commander: rework arming checks to use the events interface

2026-07-17 19:50:34 +08:00 · 2022-06-01 14:56:26 +02:00
parent b4a3597c7d
commit 6d1fb92eb7
70 changed files with 3738 additions and 2423 deletions
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#include "manualControlCheck.hpp"
+
+using namespace time_literals;
+
+void ManualControlChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	if (context.isArmed()) {
+		return;
+	}
+
+	manual_control_switches_s manual_control_switches;
+
+	if (_manual_control_switches_sub.copy(&manual_control_switches)) {
+
+		// check action switches
+		if (manual_control_switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) {
+			/* EVENT
+			 */
+			reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control,
+						    events::ID("check_man_control_rtl_engaged"),
+						    events::Log::Error, "RTL switch engaged");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RTL switch engaged");
+			}
+		}
+
+		if (manual_control_switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
+			/* EVENT
+			 */
+			reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control,
+						    events::ID("check_man_control_kill_engaged"),
+						    events::Log::Error, "Kill switch engaged");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Kill switch engaged");
+			}
+		}
+
+		if (manual_control_switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
+			/* EVENT
+			 */
+			reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control,
+						    events::ID("check_man_control_landing_gear_up"),
+						    events::Log::Error, "Landing gear switch set in UP position");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Landing gear switch set in UP position");
+			}
+		}
+
+	}
+}