum[3]; //son konum bilgileri
 int zs__lama =0, fenceVertexNum =0;
 int leniK = sizeof(Kapa) / sizeof(int); //for için
 int lensK = sizeof(sonKonum) / sizeof(double); //for için
 if (ret == sizeof(mission_stats_entry_s))
 {
 fenceVertexNum = stats.num_items; //arazi köşe sayısı
 }
     //Acil durum tespiti
 for(int i=0; i < leniK; i++)
 {
 if((Kapa[0] != 0) && !_msgAcilDurum)
 {

 _acil_durum = 1;
               for(int j=0; j < lensK; j++)
 {
 sonKonum[j] = konum[j];
 }
               PX4_WARN("Acil Durum --> Batarya, Son Konum : Enlem(%f)/Boylam(%f)/Yuk-
seklik(%f)", sonKonum[0],sonKonum[1],sonKonum[2]);//_acil_durum
 _msgAcilDurum = true;
               break;
 }
 else if((Kapa[1] > 39) && !_msgAcilDurum)
 {
 _acil_durum = 2;
               for(int j=0; j < lensK; j++)
 {
 sonKonum[j] = konum[j];
 }
               PX4_WARN("Acil Durum --> GPS Jamming, Son Konum : Enlem(%f)/Boy-
lam(%f)/Yukseklik(%f)", sonKonum[0],sonKonum[1],sonKonum[2]);//_acil_durum
 _msgAcilDurum = true;
               break;
 }
 else if((Kapa[2] == 2) && !_msgAcilDurum)
 {
 _acil_durum = 3;
               for(int j=0; j < lensK; j++)
 {
 sonKonum[j] = konum[j];
 }
               PX4_WARN("Acil Durum --> Kumanda Baglantisi, Son Konum : Enlem(%f)/Boy-
lam(%f)/Yukseklik(%f)", sonKonum[0],sonKonum[1],sonKonum[2]);//_acil_durum
 _msgAcilDurum = true;
               break;
 }
 else if((Kapa[3] == 2) && !_msgAcilDurum)
 {
 _acil_durum = 4;
               for(int j=0; j < lensK; j++)
 {
 sonKonum[j] = konum[j];
 }
               PX4_WARN("Acil Durum --> Yer Kontrol Istasyonu Baglantisi, Son Konum : 
Enlem(%f)/Boylam(%f)/Yukseklik(%f)", sonKonum[0],sonKonum[1],sonKonum[2]);//_acil_durum
 _msgAcilDurum = true;
               break;
 }
 }

 if(!(_MODUL_poligon.isInsidePolygonOrCircle(lat,lon,alt)) || !(fenceVertexNum >=3) 
|| (_acil_durum != 0)) //lamanin kapanmasina sebep olan durumlar ve in kapanmasi
 {
 _Aktif = false;
 switch (_acil_durum)
 {
 case 0: // Cografi Sinir ihlali ya da poligon olusturulmamis olmasi du-
rumlari
 if(!(fenceVertexNum >=3) && !_msgNonAcil)
 {
 PX4_WARN("Arazi Sinirini Kontrol edin");
 }
               else if (!(_geofence.isInsidePolygonOrCircle(lat, lon, alt)) && 
!_msgNonAcil)
 {
 PX4_WARN("Cihaz Cografi Sinir Disinda");
 }
               else if(!_msgNonAcil)
 {
 PX4_WARN("HATA");
 }
               _msgNonAcil = true;
               break;
 case 1: //Batarya kaynakli acil durumlar
 switch (__commander.batarya_durum)
               {
               case 1: // Batarya durumu dusuk ise
 Nav.commander_action = 1;
 if(_geofence.isInsidePolygonOrCircle(lat, lon, alt)) //Batarya 
durumu dusuk VE sınır icinde ise
 {
 //_Aktif = true;
                         _acil_durum = 0;
 }
                    break;
 case 2: // Batarya durumu kritik ise
 if(!_msgBatarya)
                    {
 _wait_for = hrt_absolute_time();
                         Nav.commander_action = 2;
 _msgAcilDurum = false;
                         _msgBatarya = true;
 }
 else if((hrt_absolute_time() - _wait_for > 15_s) && _msgBatarya 
&& (__commander.pilot_kontrol == 2)){ //15sn boyunda pilottan komut gelmedi ise

 Nav.commander_action = 3;
 }
                  break;
 case 3: // Batarya durumu tehlike arz ediyor ise
 if(_msgBatarya)
                  {
 Nav.commander_action = 4;
 _msgAcilDurum = false;
                       _msgBatarya = false;
 }
                  break;
 default:
 break;
 }
              break;
 case 2: //GPS Jamming kaynakli acil durumlar 0-39 : Güvenli / 40-59 : 
Riskli / 60 > : Tehlike
 if(_sensor_gps.jamming_indicator >= 60)
 {
 Nav.commander_action = 7;
 _msgAcilDurum = false;
                  _acil_durum = 0;
 }
              else if((40 <= _sensor_gps.jamming_indicator) && (_sensor_gps.jamming_in-
dicator < 60) && !_msgGPSJam)
 {
 _wait_for = hrt_absolute_time();
 Nav.commander_action = 5;
 _msgAcilDurum = false;
                  _msgGPSJam = true;
 }
              if((hrt_absolute_time() - _wait_for > 15_s) && _msgGPSJam && (_sen-
sor_gps.jamming_indicator < 60) && (__commander.pilot_kontrol ==2)){ //15sn boyunda pi-
lottan komut gelmedi ise
 Nav.commander_action = 6;
 }
              break;
 case 3: //Kumanda Link Kaybi kaynakli acil durumlar Default : 0 / RC 
Link var : 1 / RC Link yok : 2
 if(__commander.kumanda_durum == 2)
 {
 Nav.commander_action = 8;
 _msgAcilDurum = false;

 }
             else
             {
 _acil_durum = 0;
 }
             break;
 case 4: //Yer Kontrol Istasyonu Baglantisi kaynakli acil durumlar 
Default : 0 / QGC Baglantisi var : 1 / QGC Baglantisi yok : 2
 if(__commander.heart_beat == 2)
 {
 Nav.commander_action = 9;
 _msgAcilDurum = false;
 }
             else
             {
 _acil_durum = 0;
 }
             break;
 default:
 break;
 }
 }
 else
 {
 _Aktif = true;
 //_msgAcilDurum = false;
 _msgNonAcil = false;
 _msgBatarya = false;
 _acil_durum = 0;
 if((fenceVertexNum >=3) && !_msgFenceVertex) //köşe sayısını 1 kez uyarı gön-
der
 {
 PX4_WARN("Poligon Sayisi : %d", fenceVertexNum);
 _msgFenceVertex = true;
 }
 }
 if(_Aktif)
 {
 zs__lama = 1;
 //PX4_WARN("lama AKtif");
 }
 else
 {
 zs__lama = 2;

 //PX4_WARN("lama Kapali");
 }
 PX4_WARN("Cihazin poligona uzakligi %f",_MODUL_poligon.poligonUzaklik(konum[0], 
konum[1]));
     //Sonuc verilerin 'MODUL' kanalinda paylasimi
 _MODUL.commander_action = Nav.commander_action;
 _MODUL.timestamp = hrt_absolute_time();
 _MODUL._durum = zs__lama;
 _MODUL_pub.publish(_MODUL);
}

./src/modules/navigator/navigator.h
#include "MODUL_poligon.h"
…
#include <uORB/topics/MODUL.h>
#include <uORB/topics/_commander.h>
#include <uORB/topics/sensor_gps.h>
...
public :
…
 void MODUL_main(double lat, double lon, double alt);
 struct MODUL_nav_s {
 uint64_t timestamp;
 uint16_t _durum;
 uint16_t commander_action;
 };
…
Poligon &get_() { return _MODUL_poligon; }
…
private :
…

 uORB::Subscription __commander_sub{ORB_ID(_commander)};
 uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps)};
…
 uORB::Publication<MODUL_s> _MODUL_pub{ORB_ID(MODUL)};
…
 _commander_s __commander{};
 sensor_gps_s _sensor_gps{};
…
 MODUL_s _MODUL{};
…
 Poligon _MODUL_poligon;
 bool _msgFenceVertex{false};
 bool _msgAcilDurum{false};
 bool _msgNonAcil{false};
 bool _msgBatarya{false};
 bool _msgGPSJam{false};
 bool _Aktif{false};
 hrt_abstime _wait_for = {0};
 uint8_t _acil_durum{};
…

./mavlink/include/mavlink/v2.0/message_definitions/common.xml
 </message>
 <message id="15000" name="MODUL">
 <description>MODUL MESAJI</description>
 <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer 
timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
 <field type="uint16_t" name="lama_durumu">Hava aracının lama durumu bilgisini verir. 1 = İlaçlama Açık, 2 = İlaçlama Kapalı</field>
 </message>
 </messages>

./src/modules/mavlink/streams/MODUL.HPP
#ifndef __MODUL_HPP
#define __MODUL_HPP //mavlink_messages.cpp de tanımlanıyor
#include <uORB/topics/MODUL.h> //topic tanımlanıyor
class MavlinkStreamModulu : public MavlinkStream
{
public:
 static MavlinkStream *new_instance(Mavlink *mavlink)
 {
 return new MavlinkStreamModulu(mavlink); // Bir üye işlev bildiriminde veya tanı-
mında, geçersiz kılma belirteci şunları sağlar: işlev sanaldır ve temel sınıftan bir sanal işlevi 
geçersiz kılıyor.
 }
 static constexpr const char *get_name_static() // constexpr belirteci, derleme zamanında iş-
levin veya değişkenin değerinin değerlendirilmesinin mümkün olduğunu bildirir.
 {
 return "MODUL";
 } //stream etmek etiket
 static constexpr uint16_t get_id_static()

 {
 return MAVLINK_MSG_ID_MODUL;
 } //msj id sini get_id_static e etiketliyor
 const char *get_name() const override
 {
 return get_name_static();
 } //get_name = MODUL from 13 ?
 uint16_t get_id() override
 {
 return get_id_static();
 } //etiketlediği msj id ni çağırıyor ?
 unsigned get_size() override
 {
 return _MODUL_sub.advertised() ? (MAVLINK_MSG_ID_MODUL_LEN + MAV-
LINK_NUM_NON_PAYLOAD_BYTES) : 0; //advertised dan dönen OK ise sub ediyor
 }
private:
 explicit MavlinkStreamModulu(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 uORB::Subscription _MODUL_sub
 {
 ORB_ID(MODUL), 0
 }; //_lama_modulu ID sine sub oluyor
 bool send() override
 {
 MODUL_s NavStruct; //ORB un oluşturdu struct // // _lama_modulu'nun 
uORB konunuzun tanımı olduğundan emin olun
 if (_MODUL_sub.update(&NavStruct))
 {
 mavlink_MODUL_t msg__modul{}; //mmavlink struct ı // // mavlink__mo-
dulu_t, özel MAVLink mesajınızın tanımıdır
 msg__modul.time_usec = NavStruct.timestamp;
 msg__modul.lama_durumu = NavStruct._durum; //lama_durumu
 mavlink_msg_MODUL_send_struct(_mavlink->get_channel(), &msg__modul);
//mavlink mesajının gönderilmesi
 return true;
 }
 return false;

 }
};
#endif // __MODUL_HPP

./src/modules/mavlink/mavlink_messages.cpp
#include <uORB/topics/MODUL.h>
…
#include "streams/MODUL.hpp"
…
#if defined(__MODUL_HPP)
        create_stream_list_item<MavlinkStreamModulu>()
#endif // __MODUL_HPP

./src/modules/mavlink/mavlink_main.cpp
configure_stream_local("MODUL", 1.0f);

./src/modules/commander/commander.cpp
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/_commander.h>

./src/modules/commander/commander.hpp
#include <uORB/topics/_commander.h>
#include <uORB/topics/MODUL.h>
...
 bool _msgAct{false};
 bool _msgRC{false};
 bool _msgPlt{false};
...
 _commander_s __commander{};
 MODUL_s _MODUL{};
...
 uORB::Subscription _MODUL_sub{ORB_ID(MODUL)};
...
      uORB::Publication<_commander_s> 
                           __commander_pub{ORB_ID(_commander)};

./src/modules/commander/commander.cpp
void Commander::run()
{
… 
__commander.timestamp = hrt_absolute_time();
…

./src/modules/commander/state_machine_helper.cpp
int battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
 const vehicle_status_flags_s &status_flags, 
                     commander_state_s &internal_state, const uint8_t battery_warning,
      const low_battery_action_t low_battery_action)
{
...
      int TAR_BATARYA_STS = 0;
 switch (battery_warning) {
 case battery_status_s::BATTERY_WARNING_NONE:
 break;
 case battery_status_s::BATTERY_WARNING_LOW:
                TAR_BATARYA_STS = 1;
                break;
case battery_status_s::BATTERY_WARNING_CRITICAL:
          ...
 switch (low_battery_action) {
 case LOW_BAT_ACTION::WARNING:
 TAR_BATARYA_STS = 2;
 break;
          ...
...
case battery_status_s::BATTERY_WARNING_EMERGENCY:
          ...
 switch (low_battery_action) {
 case LOW_BAT_ACTION::WARNING:
 TAR_BATARYA_STS = 3;
          ...}

./src/modules/commander/state_machine_helper.hpp
int battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
 const vehicle_status_flags_s &status_flags, 
                       commander_state_s &internal_state, const uint8_t battery_warning,
 const low_battery_action_t low_bat_action);
...
bool _action(int action, commander_state_s &internal_state, const vehicle_status_flags_s
&status_flags, bool _msgLow);

./src/modules/commander/commander.cpp
void Commander::battery_status_check()
{
...
if (battery_warning_level_increased_while_armed) {
      __commander.batarya_durum = battery_failsafe(&_mavlink_log_pub, _status, 
                    _status_flags, _internal_state, _battery_warning, 
                    (low_battery_action_t)_param_com_low_bat_act.get());
}
int _modul_action;
_MODUL_sub.update(&_MODUL);
_modul_action = _MODUL.commander_action;
_msgAct = _action(_modul_action, _internal_state, _status_flags, _msgAct);
...

void Navigator::MODUL_main(double lat, double lon, double alt)
{
        __commander_sub.update(&__commander);
        _sensor_gps_sub.update(&_sensor_gps);
        MODUL_nav_s Nav;
        memset(&Nav, 0, sizeof(Nav));
...
        int Aktif, fenceVertexNum =0, Kapa[4] = {(__commander.batarya_durum), (_sen-
sor_gps.jamming_indicator), (__commander.kumanda_durum), (__commander.heart_beat)};
        double konum[3] = {lat, lon, alt}, sonKonum[3]; //anlik ve son konum bilgileri
        int leniK = sizeof(Kapa) / sizeof(int); //Kapa dizesinin boyutu
        int lensK = sizeof(sonKonum) / sizeof(double); //sonKonum dizesinin boyutu
...
        for(int i=0; i < leniK; i++) //acil durum tespiti
        {
...
                if((Kapa[0] != 0) && !_msgAcilDurum)

{
                        _acil_durum = 1;
                        for(int j=0; j < lensK; j++)
                        {
                                sonKonum[j] = konum[j];
                        }
                        PX4_WARN("Acil Durum --> Batarya, Son Konum : Enlem(%f)/Boylam(%f)/Yukseklik(%f)", 
                             sonKonum[0],sonKonum[1],sonKonum[2]);//_acil_durum
                        _msgAcilDurum = true;
                        break;
                }
...
        if (!(_geofence.isInsidePolygonOrCircle(lat, lon, alt)) || !(fenceVertexNum >=3) || 
              (_acil_durum != 0)) {
                Aktif = 2;
                switch (_acil_durum)
                {
              ...
                case 1: //Batarya kaynakli acil durumlar
                        switch (__commander.batarya_durum)
                        {
                        case 1: // Batarya durumu dusuk ise
                                Nav.commander_action = 1;
                                if(_geofence.isInsidePolygonOrCircle(lat, lon, alt))
//Batarya durumu dusuk VE sınır icinde ise
                                {
                                        Aktif = 1;
                                }
                                break;
                        case 2: // Batarya durumu kritik ise
                                if(!_msgBatarya)
                                {
                                        _wait_for = hrt_absolute_time();
                                        Nav.commander_action = 2;
                                        _msgAcilDurum = false;
                                        _msgBatarya = true;
                                }
                                else if((hrt_absolute_time() - _wait_for > 15_s) && _msgBatarya && 
                                           (__commander.pilot_kontrol == 2)){
//15sn boyunda pilottan komut gelmedi ise
                                        Nav.commander_action = 3;
                                }
                                break;
                        case 3: // Batarya durumu tehlike arz ediyor ise
                                if(_msgBatarya)
                                {
                                        Nav.commander_action = 4;
                                        _msgAcilDurum = false;
                                        _msgBatarya = false;
                                }
                                break;
                        default:
                                break;

}
                         break;
                      ...
        _MODUL.commander_action = Nav.commander_action;
        _MODUL.timestamp = hrt_absolute_time();
        _MODUL._durum = Aktif;
        _MODUL_pub.publish(_MODUL);
}

./src/modules/navigator/navigator_main.cpp
void Navigator::MODUL_main(double lat, double lon, double alt)
{
       ...
        _sensor_gps_sub.update(&_sensor_gps);
        MODUL_nav_s Nav;
        memset(&Nav, 0, sizeof(Nav));
...
        int Aktif, fenceVertexNum =0, Kapa[4] = {(__commander.batarya_durum), (_sen-
sor_gps.jamming_indicator), (__commander.kumanda_durum), (__commander.heart_beat)};
        double konum[3] = {lat, lon, alt}, sonKonum[3]; //anlik ve son konum bilgileri
        int leniK = sizeof(Kapa) / sizeof(int); //Kapa dizesinin boyutu
        int lensK = sizeof(sonKonum) / sizeof(double); //sonKonum dizesinin boyutu
...
        for(int i=0; i < leniK; i++) //acil durum tespiti
        {
       ...
                else if((Kapa[1] > 39) && !_msgAcilDurum)
                {
                        _acil_durum = 2;
                        for(int j=0; j < lensK; j++)
                        {
                                sonKonum[j] = konum[j];

}
                        PX4_WARN("Acil Durum --> GPS Jamming, Son Konum : Enlem(%f)/Boylam(%f)/Yuksek
                             lik(%f)", sonKonum[0],sonKonum[1],sonKonum[2]);//_acil_durum
                        _msgAcilDurum = true;
                        break;
                }
       }
...
case 2: //GPS Jamming kaynakli acil durumlar 0-39 : Güvenli / 40-59 : Riskli / 60 > : Tehlike
       if(_sensor_gps.jamming_indicator >= 60)
       {
              Nav.commander_action = 7;
              _msgAcilDurum = false;
       }
       else if((40 <= _sensor_gps.jamming_indicator) && (_sensor_gps.jamming_indicator < 60) && 
                                                                                              !_msgGPSJam)
       {
              _wait_for = hrt_absolute_time();
              Nav.commander_action = 5;
              _msgAcilDurum = false;
              _msgGPSJam = true;
       }
       if((hrt_absolute_time() - _wait_for > 15_s) && _msgGPSJam && (_sensor_gps.jamming_indicator < 60) 
              && (__commander.pilot_kontrol ==2)){ //15sn boyunda pilottan komut gelmedi ise
              Nav.commander_action = 6;
       }
break;
...
}

./src/modules/commander/
void Commander::data_link_check()
{
…
…
if (telemetry.heartbeat_type_gcs) {
// Initial connection or recovery from data link lost
      if (_status.data_link_lost) {
             _status.data_link_lost = false;
             _status_changed = true;
             if (_datalink_last_heartbeat_gcs != 0) {
                    mavlink_log_info(&_mavlink_log_pub, "Data link regained");
                    __commander.heart_beat = 1;
             }
             if (!_armed.armed && !_status_flags.condition_calibration_enabled) {
             // make sure to report preflight check failures to a connecting GCS
                    PreFlightCheck::preflightCheck(&_mavlink_log_pub, _status, 
                                                            _status_flags, true, true,
                    hrt_elapsed_time(&_boot_timestamp));
             }
      }
      _datalink_last_heartbeat_gcs = telemetry.timestamp;
}
…
…
if (!_status.data_link_lost) {
      if ((_datalink_last_heartbeat_gcs != 0)
                          && hrt_elapsed_time(&_datalink_last_heartbeat_gcs) > 
                                              (_param_com_dl_loss_t.get() * 1_s)) {
             _status.data_link_lost = true;
             _status.data_link_lost_counter++;
             mavlink_log_info(&_mavlink_log_pub, "Connection to ground station 
                                                                                lost");
             __commander.heart_beat = 2;
 _status_changed = true;
      }
}
…

./src/modules/commander/commander.cpp
void
Commander::run()
{
…
if (!_manual_control.isRCAvailable()) {
 // set RC lost
     if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost) {
 // ignore RC lost during calibration
           if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) 
           {
                 mavlink_log_critical(&_mavlink_log_pub, "Manual control lost");
 _status.rc_signal_lost = true;
 _rc_signal_lost_timestamp = _manual_control.getLastRcTimestamp();
 set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, 
                                                                 _status);
 _status_changed = true;
           }
           _msgRC = true;
 }
}
if (_status.rc_signal_lost && _msgRC){
     __commander.kumanda_durum = 2;
}
else if(!_status.rc_signal_lost && _msgRC)
{
 __commander.kumanda_durum = 1;
}
data_link_check();
__commander_pub.publish(__commander);

./src/modules/navigator/navigator_main.cpp
void Navigator::MODUL_main(double lat, double lon, double alt)
{
 __commander_sub.update(&__commander);
...
 MODUL_nav_s Nav;
 memset(&Nav, 0, sizeof(Nav));
...
 int Kapa[4] = {(__commander.batarya_durum), (_sensor_gps.jamming_indicator), 
                    (__commander.kumanda_durum), (__commander.heart_beat)};
 double konum[3] = {lat, lon, alt};
 double sonKonum[3];
 int zs__lama =0, fenceVertexNum =0;
 int leniK = sizeof(Kapa) / sizeof(int);
 int lensK = sizeof(sonKonum) / sizeof(double);
...
 for(int i=0; i < leniK; i++) //acil durum tespiti
 {
     ...
 else if((Kapa[2] == 2) && !_msgAcilDurum)
 {
 _acil_durum = 3;
                  for(int j=0; j < lensK; j++)
 {
 sonKonum[j] = konum[j];
 }
                  PX4_WARN("Acil Durum --> Kumanda Baglantisi, Son Konum : Enlem(%f)/Boy
                    lam(%f)/Yukseklik(%f)", sonKonum[0],sonKonum[1],
                         sonKonum[2]);//_acil_durum
 _msgAcilDurum = true;
                  break;
 }
 else if((Kapa[3] == 2) && !_msgAcilDurum)
 {
 _acil_durum = 4;
                  for(int j=0; j < lensK; j++)
 {
 sonKonum[j] = konum[j];
 }
                  PX4_WARN("Acil Durum --> Yer Kontrol Istasyonu Baglantisi, Son Konum : 
                    Enlem(%f)/Boylam(%f)/Yukseklik(%f)", sonKonum[0],sonKonum[1],
                         sonKonum[2]);//_acil_durum
 _msgAcilDurum = true;
                  break;
 }
 }
...

 if(!(_MODUL_poligon.isInsidePolygonOrCircle(lat,lon,alt)) || !(fenceVertexNum >=3) 
|| (_acil_durum != 0))
 {
 _Aktif = false;
 switch (_acil_durum)
 {
        ...
 case 3: //Kumanda Link Kaybi kaynakli acil durumlar Default : 0 / RC 
Link var : 1 / RC Link yok : 2
 if(__commander.kumanda_durum == 2)
 {
 Nav.commander_action = 8;
 _msgAcilDurum = false;
 }
               else
               {
 _acil_durum = 0;
 }
               break;
 case 4: //Yer Kontrol Istasyonu Baglantisi kaynakli acil durumlar 
Default : 0 / QGC Baglantisi var : 1 / QGC Baglantisi yok : 2
 if(__commander.heart_beat == 2)
 {
 Nav.commander_action = 9;
 _msgAcilDurum = false;
 }
               else
               {
 _acil_durum = 0;
 }
               break;
 default:
 break;
 }
 }
    ...
 _MODUL.commander_action = Nav.commander_action;
 _MODUL.timestamp = hrt_absolute_time();
 _MODUL._durum = zs__lama;
 _MODUL_pub.publish(_MODUL);
}

./src/modules/commander/commander.cpp
void
Commander::run()
{
...
__commander.timestamp = hrt_absolute_time();
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) &&
                                  _manual_control.wantsOverride(_vehicle_control_mode, _status))
{
      if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, 
                                  _status_flags, _internal_state) == TRANSITION_CHANGED)
      {
             tune_positive(true);
             mavlink_log_info(&_mavlink_log_pub, "Pilot took over position control using 
                                                                                         sticks");
             _status_changed = true;
             _msgPlt = true;
      } else if (main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, 
                                         _status_flags, _internal_state) == TRANSITION_CHANGED)
      {
             tune_positive(true);
             mavlink_log_info(&_mavlink_log_pub, "Pilot took over altitude control using 
                                                                                         sticks");
             _status_changed = true;
             _msgPlt = true;
      }
}
if (!_msgPlt)
{
      __commander.pilot_kontrol = 2;
}
else
{
      __commander.pilot_kontrol = 1;
}
...

./src/modules/commander/state_machine_helper.cpp
bool _action(int action, commander_state_s &internal_state, const vehicle_status_flags_s
&status_flags, bool _msgAct)
{
 switch (action)
 {
 case 1:
 if (!_msgAct)
 {
 PX4_WARN("UYARI : Dusuk Seviyede Batarya Dolulugu, Yer Kontrol Istasyo-
nuna Donun");
 _msgAct = true;
 }
 break;
 case 2:
 if (status_flags.condition_global_position_valid && status_flags.condi-
tion_home_position_valid)
 {
 if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL 
              || internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || 
              internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND))
 {
 internal_state.main_state = 
                                 commander_state_s::MAIN_STATE_AUTO_LOITER;
 internal_state.timestamp = hrt_absolute_time();
 PX4_WARN("UYARI : Kritik Seviyede Batarya Dolulugu, Kullanici 
                                                     Komutu Bekleniyor");
 }
 }
 else
 {
 if (!(internal_state.main_state == 
                        commander_state_s::MAIN_STATE_AUTO_LAND || 
                            internal_state.main_state == 
                                 commander_state_s::MAIN_STATE_AUTO_PRECLAND))
 {
 internal_state.main_state = 
                                 commander_state_s::MAIN_STATE_AUTO_LAND;