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refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent e2d8ca73a5
commit 38d3739b6d
14 changed files with 75 additions and 74 deletions
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src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp
+15 -15
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@@ -41,7 +41,7 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte
bool rc_is_optional = true;
if (_param_com_rc_in_mode.get() == 4) { // RC disabled
reporter.failsafeFlags().rc_signal_lost = false;
reporter.failsafeFlags().manual_control_signal_lost = false;
} else {
@@ -49,36 +49,36 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte
if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
manual_control_setpoint = {};
reporter.failsafeFlags().rc_signal_lost = true;
reporter.failsafeFlags().manual_control_signal_lost = true;
}
// Check if RC is valid
if (!manual_control_setpoint.valid
|| hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) {
if (!reporter.failsafeFlags().rc_signal_lost && _last_valid_manual_control_setpoint > 0) {
if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
"Manual control lost");
}
reporter.failsafeFlags().rc_signal_lost = true;
reporter.failsafeFlags().manual_control_signal_lost = true;
} else {
reporter.setIsPresent(health_component_t::remote_control);
if (reporter.failsafeFlags().rc_signal_lost && _last_valid_manual_control_setpoint > 0) {
if (reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
float elapsed = hrt_elapsed_time(&_last_valid_manual_control_setpoint) * 1e-6f;
events::send<float>(events::ID("commander_rc_regained"), events::Log::Info,
"Manual control regained after {1:.1} s", elapsed);
}
reporter.failsafeFlags().rc_signal_lost = false;
reporter.failsafeFlags().manual_control_signal_lost = false;
_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
}
if (reporter.failsafeFlags().rc_signal_lost) {
if (reporter.failsafeFlags().manual_control_signal_lost) {
NavModes affected_modes = rc_is_optional ? NavModes::None : NavModes::All;
events::LogLevel log_level = rc_is_optional ? events::Log::Info : events::Log::Error;
@@ -97,16 +97,16 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte
}
}
// Data Link
reporter.failsafeFlags().data_link_lost = context.status().data_link_lost;
// GCS connection
reporter.failsafeFlags().gcs_connection_lost = context.status().gcs_connection_lost;
if (reporter.failsafeFlags().data_link_lost) {
if (reporter.failsafeFlags().gcs_connection_lost) {
// Prevent arming if we neither have RC nor a Data Link. TODO: disabled for now due to MAVROS tests
bool data_link_required = _param_nav_dll_act.get() > 0
/*|| (rc_is_optional && reporter.failsafeFlags().rc_signal_lost) */;
NavModes affected_modes = data_link_required ? NavModes::All : NavModes::None;
events::LogLevel log_level = data_link_required ? events::Log::Error : events::Log::Info;
// Prevent arming if we neither have RC nor a GCS connection. TODO: disabled for now due to MAVROS tests
bool gcs_connection_required = _param_nav_dll_act.get() > 0
/*|| (rc_is_optional && reporter.failsafeFlags().manual_control_signal_lost) */;
NavModes affected_modes = gcs_connection_required ? NavModes::All : NavModes::None;
events::LogLevel log_level = gcs_connection_required ? events::Log::Error : events::Log::Info;
/* EVENT
* @description
* To arm, at least a data link or manual control (RC) must be present.