diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 1cd140fe5b..96b32c947c 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -273,7 +273,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor } if (!context.isArmed() && ekf_gps_check_fail) { - NavModes required_groups_gps; + NavModesMessageFail required_modes; events::Log log_level; switch (static_cast(_param_com_arm_wo_gps.get())) { @@ -281,17 +281,21 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* FALLTHROUGH */ case GnssArmingCheck::DenyArming: - required_groups_gps = required_groups; + required_modes.message_modes = required_modes.fail_modes = NavModes::All; log_level = events::Log::Error; break; case GnssArmingCheck::WarningOnly: - required_groups_gps = NavModes::None; // optional + required_modes.message_modes = (NavModes)(reporter.failsafeFlags().mode_req_local_position + | reporter.failsafeFlags().mode_req_local_position_relaxed + | reporter.failsafeFlags().mode_req_global_position); + // Only warn and don't block arming because there could still be a valid position estimate from another source e.g. optical flow, VIO + required_modes.fail_modes = NavModes::None; log_level = events::Log::Warning; break; case GnssArmingCheck::Disabled: - required_groups_gps = NavModes::None; + required_modes.message_modes = required_modes.fail_modes = NavModes::None; log_level = events::Log::Disabled; break; } @@ -304,10 +308,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_fix_too_low"), log_level, "GPS fix too low"); @@ -316,10 +320,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_num_sats_too_low"), log_level, "Not enough GPS Satellites"); @@ -328,10 +332,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_pdop_too_high"), log_level, "GPS PDOP too high"); @@ -340,10 +344,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_hor_pos_err_too_high"), log_level, "GPS Horizontal Position Error too high"); @@ -352,10 +356,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_vert_pos_err_too_high"), log_level, "GPS Vertical Position Error too high"); @@ -364,10 +368,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_speed_acc_too_low"), log_level, "GPS Speed Accuracy too low"); @@ -376,10 +380,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_hor_pos_drift_too_high"), log_level, "GPS Horizontal Position Drift too high"); @@ -388,10 +392,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_vert_pos_drift_too_high"), log_level, "GPS Vertical Position Drift too high"); @@ -400,10 +404,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_hor_speed_drift_too_high"), log_level, "GPS Horizontal Speed Drift too high"); @@ -412,10 +416,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_vert_speed_drift_too_high"), log_level, "GPS Vertical Speed Drift too high"); @@ -424,10 +428,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_spoofed"), log_level, "GPS signal spoofed"); @@ -437,7 +441,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor message = "Preflight%s: Estimator not using GPS"; /* EVENT */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_not_fusing"), log_level, "Estimator not using GPS"); @@ -446,7 +450,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor message = "Preflight%s: Poor GPS Quality"; /* EVENT */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_generic"), log_level, "Poor GPS Quality"); }