commander: use new failsafe state machine and add user intention class

src/modules/commander/HealthAndArmingChecks/CMakeLists.txt

@@ -53,6 +53,13 @@ px4_add_library(health_and_arming_checks
 	checks/sdcardCheck.cpp
 	checks/parachuteCheck.cpp
 	checks/batteryCheck.cpp
+	checks/windCheck.cpp
+	checks/geofenceCheck.cpp
+	checks/homePositionCheck.cpp
+	checks/flightTimeCheck.cpp
+	checks/missionCheck.cpp
+	checks/rcAndDataLinkCheck.cpp
+	checks/vtolCheck.cpp
 )
 add_dependencies(health_and_arming_checks mode_util)
 

src/modules/commander/HealthAndArmingChecks/Common.hpp

@@ -254,6 +254,8 @@ public:
 
 	const HealthResults &healthResults() const { return _results[_current_result].health; }
 	const ArmingCheckResults &armingCheckResults() const { return _results[_current_result].arming_checks; }
+
+	bool modePreventsArming(uint8_t nav_state) const { return _status_flags.mode_req_prevent_arming & (1u << nav_state); }
 private:
 
 	/**

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -51,6 +51,7 @@
 #include "checks/imuConsistencyCheck.hpp"
 #include "checks/magnetometerCheck.hpp"
 #include "checks/manualControlCheck.hpp"
+#include "checks/homePositionCheck.hpp"
 #include "checks/modeCheck.hpp"
 #include "checks/parachuteCheck.hpp"
 #include "checks/powerCheck.hpp"
@@ -58,6 +59,12 @@
 #include "checks/sdcardCheck.hpp"
 #include "checks/systemCheck.hpp"
 #include "checks/batteryCheck.hpp"
+#include "checks/windCheck.hpp"
+#include "checks/geofenceCheck.hpp"
+#include "checks/flightTimeCheck.hpp"
+#include "checks/missionCheck.hpp"
+#include "checks/rcAndDataLinkCheck.hpp"
+#include "checks/vtolCheck.hpp"
 
 
 class HealthAndArmingChecks : public ModuleParams
@@ -84,6 +91,11 @@ public:
 	 */
 	bool canRun(uint8_t nav_state) const { return _reporter.canRun(nav_state); }
 
+	/**
+	 * Query the mode requirements: check if a mode prevents arming
+	 */
+	bool modePreventsArming(uint8_t nav_state) const { return _reporter.modePreventsArming(nav_state); }
+
 protected:
 	void updateParams() override;
 private:
@@ -106,6 +118,7 @@ private:
 	ImuConsistencyChecks _imu_consistency_checks;
 	MagnetometerChecks _magnetometer_checks;
 	ManualControlChecks _manual_control_checks;
+	HomePositionChecks _home_position_checks;
 	ModeChecks _mode_checks;
 	ParachuteChecks _parachute_checks;
 	PowerChecks _power_checks;
@@ -113,6 +126,12 @@ private:
 	SdCardChecks _sd_card_checks;
 	SystemChecks _system_checks;
 	BatteryChecks _battery_checks;
+	WindChecks _wind_checks;
+	GeofenceChecks _geofence_checks;
+	FlightTimeChecks _flight_time_checks;
+	MissionChecks _mission_checks;
+	RcAndDataLinkChecks _rc_and_data_link_checks;
+	VtolChecks _vtol_checks;
 
 	HealthAndArmingCheckBase *_checks[30] = {
 		&_accelerometer_checks,
@@ -127,13 +146,20 @@ private:
 		&_imu_consistency_checks,
 		&_magnetometer_checks,
 		&_manual_control_checks,
-		&_mode_checks, // must be after _estimator_checks
+		&_home_position_checks,
+		&_mode_checks, // must be after _estimator_checks & _home_position_checks
 		&_parachute_checks,
 		&_power_checks,
 		&_rc_calibration_checks,
 		&_sd_card_checks,
-		&_system_checks,
+		&_system_checks, // must be after _estimator_checks & _home_position_checks
 		&_battery_checks,
+		&_wind_checks,
+		&_geofence_checks, // must be after _home_position_checks
+		&_flight_time_checks,
+		&_mission_checks,
+		&_rc_and_data_link_checks,
+		&_vtol_checks,
 	};
 };
 

src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp

@@ -199,7 +199,8 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 		reporter.failsafeFlags().battery_warning = worst_warning;
 	}
 
-	if (reporter.failsafeFlags().battery_warning > battery_status_s::BATTERY_WARNING_NONE) {
+	if (reporter.failsafeFlags().battery_warning > battery_status_s::BATTERY_WARNING_NONE
+	    && reporter.failsafeFlags().battery_warning < battery_status_s::BATTERY_WARNING_FAILED) {
 		bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL;
 		NavModes affected_modes = critical_or_higher ? NavModes::All : NavModes::None;
 		events::LogLevel log_level = critical_or_higher ? events::Log::Critical : events::Log::Warning;
@@ -222,12 +223,13 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 		// There is at least one connected battery (in any slot)
 		|| num_connected_batteries < battery_required_count
 		// No currently-connected batteries have any fault
-		|| battery_has_fault;
+		|| battery_has_fault
+		|| reporter.failsafeFlags().battery_warning == battery_status_s::BATTERY_WARNING_FAILED;
 
 	if (reporter.failsafeFlags().battery_unhealthy && !battery_has_fault) { // faults are reported above already
 		/* EVENT
 		 * @description
-		 * Make sure all batteries are connected.
+		 * Make sure all batteries are connected and operational.
 		 */
 		reporter.healthFailure(NavModes::All, health_component_t::battery, events::ID("check_battery_unhealthy"),
 				       events::Log::Error, "Battery unhealthy");

src/modules/commander/HealthAndArmingChecks/checks/failureDetectorCheck.cpp

@@ -35,81 +35,125 @@
 
 void FailureDetectorChecks::checkAndReport(const Context &context, Report &reporter)
 {
-	if (context.status().failure_detector_status != vehicle_status_s::FAILURE_NONE) {
-		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
-			/* EVENT
-			 * @description
-			 * The vehicle exceeded the maximum configured roll angle.
-			 *
-			 * <profile name="dev">
-			 * This check can be configured via <param>FD_FAIL_R</param> parameter.
-			 * </profile>
-			 */
-			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_roll"),
-						    events::Log::Critical, "Attitude failure detected");
+	if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
+		/* EVENT
+		 * @description
+		 * The vehicle exceeded the maximum configured roll angle.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>FD_FAIL_R</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_roll"),
+					    events::Log::Critical, "Attitude failure detected");
 
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (roll)");
-			}
-
-		} else if (context.status().failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
-			/* EVENT
-			 * @description
-			 * The vehicle exceeded the maximum configured pitch angle.
-			 *
-			 * <profile name="dev">
-			 * This check can be configured via <param>FD_FAIL_P</param> parameter.
-			 * </profile>
-			 */
-			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_pitch"),
-						    events::Log::Critical, "Attitude failure detected");
-
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (pitch)");
-			}
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (roll)");
 		}
 
-		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ALT) {
-			/* EVENT
-			 */
-			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_alt"),
-						    events::Log::Critical, "Altitude failure detected");
+	} else if (context.status().failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
+		/* EVENT
+		 * @description
+		 * The vehicle exceeded the maximum configured pitch angle.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>FD_FAIL_P</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_pitch"),
+					    events::Log::Critical, "Attitude failure detected");
 
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Altitude failure");
-			}
-		}
-
-		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_EXT) {
-			/* EVENT
-			 * @description
-			 * <profile name="dev">
-			 * This check can be configured via <param>FD_EXT_ATS_EN</param> parameter.
-			 * </profile>
-			 */
-			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_ext"),
-						    events::Log::Critical, "Failure triggered by external system");
-
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Failure triggered by external system");
-			}
-		}
-
-		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ARM_ESC) {
-			/* EVENT
-			 * @description
-			 * One or more ESCs failed to arm.
-			 *
-			 * <profile name="dev">
-			 * This check can be configured via <param>FD_ESCS_EN</param> parameter.
-			 * </profile>
-			 */
-			reporter.healthFailure(NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_arm_esc"),
-					       events::Log::Critical, "ESC failure");
-
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: ESC failure detected");
-			}
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (pitch)");
 		}
 	}
+
+	if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ALT) {
+		/* EVENT
+		 */
+		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_alt"),
+					    events::Log::Critical, "Altitude failure detected");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Altitude failure");
+		}
+	}
+
+	if (context.status().failure_detector_status & vehicle_status_s::FAILURE_EXT) {
+		/* EVENT
+		 * @description
+		 * <profile name="dev">
+		 * This check can be configured via <param>FD_EXT_ATS_EN</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_ext"),
+					    events::Log::Critical, "Failure triggered by external system");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Failure triggered by external system");
+		}
+	}
+
+	reporter.failsafeFlags().fd_critical_failure = context.status().failure_detector_status &
+			(vehicle_status_s::FAILURE_ROLL | vehicle_status_s::FAILURE_PITCH | vehicle_status_s::FAILURE_ALT |
+			 vehicle_status_s::FAILURE_EXT);
+
+
+	reporter.failsafeFlags().fd_esc_arming_failure = context.status().failure_detector_status &
+			vehicle_status_s::FAILURE_ARM_ESC;
+
+	if (reporter.failsafeFlags().fd_esc_arming_failure) {
+		/* EVENT
+		 * @description
+		 * One or more ESCs failed to arm.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>FD_ESCS_EN</param> parameter.
+		 * </profile>
+		 */
+		reporter.healthFailure(NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_arm_esc"),
+				       events::Log::Critical, "ESC failure");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: ESC failure detected");
+		}
+	}
+
+	reporter.failsafeFlags().fd_imbalanced_prop = context.status().failure_detector_status &
+			vehicle_status_s::FAILURE_IMBALANCED_PROP;
+
+	if (reporter.failsafeFlags().fd_imbalanced_prop) {
+		/* EVENT
+		 * @description
+		 * Check that all propellers are mounted correctly and are not damaged.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>FD_IMB_PROP_THR</param> and <param>COM_IMB_PROP_ACT</param> parameters.
+		 * </profile>
+		 */
+		reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_imbalanced_prop"),
+				       events::Log::Critical, "Imbalanced propeller detected");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Imbalanced propeller detected");
+		}
+	}
+
+	reporter.failsafeFlags().fd_motor_failure = context.status().failure_detector_status & vehicle_status_s::FAILURE_MOTOR;
+
+	if (reporter.failsafeFlags().fd_motor_failure) {
+		/* EVENT
+		 * @description
+		 * <profile name="dev">
+		 * This check can be configured via <param>FD_ACT_EN</param> parameter.
+		 * </profile>
+		 */
+		reporter.healthFailure(NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_motor"),
+				       events::Log::Critical, "Motor failure detected");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Motor failure detected");
+		}
+	}
+
 }

src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "flightTimeCheck.hpp"
+
+void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	if (_param_com_flt_time_max.get() > FLT_EPSILON && context.status().takeoff_time != 0 &&
+	    (hrt_absolute_time() - context.status().takeoff_time) > (1_s * _param_com_flt_time_max.get())) {
+		reporter.failsafeFlags().flight_time_limit_exceeded = true;
+		/* EVENT
+		 * @description
+		 * <profile name="dev">
+		 * This check can be configured via <param>COM_FLT_TIME_MAX</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(NavModes::All, health_component_t::system,
+					    events::ID("check_flight_time_limit"),
+					    events::Log::Error, "Maximum flight time reached");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Maximum flight time reached\t");
+		}
+
+	} else {
+		reporter.failsafeFlags().flight_time_limit_exceeded = false;
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.hpp

@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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"
+
+class FlightTimeChecks : public HealthAndArmingCheckBase
+{
+public:
+	FlightTimeChecks() = default;
+	~FlightTimeChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::COM_FLT_TIME_MAX>) _param_com_flt_time_max
+				       )
+};

src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "geofenceCheck.hpp"
+
+void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	geofence_result_s geofence_result;
+
+	if (!_geofence_result_sub.copy(&geofence_result)) {
+		geofence_result = {};
+	}
+
+	reporter.failsafeFlags().geofence_violated = geofence_result.geofence_violated;
+
+	if (geofence_result.geofence_action != 0 && reporter.failsafeFlags().geofence_violated) {
+		/* 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"),
+					    events::Log::Error, "Vehicle outside geofence");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle outside geofence");
+		}
+	}
+
+	if (geofence_result.geofence_action == geofence_result_s::GF_ACTION_RTL
+	    && !reporter.failsafeFlags().home_position_valid) {
+		/* 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_no_home"),
+					    events::Log::Error, "Geofence RTL requires valid home");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Geofence RTL requires valid home");
+		}
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.hpp

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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/geofence_result.h>
+
+class GeofenceChecks : public HealthAndArmingCheckBase
+{
+public:
+	GeofenceChecks() = default;
+	~GeofenceChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _geofence_result_sub{ORB_ID(geofence_result)};
+};

src/modules/commander/HealthAndArmingChecks/checks/homePositionCheck.cpp

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "homePositionCheck.hpp"
+
+void HomePositionChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	home_position_s home_position;
+
+	if (_home_position_sub.copy(&home_position)) {
+		reporter.failsafeFlags().home_position_valid = home_position.valid_alt && home_position.valid_hpos;
+
+	} else {
+		reporter.failsafeFlags().home_position_valid = false;
+	}
+
+	// No need to report, as it's a mode requirement
+}

src/modules/commander/HealthAndArmingChecks/checks/homePositionCheck.hpp

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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/home_position.h>
+
+class HomePositionChecks : public HealthAndArmingCheckBase
+{
+public:
+	HomePositionChecks() = default;
+	~HomePositionChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
+};

src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "missionCheck.hpp"
+
+void MissionChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	reporter.failsafeFlags().mission_failure = false;
+	mission_result_s mission_result;
+
+	if (_mission_result_sub.copy(&mission_result) && mission_result.valid) {
+		reporter.failsafeFlags().mission_failure = mission_result.failure;
+
+		if (reporter.failsafeFlags().mission_failure) {
+			// navigator sends out the exact reason
+			/* EVENT
+			 */
+			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
+						    events::ID("check_mission_failure"),
+						    events::Log::Error, "Mission cannot be completed");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Mission cannot be completed\t");
+			}
+		}
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/missionCheck.hpp

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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/mission_result.h>
+
+class MissionChecks : public HealthAndArmingCheckBase
+{
+public:
+	MissionChecks() = default;
+	~MissionChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _mission_result_sub{ORB_ID(mission_result)};
+};

src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp

@@ -109,7 +109,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 		 */
 		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_mission, health_component_t::system,
 					    events::ID("check_modes_mission"),
-					    events::Log::Info, "No mission available");
+					    events::Log::Info, "No valid mission available");
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_mission);
 	}
 

src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "rcAndDataLinkCheck.hpp"
+
+using namespace time_literals;
+
+void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	// RC
+	bool rc_is_optional = true;
+
+	if (_param_com_rc_in_mode.get() == 4) { // RC disabled
+		reporter.failsafeFlags().rc_signal_lost = false;
+
+	} else {
+
+		manual_control_setpoint_s manual_control_setpoint;
+
+		if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
+			manual_control_setpoint = {};
+			reporter.failsafeFlags().rc_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) {
+
+				events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
+					     "Manual control lost");
+			}
+
+			reporter.failsafeFlags().rc_signal_lost = true;
+
+		} else {
+			reporter.setIsPresent(health_component_t::remote_control);
+
+			if (reporter.failsafeFlags().rc_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;
+			_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
+		}
+
+
+		if (reporter.failsafeFlags().rc_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;
+			/* EVENT
+			 * @description
+			 * <profile name="dev">
+			 * This check can be configured via <param>COM_RC_IN_MODE</param> parameter.
+			 * </profile>
+			 */
+			reporter.armingCheckFailure(affected_modes, health_component_t::remote_control, events::ID("check_rc_dl_no_rc"),
+						    log_level, "No manual control input");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_info(reporter.mavlink_log_pub(), "Preflight Fail: No manual control input\t");
+			}
+		}
+	}
+
+	// Data Link
+	reporter.failsafeFlags().data_link_lost = context.status().data_link_lost;
+
+	if (reporter.failsafeFlags().data_link_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;
+		/* EVENT
+		 * @description
+		 * To arm, at least a data link or manual control (RC) must be present.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>NAV_DLL_ACT</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(affected_modes, health_component_t::communication_links,
+					    events::ID("check_rc_dl_no_dllink"),
+					    log_level, "No connection to the ground control station");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_warning(reporter.mavlink_log_pub(), "Preflight Fail: No connection to the ground control station\t");
+		}
+
+	} else {
+		reporter.setIsPresent(health_component_t::communication_links);
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.hpp

@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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/manual_control_setpoint.h>
+
+class RcAndDataLinkChecks : public HealthAndArmingCheckBase
+{
+public:
+	RcAndDataLinkChecks() = default;
+	~RcAndDataLinkChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
+
+	hrt_abstime	_last_valid_manual_control_setpoint{0};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
+					(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
+					(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act
+				       )
+};

src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp

@@ -191,21 +191,6 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 	}
 
-	if (_param_gf_action.get() != 0 && context.status().geofence_violated) {
-		/* 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_system_gf_violation"),
-					    events::Log::Error, "Vehicle outside geofence");
-
-		if (reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle outside geofence");
-		}
-	}
-
 	// Arm Requirements: authorization
 	if (_param_com_arm_auth_req.get() != 0 && !context.isArmed()) {
 		if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
@@ -215,8 +200,4 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
 						    events::Log::Error, "Arm authorization denied");
 		}
 	}
-
-	if (reporter.failsafeFlags().rc_signal_found_once) {
-		reporter.setIsPresent(health_component_t::remote_control);
-	}
 }

src/modules/commander/HealthAndArmingChecks/checks/vtolCheck.cpp

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "vtolCheck.hpp"
+
+using namespace time_literals;
+
+void VtolChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	vtol_vehicle_status_s vtol_vehicle_status;
+
+	if (_vtol_vehicle_status_sub.copy(&vtol_vehicle_status)) {
+		reporter.failsafeFlags().vtol_transition_failure = vtol_vehicle_status.vtol_transition_failsafe;
+
+		if (reporter.failsafeFlags().vtol_transition_failure) {
+			/* EVENT
+			 */
+			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_vtol_transition_failure"),
+						    events::Log::Error, "VTOL transition failure");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_info(reporter.mavlink_log_pub(), "Preflight Fail: VTOL transition failure\t");
+			}
+		}
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/vtolCheck.hpp

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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/vtol_vehicle_status.h>
+
+class VtolChecks : public HealthAndArmingCheckBase
+{
+public:
+	VtolChecks() = default;
+	~VtolChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
+};

src/modules/commander/HealthAndArmingChecks/checks/windCheck.cpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "windCheck.hpp"
+
+void WindChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	if (_param_com_wind_warn.get() < FLT_EPSILON && _param_com_wind_max.get() < FLT_EPSILON) {
+		reporter.failsafeFlags().wind_limit_exceeded = false;
+		return;
+	}
+
+	wind_s wind_estimate;
+	const hrt_abstime now = hrt_absolute_time();
+
+	if (_wind_sub.copy(&wind_estimate)) {
+		const matrix::Vector2f wind(wind_estimate.windspeed_north, wind_estimate.windspeed_east);
+
+		// publish a warning if it's the first since in air or 60s have passed since the last warning
+		const bool warning_timeout_passed = _last_wind_warning == 0 || now - _last_wind_warning > 60_s;
+
+		reporter.failsafeFlags().wind_limit_exceeded = _param_com_wind_max.get() > FLT_EPSILON
+				&& wind.longerThan(_param_com_wind_max.get());
+
+		if (reporter.failsafeFlags().wind_limit_exceeded) {
+
+			/* EVENT
+			 * @description
+			 * <profile name="dev">
+			 * This check can be configured via <param>COM_WIND_MAX</param> parameter.
+			 * </profile>
+			 */
+			reporter.armingCheckFailure<float>(NavModes::All, health_component_t::system,
+							   events::ID("check_wind_too_high"),
+							   events::Log::Warning, "Wind speed is above limit ({1:.1m/s})", wind.norm());
+
+		} else if (_param_com_wind_warn.get() > FLT_EPSILON
+			   && wind.longerThan(_param_com_wind_warn.get())
+			   && warning_timeout_passed
+			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
+			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+
+			events::send<float>(events::ID("check_high_wind_warning"),
+			{events::Log::Warning, events::LogInternal::Info},
+			"High wind speed detected ({1:.1m/s}), landing advised", wind.norm());
+			_last_wind_warning = now;
+		}
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/windCheck.hpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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/wind.h>
+
+class WindChecks : public HealthAndArmingCheckBase
+{
+public:
+	WindChecks() = default;
+	~WindChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _wind_sub{ORB_ID(wind)};
+	hrt_abstime _last_wind_warning{0};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamFloat<px4::params::COM_WIND_MAX>) _param_com_wind_max,
+					(ParamFloat<px4::params::COM_WIND_WARN>) _param_com_wind_warn
+
+				       )
+};