FailureDetector - New class, first working simple implementation. Outputs PX4_ERR messages if roll or pitch is exceeded.

src/modules/commander/failure_detector/FailureDetector.hpp

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+
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+/**
+* @file FailureDetector.hpp
+* Base class for failure detection logic based on vehicle states
+* for failsafe triggering.
+*
+* @author Mathieu Bresciani 	<brescianimathieu@gmail.com>
+*
+*/
+
+#ifndef FAILURE_DETECTOR_HPP
+#define FAILURE_DETECTOR_HPP
+
+#include <matrix/matrix/math.hpp>
+#include <mathlib/mathlib.h>
+#include <px4_module_params.h>
+
+// subscriptions
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+
+using uORB::Subscription;
+
+class FailureDetector : public ModuleParams
+{
+public:
+	FailureDetector();
+
+	void update_params();
+
+	bool update();
+
+	struct failure_detector_status_s {
+		bool roll;
+		bool pitch;
+		bool altitude;
+	};
+
+	failure_detector_status_s get() {return _status;};
+
+private:
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::VT_FW_QC_P>) _fail_trig_pitch,
+		(ParamInt<px4::params::VT_FW_QC_R>) _fail_trig_roll
+	)
+
+	// Subscriptions
+	Subscription<vehicle_attitude_s> _sub_vehicle_attitude_setpoint;
+	Subscription<vehicle_attitude_s> _sub_vehicule_attitude;
+
+	struct failure_detector_status_s _status;
+
+	bool update_attitude_status();
+};
+
+#endif /* FAILURE_DETECTOR_HPP */