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refactor(commander): remove duplicate failure_detector_status from vehicle_status (#26754)
The failure_detector_status bitmask in vehicle_status duplicates the separate FailureDetectorStatus topic. Remove it and read directly from the dedicated topic in failureDetectorCheck and HIGH_LATENCY2.
This commit is contained in:
Jacob Dahl
GitHub
parent
375d540cf8
commit
7d56582915
135
msg/px4_msgs_old/msg/VehicleStatusV2.msg
Normal file
135
msg/px4_msgs_old/msg/VehicleStatusV2.msg
Normal file
@ -0,0 +1,135 @@
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# Encodes the system state of the vehicle published by commander
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uint32 MESSAGE_VERSION = 2
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uint64 timestamp # time since system start (microseconds)
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uint64 armed_time # Arming timestamp (microseconds)
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uint64 takeoff_time # Takeoff timestamp (microseconds)
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uint8 arming_state
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uint8 ARMING_STATE_DISARMED = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 latest_arming_reason
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uint8 latest_disarming_reason
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uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
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uint8 ARM_DISARM_REASON_RC_SWITCH = 2
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uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
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uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
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uint8 ARM_DISARM_REASON_MISSION_START = 5
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uint8 ARM_DISARM_REASON_LANDING = 6
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uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
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uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
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uint8 ARM_DISARM_REASON_RC_BUTTON = 13
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uint8 ARM_DISARM_REASON_FAILSAFE = 14
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uint64 nav_state_timestamp # time when current nav_state activated
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uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
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uint8 nav_state # Currently active mode
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uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
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uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
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uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
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uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
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uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
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uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
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uint8 NAVIGATION_STATE_POSITION_SLOW = 6
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uint8 NAVIGATION_STATE_FREE5 = 7
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uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
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uint8 NAVIGATION_STATE_FREE3 = 9
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_FREE2 = 11
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uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
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uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
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uint8 NAVIGATION_STATE_OFFBOARD = 14
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uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
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uint8 NAVIGATION_STATE_FREE1 = 16
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uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
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uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
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uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
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uint8 NAVIGATION_STATE_EXTERNAL1 = 23
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uint8 NAVIGATION_STATE_EXTERNAL2 = 24
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uint8 NAVIGATION_STATE_EXTERNAL3 = 25
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uint8 NAVIGATION_STATE_EXTERNAL4 = 26
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uint8 NAVIGATION_STATE_EXTERNAL5 = 27
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uint8 NAVIGATION_STATE_EXTERNAL6 = 28
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uint8 NAVIGATION_STATE_EXTERNAL7 = 29
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uint8 NAVIGATION_STATE_EXTERNAL8 = 30
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uint8 NAVIGATION_STATE_MAX = 31
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uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
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uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
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uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
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uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
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# Bitmask of detected failures
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uint16 failure_detector_status
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uint16 FAILURE_NONE = 0
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uint16 FAILURE_ROLL = 1 # (1 << 0)
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uint16 FAILURE_PITCH = 2 # (1 << 1)
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uint16 FAILURE_ALT = 4 # (1 << 2)
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uint16 FAILURE_EXT = 8 # (1 << 3)
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uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
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uint16 FAILURE_BATTERY = 32 # (1 << 5)
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uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
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uint16 FAILURE_MOTOR = 128 # (1 << 7)
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uint8 hil_state
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
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uint8 vehicle_type
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uint8 VEHICLE_TYPE_UNSPECIFIED = 0
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uint8 VEHICLE_TYPE_ROTARY_WING = 1
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uint8 VEHICLE_TYPE_FIXED_WING = 2
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uint8 VEHICLE_TYPE_ROVER = 3
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uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
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uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
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uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
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bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
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bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
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uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
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# Link loss
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bool gcs_connection_lost # datalink to GCS lost
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uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
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bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
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# VTOL flags
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bool is_vtol # True if the system is VTOL capable
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bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
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bool in_transition_mode # True if VTOL is doing a transition
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bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
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# MAVLink identification
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint8 system_id # system id, contains MAVLink's system ID field
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uint8 component_id # subsystem / component id, contains MAVLink's component ID field
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bool safety_button_available # Set to true if a safety button is connected
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bool safety_off # Set to true if safety is off
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bool power_input_valid # set if input power is valid
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bool usb_connected # set to true (never cleared) once telemetry received from usb link
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bool open_drone_id_system_present
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bool open_drone_id_system_healthy
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bool parachute_system_present
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bool parachute_system_healthy
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bool traffic_avoidance_system_present
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bool rc_calibration_in_progress
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bool calibration_enabled
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bool pre_flight_checks_pass # true if all checks necessary to arm pass
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@ -21,3 +21,4 @@
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#include "translation_vehicle_local_position_v1.h"
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#include "translation_vehicle_status_v1.h"
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#include "translation_vehicle_status_v2.h"
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#include "translation_vehicle_status_v3.h"
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@ -6,14 +6,14 @@
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// Translate VehicleStatus v1 <--> v2
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#include <px4_msgs_old/msg/vehicle_status_v1.hpp>
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#include <px4_msgs/msg/vehicle_status.hpp>
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#include <px4_msgs_old/msg/vehicle_status_v2.hpp>
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class VehicleStatusV2Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleStatusV1;
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static_assert(MessageOlder::MESSAGE_VERSION == 1);
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using MessageNewer = px4_msgs::msg::VehicleStatus;
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using MessageNewer = px4_msgs_old::msg::VehicleStatusV2;
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static_assert(MessageNewer::MESSAGE_VERSION == 2);
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static constexpr const char* kTopic = "fmu/out/vehicle_status";
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@ -0,0 +1,112 @@
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/****************************************************************************
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* Copyright (c) 2026 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate VehicleStatus v2 <--> v3
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#include <px4_msgs_old/msg/vehicle_status_v2.hpp>
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#include <px4_msgs/msg/vehicle_status.hpp>
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class VehicleStatusV3Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleStatusV2;
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static_assert(MessageOlder::MESSAGE_VERSION == 2);
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using MessageNewer = px4_msgs::msg::VehicleStatus;
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static_assert(MessageNewer::MESSAGE_VERSION == 3);
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static constexpr const char* kTopic = "fmu/out/vehicle_status";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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// Set msg_newer from msg_older
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.armed_time = msg_older.armed_time;
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msg_newer.takeoff_time = msg_older.takeoff_time;
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msg_newer.arming_state = msg_older.arming_state;
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msg_newer.latest_arming_reason = msg_older.latest_arming_reason;
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msg_newer.latest_disarming_reason = msg_older.latest_disarming_reason;
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msg_newer.nav_state_timestamp = msg_older.nav_state_timestamp;
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msg_newer.nav_state_user_intention = msg_older.nav_state_user_intention;
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msg_newer.nav_state = msg_older.nav_state;
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msg_newer.executor_in_charge = msg_older.executor_in_charge;
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msg_newer.nav_state_display = msg_older.nav_state_display;
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msg_newer.valid_nav_states_mask = msg_older.valid_nav_states_mask;
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msg_newer.can_set_nav_states_mask = msg_older.can_set_nav_states_mask;
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// failure_detector_status removed (use separate FailureDetectorStatus topic)
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msg_newer.hil_state = msg_older.hil_state;
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msg_newer.vehicle_type = msg_older.vehicle_type;
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msg_newer.failsafe = msg_older.failsafe;
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msg_newer.failsafe_and_user_took_over = msg_older.failsafe_and_user_took_over;
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msg_newer.failsafe_defer_state = msg_older.failsafe_defer_state;
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msg_newer.gcs_connection_lost = msg_older.gcs_connection_lost;
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msg_newer.gcs_connection_lost_counter = msg_older.gcs_connection_lost_counter;
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msg_newer.high_latency_data_link_lost = msg_older.high_latency_data_link_lost;
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msg_newer.is_vtol = msg_older.is_vtol;
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msg_newer.is_vtol_tailsitter = msg_older.is_vtol_tailsitter;
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msg_newer.in_transition_mode = msg_older.in_transition_mode;
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msg_newer.in_transition_to_fw = msg_older.in_transition_to_fw;
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msg_newer.system_type = msg_older.system_type;
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msg_newer.system_id = msg_older.system_id;
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msg_newer.component_id = msg_older.component_id;
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msg_newer.safety_button_available = msg_older.safety_button_available;
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msg_newer.safety_off = msg_older.safety_off;
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msg_newer.power_input_valid = msg_older.power_input_valid;
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msg_newer.usb_connected = msg_older.usb_connected;
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msg_newer.open_drone_id_system_present = msg_older.open_drone_id_system_present;
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msg_newer.open_drone_id_system_healthy = msg_older.open_drone_id_system_healthy;
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msg_newer.parachute_system_present = msg_older.parachute_system_present;
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msg_newer.parachute_system_healthy = msg_older.parachute_system_healthy;
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msg_newer.traffic_avoidance_system_present = msg_older.traffic_avoidance_system_present;
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msg_newer.rc_calibration_in_progress = msg_older.rc_calibration_in_progress;
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msg_newer.calibration_enabled = msg_older.calibration_enabled;
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msg_newer.pre_flight_checks_pass = msg_older.pre_flight_checks_pass;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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// Set msg_older from msg_newer
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.armed_time = msg_newer.armed_time;
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msg_older.takeoff_time = msg_newer.takeoff_time;
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msg_older.arming_state = msg_newer.arming_state;
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msg_older.latest_arming_reason = msg_newer.latest_arming_reason;
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msg_older.latest_disarming_reason = msg_newer.latest_disarming_reason;
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msg_older.nav_state_timestamp = msg_newer.nav_state_timestamp;
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msg_older.nav_state_user_intention = msg_newer.nav_state_user_intention;
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msg_older.nav_state = msg_newer.nav_state;
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msg_older.executor_in_charge = msg_newer.executor_in_charge;
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msg_older.nav_state_display = msg_newer.nav_state_display;
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msg_older.valid_nav_states_mask = msg_newer.valid_nav_states_mask;
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msg_older.can_set_nav_states_mask = msg_newer.can_set_nav_states_mask;
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msg_older.failure_detector_status = 0; // Removed in v3, use separate FailureDetectorStatus topic
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msg_older.hil_state = msg_newer.hil_state;
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msg_older.vehicle_type = msg_newer.vehicle_type;
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msg_older.failsafe = msg_newer.failsafe;
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msg_older.failsafe_and_user_took_over = msg_newer.failsafe_and_user_took_over;
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msg_older.failsafe_defer_state = msg_newer.failsafe_defer_state;
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msg_older.gcs_connection_lost = msg_newer.gcs_connection_lost;
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msg_older.gcs_connection_lost_counter = msg_newer.gcs_connection_lost_counter;
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msg_older.high_latency_data_link_lost = msg_newer.high_latency_data_link_lost;
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msg_older.is_vtol = msg_newer.is_vtol;
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msg_older.is_vtol_tailsitter = msg_newer.is_vtol_tailsitter;
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msg_older.in_transition_mode = msg_newer.in_transition_mode;
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msg_older.in_transition_to_fw = msg_newer.in_transition_to_fw;
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msg_older.system_type = msg_newer.system_type;
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msg_older.system_id = msg_newer.system_id;
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msg_older.component_id = msg_newer.component_id;
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msg_older.safety_button_available = msg_newer.safety_button_available;
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msg_older.safety_off = msg_newer.safety_off;
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msg_older.power_input_valid = msg_newer.power_input_valid;
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msg_older.usb_connected = msg_newer.usb_connected;
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msg_older.open_drone_id_system_present = msg_newer.open_drone_id_system_present;
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msg_older.open_drone_id_system_healthy = msg_newer.open_drone_id_system_healthy;
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msg_older.parachute_system_present = msg_newer.parachute_system_present;
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msg_older.parachute_system_healthy = msg_newer.parachute_system_healthy;
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msg_older.traffic_avoidance_system_present = msg_newer.traffic_avoidance_system_present;
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msg_older.rc_calibration_in_progress = msg_newer.rc_calibration_in_progress;
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msg_older.calibration_enabled = msg_newer.calibration_enabled;
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msg_older.pre_flight_checks_pass = msg_newer.pre_flight_checks_pass;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleStatusV3Translation);
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@ -1,6 +1,6 @@
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# Encodes the system state of the vehicle published by commander
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uint32 MESSAGE_VERSION = 2
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uint32 MESSAGE_VERSION = 3
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uint64 timestamp # time since system start (microseconds)
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@ -68,18 +68,6 @@ uint8 nav_state_display # User-visible nav state sent vi
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uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
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uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
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# Bitmask of detected failures
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uint16 failure_detector_status
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uint16 FAILURE_NONE = 0
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uint16 FAILURE_ROLL = 1 # (1 << 0)
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uint16 FAILURE_PITCH = 2 # (1 << 1)
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uint16 FAILURE_ALT = 4 # (1 << 2)
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uint16 FAILURE_EXT = 8 # (1 << 3)
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uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
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uint16 FAILURE_BATTERY = 32 # (1 << 5)
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uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
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uint16 FAILURE_MOTOR = 128 # (1 << 7)
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uint8 hil_state
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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@ -1925,7 +1925,6 @@ void Commander::run()
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// Check for failure detector status
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if (_failure_detector.update(_vehicle_status, _vehicle_control_mode)) {
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_vehicle_status.failure_detector_status = _failure_detector.getStatus().value;
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_status_changed = true;
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}
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@ -1998,7 +1997,7 @@ void Commander::run()
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send_parachute_command();
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}
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// publish states (armed, control_mode, vehicle_status, failure_detector_status) at 2 Hz or immediately when changed
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// publish states (armed, control_mode, vehicle_status) at 2 Hz or immediately when changed
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if ((now >= _vehicle_status.timestamp + 500_ms) || _status_changed || nav_state_or_failsafe_changed
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|| !(_actuator_armed == actuator_armed_prev)) {
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@ -35,7 +35,13 @@
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void FailureDetectorChecks::checkAndReport(const Context &context, Report &reporter)
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{
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if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
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failure_detector_status_s fd_status;
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if (!_failure_detector_status_sub.copy(&fd_status)) {
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return;
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}
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if (fd_status.fd_roll) {
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/* EVENT
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* @description
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* The vehicle exceeded the maximum configured roll angle.
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@ -51,7 +57,7 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (roll)");
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}
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} else if (context.status().failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
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} else if (fd_status.fd_pitch) {
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/* EVENT
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* @description
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* The vehicle exceeded the maximum configured pitch angle.
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@ -68,7 +74,7 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor
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}
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}
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if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ALT) {
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if (fd_status.fd_alt) {
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/* EVENT
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_alt"),
|
||||
@ -79,7 +85,7 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor
|
||||
}
|
||||
}
|
||||
|
||||
if (context.status().failure_detector_status & vehicle_status_s::FAILURE_EXT) {
|
||||
if (fd_status.fd_ext) {
|
||||
/* EVENT
|
||||
* @description
|
||||
* <profile name="dev">
|
||||
@ -94,12 +100,10 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor
|
||||
}
|
||||
}
|
||||
|
||||
reporter.failsafeFlags().fd_critical_failure = context.status().failure_detector_status &
|
||||
(vehicle_status_s::FAILURE_ROLL | vehicle_status_s::FAILURE_PITCH | vehicle_status_s::FAILURE_ALT |
|
||||
vehicle_status_s::FAILURE_EXT);
|
||||
reporter.failsafeFlags().fd_critical_failure = fd_status.fd_roll || fd_status.fd_pitch || fd_status.fd_alt ||
|
||||
fd_status.fd_ext;
|
||||
|
||||
reporter.failsafeFlags().fd_imbalanced_prop = context.status().failure_detector_status &
|
||||
vehicle_status_s::FAILURE_IMBALANCED_PROP;
|
||||
reporter.failsafeFlags().fd_imbalanced_prop = fd_status.fd_imbalanced_prop;
|
||||
|
||||
if (reporter.failsafeFlags().fd_imbalanced_prop) {
|
||||
/* EVENT
|
||||
|
||||
@ -35,6 +35,8 @@
|
||||
|
||||
#include "../Common.hpp"
|
||||
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/failure_detector_status.h>
|
||||
|
||||
class FailureDetectorChecks : public HealthAndArmingCheckBase
|
||||
{
|
||||
@ -45,4 +47,5 @@ public:
|
||||
void checkAndReport(const Context &context, Report &reporter) override;
|
||||
|
||||
private:
|
||||
uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};
|
||||
};
|
||||
|
||||
@ -55,6 +55,7 @@
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/failure_detector_status.h>
|
||||
#include <uORB/topics/failsafe_flags.h>
|
||||
#include <uORB/topics/health_report.h>
|
||||
#include <uORB/topics/vehicle_air_data.h>
|
||||
@ -135,6 +136,7 @@ private:
|
||||
updated |= write_heading_if_updated(&msg);
|
||||
updated |= write_mission_result_if_updated(&msg);
|
||||
updated |= write_failsafe_flags(&msg);
|
||||
updated |= write_failure_detector_status(&msg);
|
||||
|
||||
// these topics are already updated in update_data() and thus we just copy them here
|
||||
write_airspeed(&msg);
|
||||
@ -454,10 +456,6 @@ private:
|
||||
}
|
||||
}
|
||||
|
||||
if (status.failure_detector_status & vehicle_status_s::FAILURE_MOTOR) {
|
||||
msg->failure_flags |= HL_FAILURE_FLAG_ENGINE;
|
||||
}
|
||||
|
||||
// flight mode
|
||||
union px4_custom_mode custom_mode {get_px4_custom_mode(status.nav_state)};
|
||||
msg->custom_mode = custom_mode.custom_mode_hl;
|
||||
@ -492,6 +490,21 @@ private:
|
||||
return false;
|
||||
}
|
||||
|
||||
bool write_failure_detector_status(mavlink_high_latency2_t *msg)
|
||||
{
|
||||
failure_detector_status_s fd_status;
|
||||
|
||||
if (_failure_detector_status_sub.update(&fd_status)) {
|
||||
if (fd_status.fd_motor) {
|
||||
msg->failure_flags |= HL_FAILURE_FLAG_ENGINE;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool write_wind(mavlink_high_latency2_t *msg)
|
||||
{
|
||||
wind_s wind;
|
||||
@ -665,6 +678,7 @@ private:
|
||||
uORB::Subscription _gps_sub{ORB_ID(vehicle_gps_position)};
|
||||
uORB::Subscription _mission_result_sub{ORB_ID(mission_result)};
|
||||
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
|
||||
uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};
|
||||
uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};
|
||||
uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
|
||||
uORB::Subscription _wind_sub{ORB_ID(wind)};
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user