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Geofence: rework messaging and notification

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- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-22 21:45:02 -05:00
committed by Daniel Agar
parent 3c194d552a
commit 2865bbb8ab
10 changed files with 127 additions and 123 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp
+53 -15
View File
@@ -41,26 +41,64 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
geofence_result = {};
}
reporter.failsafeFlags().primary_geofence_breached = geofence_result.primary_geofence_breached;
const bool any_geofence_triggered = geofence_result.geofence_max_dist_triggered ||
geofence_result.geofence_max_alt_triggered ||
geofence_result.geofence_custom_fence_triggered;
if (geofence_result.primary_geofence_action != 0 && reporter.failsafeFlags().primary_geofence_breached) {
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>GF_ACTION</param> parameter.
* </profile>
*/
reporter.armingCheckFailure<events::px4::enums::geofence_violation_reason_t>(NavModes::All, health_component_t::system,
events::ID("check_gf_violation"),
events::Log::Error, "Geofence violation: {1}",
(events::px4::enums::geofence_violation_reason_t)geofence_result.geofence_violation_reason);
reporter.failsafeFlags().geofence_breached = any_geofence_triggered;
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Geofence violation");
if (geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE && any_geofence_triggered) {
if (geofence_result.geofence_max_dist_triggered) {
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_HOR_DIST</param> parameters.
* </profile>
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
events::ID("check_gf_violation_max_hor_dist"),
events::Log::Error, "Geofence violation: exceeding maximum distance to Home");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum distance to Home");
}
}
if (geofence_result.geofence_max_alt_triggered) {
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_VER_DIST</param> parameters.
* </profile>
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
events::ID("check_gf_violation_max_alt"),
events::Log::Error, "Geofence violation: exceeding maximum altitude above Home");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum altitude above Home");
}
}
if (geofence_result.geofence_custom_fence_triggered) {
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>GF_ACTION</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
events::ID("check_gf_violation_custom_gf"),
events::Log::Error, "Geofence violation: approaching or outside geofence");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: approaching or outside geofence");
}
}
}
if (geofence_result.primary_geofence_action == geofence_result_s::GF_ACTION_RTL
if (geofence_result.geofence_action == geofence_result_s::GF_ACTION_RTL
&& reporter.failsafeFlags().home_position_invalid) {
/* EVENT
* @description
src/modules/commander/failsafe/failsafe.cpp
+1 -1
View File
@@ -442,7 +442,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
CHECK_FAILSAFE(status_flags, local_position_accuracy_low, ActionOptions(Action::RTL));
}
CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred());
CHECK_FAILSAFE(status_flags, geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred());
// Battery
CHECK_FAILSAFE(status_flags, battery_low_remaining_time,