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

2026-07-19 05:00:35 +08:00 · 2022-08-30 19:26:59 +02:00
parent a04230faa1
commit 455b885f86
44 changed files with 1927 additions and 2280 deletions
@@ -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;
+		}
+	}
+}