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failure detector: added esc failures detection

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2020-03-26 11:05:19 +01:00
committed by Mathieu Bresciani
parent 7398d174d2
commit 6358dd400a
5 changed files with 103 additions and 20 deletions
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src/modules/commander/Commander.cpp
+17 -6
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@@ -2145,15 +2145,26 @@ Commander::run()
failure_detector_updated) {
if (_failure_detector.isFailure()) {
if ((hrt_elapsed_time(&_time_at_takeoff) < 3_s) &&
!_lockdown_triggered) {
// This handles the case where something fails during the early takeoff phase
armed.lockdown = true;
_lockdown_triggered = true;
if (!_have_taken_off_since_arming) {
arm_disarm(false, true, &mavlink_log_pub, "Failure detector");
_status_changed = true;
mavlink_log_emergency(&mavlink_log_pub, "Critical failure detected: lockdown");
if (status.failure_detector_status & vehicle_status_s::FAILURE_ARM_ESC) {
mavlink_log_critical(&mavlink_log_pub, "ESCs did not respond to arm request");
}
} else if (hrt_elapsed_time(&_time_at_takeoff) < 3_s) {
// This handles the case where something fails during the early takeoff phase
if (!_lockdown_triggered) {
armed.lockdown = true;
_lockdown_triggered = true;
_status_changed = true;
mavlink_log_emergency(&mavlink_log_pub, "Critical failure detected: lockdown");
}
} else if (!status_flags.circuit_breaker_flight_termination_disabled &&
!_flight_termination_triggered) {