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FilaureDetector: publish failure_detector_status in class and call that from commander

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This commit is contained in:
Matthias Grob
2025-05-15 18:15:22 +02:00
committed by Silvan Fuhrer
parent 2adc36b2af
commit 540e80eb77
4 changed files with 27 additions and 23 deletions
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src/modules/commander/Commander.cpp
+1 -15
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@@ -1956,21 +1956,7 @@ void Commander::run()
_vehicle_status.timestamp = hrt_absolute_time();
_vehicle_status_pub.publish(_vehicle_status);
// failure_detector_status publish
failure_detector_status_s fd_status{};
fd_status.fd_roll = _failure_detector.getStatusFlags().roll;
fd_status.fd_pitch = _failure_detector.getStatusFlags().pitch;
fd_status.fd_alt = _failure_detector.getStatusFlags().alt;
fd_status.fd_ext = _failure_detector.getStatusFlags().ext;
fd_status.fd_arm_escs = _failure_detector.getStatusFlags().arm_escs;
fd_status.fd_battery = _failure_detector.getStatusFlags().battery;
fd_status.fd_imbalanced_prop = _failure_detector.getStatusFlags().imbalanced_prop;
fd_status.fd_motor = _failure_detector.getStatusFlags().motor;
fd_status.imbalanced_prop_metric = _failure_detector.getImbalancedPropMetric();
fd_status.motor_failure_mask = _failure_detector.getMotorFailures();
fd_status.motor_stop_mask = _failure_detector.getMotorStopMask();
fd_status.timestamp = hrt_absolute_time();
_failure_detector_status_pub.publish(fd_status);
_failure_detector.publishStatus();
}
checkWorkerThread();