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refactor(commander): remove duplicate failure_detector_status from vehicle_status (#26754)

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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
2026-03-19 11:31:12 -08:00
committed by GitHub
parent 375d540cf8
commit 7d56582915
9 changed files with 286 additions and 30 deletions
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msg/versioned/VehicleStatus.msg
+1 -13
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@@ -1,6 +1,6 @@
# Encodes the system state of the vehicle published by commander
uint32 MESSAGE_VERSION = 2
uint32 MESSAGE_VERSION = 3
uint64 timestamp # time since system start (microseconds)
@@ -68,18 +68,6 @@ uint8 nav_state_display # User-visible nav state sent vi
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
# Bitmask of detected failures
uint16 failure_detector_status
uint16 FAILURE_NONE = 0
uint16 FAILURE_ROLL = 1 # (1 << 0)
uint16 FAILURE_PITCH = 2 # (1 << 1)
uint16 FAILURE_ALT = 4 # (1 << 2)
uint16 FAILURE_EXT = 8 # (1 << 3)
uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
uint16 FAILURE_BATTERY = 32 # (1 << 5)
uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
uint16 FAILURE_MOTOR = 128 # (1 << 7)
uint8 hil_state
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1