fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: use circuit breaker params directly in arming checks

Browse Source
This commit is contained in:
Beat Küng 2022-08-08 13:47:07 +02:00 committed by Daniel Agar
parent 4230eee24f
commit 13c93db11a
11 changed files with 20 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
msg/vehicle_status.msg
View File

@ -120,9 +120,3 @@ bool avoidance_system_valid # Status of the obstacle avoid
bool battery_healthy # set if battery is available and not low
bool circuit_breaker_engaged_power_check
bool circuit_breaker_engaged_airspd_check
bool circuit_breaker_flight_termination_disabled
bool circuit_breaker_engaged_usb_check
bool circuit_breaker_vtol_fw_arming_check # set to true if for VTOLs arming in fixed-wing mode should be allowed

5
src/lib/circuit_breaker/circuit_breaker.cpp
View File

@ -54,8 +54,3 @@ bool circuit_breaker_enabled(const char *breaker, int32_t magic)
return (param_get(param_find(breaker), &val) == 0) && (val == magic);
}
bool circuit_breaker_enabled_by_val(int32_t breaker_val, int32_t magic)
{
return (breaker_val == magic);
}

6
src/lib/circuit_breaker/circuit_breaker.h
View File

@ -63,7 +63,11 @@
__BEGIN_DECLS
extern "C" __EXPORT bool circuit_breaker_enabled(const char *breaker, int32_t magic);
extern "C" __EXPORT bool circuit_breaker_enabled_by_val(int32_t breaker_val, int32_t magic);
static inline bool circuit_breaker_enabled_by_val(int32_t breaker_val, int32_t magic)
{
return breaker_val == magic;
}
__END_DECLS

16
src/modules/commander/Commander.cpp
View File

@ -2607,7 +2607,7 @@ Commander::run()
/* Check for mission flight termination */
if (_arm_state_machine.isArmed() && _mission_result_sub.get().flight_termination &&
!_vehicle_status.circuit_breaker_flight_termination_disabled) {
!_circuit_breaker_flight_termination_disabled) {
if (!_flight_termination_triggered && !_lockdown_triggered) {
@ -2717,7 +2717,7 @@ Commander::run()
events::send(events::ID("commander_fd_lockdown"), {events::Log::Emergency, events::LogInternal::Warning},
"Critical failure detected: lockdown");
} else if (!_vehicle_status.circuit_breaker_flight_termination_disabled &&
} else if (!_circuit_breaker_flight_termination_disabled &&
!_flight_termination_triggered && !_lockdown_triggered) {
_actuator_armed.force_failsafe = true;
@ -3086,19 +3086,9 @@ Commander::run()
void
Commander::get_circuit_breaker_params()
{
_vehicle_status.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(),
CBRK_SUPPLY_CHK_KEY);
_vehicle_status.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(),
CBRK_USB_CHK_KEY);
_vehicle_status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(
_param_cbrk_airspd_chk.get(),
CBRK_AIRSPD_CHK_KEY);
_vehicle_status.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(
_circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(
_param_cbrk_flightterm.get(),
CBRK_FLIGHTTERM_KEY);
_vehicle_status.circuit_breaker_vtol_fw_arming_check = circuit_breaker_enabled_by_val(
_param_cbrk_vtolarming.get(),
CBRK_VTOLARMING_KEY);
}
void Commander::check_and_inform_ready_for_takeoff()

1
src/modules/commander/Commander.hpp
View File

@ -314,6 +314,7 @@ private:
bool _geofence_warning_action_on{false};
bool _geofence_violated_prev{false};
bool _circuit_breaker_flight_termination_disabled{false};
bool _rtl_time_actions_done{false};

3
src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
View File

@ -32,6 +32,7 @@
****************************************************************************/
#include "airspeedCheck.hpp"
#include <lib/circuit_breaker/circuit_breaker.h>
using namespace time_literals;
@ -42,7 +43,7 @@ AirspeedChecks::AirspeedChecks()
void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
{
if (context.status().circuit_breaker_engaged_airspd_check ||
if (circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY) ||
(context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !context.status().is_vtol)) {
return;
}

1
src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp
View File

@ -53,6 +53,7 @@ private:
const param_t _param_fw_airspd_trim_handle;
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
(ParamBool<px4::params::COM_ARM_ARSP_EN>) _param_com_arm_arsp_en
)
};

3
src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
View File

@ -32,12 +32,13 @@
****************************************************************************/
#include "powerCheck.hpp"
#include <lib/circuit_breaker/circuit_breaker.h>
using namespace time_literals;
void PowerChecks::checkAndReport(const Context &context, Report &reporter)
{
if (context.status().circuit_breaker_engaged_power_check) {
if (circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY)) {
return;
}

1
src/modules/commander/HealthAndArmingChecks/checks/powerCheck.hpp
View File

@ -50,6 +50,7 @@ private:
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
(ParamInt<px4::params::COM_POWER_COUNT>) _param_com_power_count
)
};

5
src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp
View File

@ -34,6 +34,7 @@
#include "systemCheck.hpp"
#include "../../Arming/ArmAuthorization/ArmAuthorization.h"
#include <lib/circuit_breaker/circuit_breaker.h>
#include <uORB/topics/vehicle_command_ack.h>
void SystemChecks::checkAndReport(const Context &context, Report &reporter)
@ -54,7 +55,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
}
// USB not connected
if (!context.status().circuit_breaker_engaged_usb_check && context.status().usb_connected) {
if (!circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(), CBRK_USB_CHK_KEY) && context.status().usb_connected) {
/* EVENT
* @description
* Flying with USB is not safe. Disconnect it and reboot the FMU.
@ -206,7 +207,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
}
}
if (!context.status().circuit_breaker_vtol_fw_arming_check
if (!circuit_breaker_enabled_by_val(_param_cbrk_vtolarming.get(), CBRK_VTOLARMING_KEY)
&& context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
/* EVENT
* @description

2
src/modules/commander/HealthAndArmingChecks/checks/systemCheck.hpp
View File

@ -50,6 +50,8 @@ private:
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_com_arm_mis_req,
(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_com_arm_chk_escs,