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mavlink: handle failure injection commands

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This adds handling of MAVLink failure injection commands. An
additional parameter is added as a guard to prevent triggering any
failures by accident.
This commit is contained in:
Julian Oes
2020-06-09 14:18:00 +02:00
committed by Daniel Agar
parent 12ab762adc
commit 53b14233a2
4 changed files with 53 additions and 1 deletions
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src/modules/mavlink/mavlink_main.h
+4 -1
View File
@@ -504,6 +504,8 @@ public:
bool forward_heartbeats_enabled() const { return _param_mav_hb_forw_en.get(); }
bool odometry_loopback_enabled() const { return _param_mav_odom_lp.get(); }
bool failure_injection_enabled() const { return _param_sys_failure_injection_enabled.get(); }
struct ping_statistics_s {
uint64_t last_ping_time;
uint32_t last_ping_seq;
@@ -667,7 +669,8 @@ private:
(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_mav_hb_forw_en,
(ParamBool<px4::params::MAV_ODOM_LP>) _param_mav_odom_lp,
(ParamInt<px4::params::MAV_RADIO_TOUT>) _param_mav_radio_timeout,
(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl
(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
(ParamInt<px4::params::SYS_FAILURE_EN>) _param_sys_failure_injection_enabled
)
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": tx run elapsed")}; /**< loop performance counter */
src/modules/mavlink/mavlink_receiver.cpp
+10
View File
@@ -472,6 +472,16 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
_actuator_controls_pubs[actuator_controls_s::GROUP_INDEX_GIMBAL].publish(actuator_controls);
} else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) {
if (_mavlink->failure_injection_enabled()) {
_cmd_pub.publish(vehicle_command);
send_ack = false;
} else {
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
send_ack = true;
}
} else {
send_ack = false;