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PR: add optical flow arming check (#24375)

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* add optical flow arming check

* removed deprecated mavlink_log_critical

* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.

* restructure if/else blocks
This commit is contained in:
Marco Hauswirth
2025-02-26 08:41:12 +01:00
committed by GitHub
parent 0cb7b8b525
commit 2169ea561b
5 changed files with 140 additions and 0 deletions
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src/lib/systemlib/system_params.c
+12
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@@ -240,6 +240,18 @@ PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0);
*/
PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0);
/**
* Number of optical flow sensors required to be available
*
* The preflight check will fail if fewer than this number of optical flow sensors with valid data are present.
*
* @group System
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(SYS_HAS_NUM_OF, 0);
/**
* Enable factory calibration mode
*
src/modules/commander/HealthAndArmingChecks/CMakeLists.txt
+1
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@@ -42,6 +42,7 @@ px4_add_library(health_and_arming_checks
checks/batteryCheck.cpp
checks/cpuResourceCheck.cpp
checks/distanceSensorChecks.cpp
checks/opticalFlowCheck.cpp
checks/escCheck.cpp
checks/estimatorCheck.cpp
checks/failureDetectorCheck.cpp
src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
+3
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@@ -46,6 +46,7 @@
#include "checks/baroCheck.hpp"
#include "checks/cpuResourceCheck.hpp"
#include "checks/distanceSensorChecks.hpp"
#include "checks/opticalFlowCheck.hpp"
#include "checks/escCheck.hpp"
#include "checks/estimatorCheck.hpp"
#include "checks/failureDetectorCheck.hpp"
@@ -130,6 +131,7 @@ private:
BaroChecks _baro_checks;
CpuResourceChecks _cpu_resource_checks;
DistanceSensorChecks _distance_sensor_checks;
OpticalFlowCheck _optical_flow_check;
EscChecks _esc_checks;
EstimatorChecks _estimator_checks;
FailureDetectorChecks _failure_detector_checks;
@@ -169,6 +171,7 @@ private:
&_baro_checks,
&_cpu_resource_checks,
&_distance_sensor_checks,
&_optical_flow_check,
&_esc_checks,
&_estimator_checks,
&_failure_detector_checks,
src/modules/commander/HealthAndArmingChecks/checks/opticalFlowCheck.cpp
+69
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@@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (c) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "opticalFlowCheck.hpp"
void OpticalFlowCheck::checkAndReport(const Context &context, Report &reporter)
{
if (!_param_sys_has_num_of.get()) {
return;
}
const bool exists = _vehicle_optical_flow_sub.advertised();
bool valid = false;
if (exists) {
vehicle_optical_flow_s flow_sens;
valid = _vehicle_optical_flow_sub.copy(&flow_sens) && (hrt_elapsed_time(&flow_sens.timestamp) < 1_s);
reporter.setIsPresent(health_component_t::optical_flow);
if (!valid) {
/* EVENT
*/
reporter.healthFailure(NavModes::All, health_component_t::optical_flow,
events::ID("check_optical_flow_sensor_invalid"),
events::Log::Error, "No valid data from optical flow sensor");
}
} else {
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>SYS_HAS_NUM_OF</param> parameter.
* </profile>
*/
reporter.healthFailure(NavModes::All, health_component_t::optical_flow,
events::ID("check_optical_sensor_missing"),
events::Log::Error, "Optical flow sensor missing");
}
}
src/modules/commander/HealthAndArmingChecks/checks/opticalFlowCheck.hpp
+55
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@@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (c) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "../Common.hpp"
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_optical_flow.h>
class OpticalFlowCheck : public HealthAndArmingCheckBase
{
public:
OpticalFlowCheck() = default;
~OpticalFlowCheck() = default;
void checkAndReport(const Context &context, Report &reporter) override;
private:
uORB::Subscription _vehicle_optical_flow_sub{ORB_ID::vehicle_optical_flow};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::SYS_HAS_NUM_OF>) _param_sys_has_num_of
)
};