commander: rework arming checks to use the events interface

2026-10-31 19:31:36 +08:00 · 2022-08-25 22:02:15 -04:00
parent b4a3597c7d
commit 6d1fb92eb7
70 changed files with 3738 additions and 2423 deletions
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "../Common.hpp"
+
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/estimator_selector_status.h>
+#include <uORB/topics/estimator_sensor_bias.h>
+#include <uORB/topics/estimator_status.h>
+#include <uORB/topics/estimator_sensor_bias.h>
+
+
+class EstimatorChecks : public HealthAndArmingCheckBase
+{
+public:
+	EstimatorChecks() = default;
+	~EstimatorChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	void checkEstimatorStatus(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
+				  NavModes required_groups);
+	void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
+
+	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
+	uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
+	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::SYS_MC_EST_GROUP>) _param_sys_mc_est_group,
+					(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
+					(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
+					(ParamFloat<px4::params::COM_ARM_EKF_HGT>) _param_com_arm_ekf_hgt,
+					(ParamFloat<px4::params::COM_ARM_EKF_VEL>) _param_com_arm_ekf_vel,
+					(ParamFloat<px4::params::COM_ARM_EKF_POS>) _param_com_arm_ekf_pos,
+					(ParamFloat<px4::params::COM_ARM_EKF_YAW>) _param_com_arm_ekf_yaw,
+					(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
+					(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps
+				       )
+};