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Failure detector - Add flight termination comments, make format

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This commit is contained in:
bresch
2019-06-05 16:53:08 +02:00
committed by Beat Küng
parent 0655f7603b
commit 59265f6663
5 changed files with 41 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+4 -3
View File
@@ -2207,6 +2207,7 @@ Commander::run()
/* Check for failure detector status */
const bool failure_detector_updated = _failure_detector.update();
if (failure_detector_updated) {
const uint8_t failure_status = _failure_detector.get_status();
@@ -2218,9 +2219,9 @@ Commander::run()
}
if (armed.armed &&
failure_detector_updated &&
!_in_flight_termination &&
!status_flags.circuit_breaker_flight_termination_disabled) {
failure_detector_updated &&
!_in_flight_termination &&
!status_flags.circuit_breaker_flight_termination_disabled) {
if (status.failure_detector_status != 0) {
src/modules/commander/PreflightCheck.cpp
+15 -13
View File
@@ -682,20 +682,22 @@ static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
// Ignore failure detector check after arming.
return true;
} else {
if (status.failure_detector_status != 0) {
success = false;
}
if (report_fail) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ROLL FAILURE DETECTED");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: PITCH FAILURE DETECTED");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ALTITUDE FAILURE DETECTED");
}
if (status.failure_detector_status != 0) {
success = false;
if (report_fail) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Roll failure detected");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Pitch failure detected");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Altitude failure detected");
}
}
}
src/modules/px4iofirmware/mixer.cpp
+14 -14
View File
@@ -201,33 +201,33 @@ mixer_tick(void)
*
*/
should_arm = (
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) /* and IO is armed */
&& (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) /* and FMU is armed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) /* and there is valid input via or mixer */
|| (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) /* or direct PWM is set */
)
);
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) /* and IO is armed */
&& (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) /* and FMU is armed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) /* and there is valid input via or mixer */
|| (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) /* or direct PWM is set */
)
);
should_arm_nothrottle = (
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) /* and IO is armed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) /* and there is valid input via or mixer */
);
);
should_always_enable_pwm = (
(r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)
);
(r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)
);
/*
* Check if failsafe termination is set - if yes,
* set the force failsafe flag once entering the first
* failsafe condition.
*/
if ( /* Flight termination is allowed */
if ( /* Flight termination is allowed */
REG_TO_BOOL(r_setup_flightterm) &&
/* If we ended up not changing the default mixer */
(source == MIX_DISARMED) &&