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Rename force_failsafe to termination for clarity

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This commit is contained in:
Matthias Grob 2025-07-25 16:34:41 +02:00 committed by Alex Klimaj
parent 34dacffc4a
commit 7fe78e184e
7 changed files with 15 additions and 15 deletions
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2
msg/ActuatorArmed.msg
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@ -5,5 +5,5 @@ bool prearmed # Set to true if the actuator safety is disabled but motors are n
bool ready_to_arm # Set to true if system is ready to be armed
bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
bool manual_lockdown # Set to true if manual throttle kill switch is engaged
bool force_failsafe # Set to true if the actuators are forced to the failsafe position
bool termination # Send out failsafe (by default same as disarmed) output
bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics

2
src/drivers/px4io/px4io.cpp
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@ -800,7 +800,7 @@ PX4IO::io_set_arming_state()
_lockdown_override = false;
}
if (armed.force_failsafe) {
if (armed.termination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {

6
src/lib/mixer_module/mixer_module.cpp
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@ -83,7 +83,7 @@ MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, Ou
_armed.prearmed = false;
_armed.ready_to_arm = false;
_armed.lockdown = false;
_armed.force_failsafe = false;
_armed.termination = false;
_armed.in_esc_calibration_mode = false;
px4_sem_init(&_lock, 0, 1);
@ -479,8 +479,8 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat
_current_output_value[i] = _disarmed_value[i];
}
} else if (_armed.force_failsafe) {
// overwrite outputs in case of force_failsafe with _failsafe_value values
} else if (_armed.termination) {
// Overwrite outputs with _failsafe_value when terminated
for (size_t i = 0; i < _max_num_outputs; i++) {
_current_output_value[i] = actualFailsafeValue(i);
}

4
src/lib/mixer_module/mixer_module_tests.cpp
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@ -148,12 +148,12 @@ public:
_actuator_test_pub.publish(actuator_test);
}
void sendActuatorArmed(bool armed, bool force_failsafe = false, bool manual_lockdown = false, bool prearm = false)
void sendActuatorArmed(bool armed, bool termination = false, bool manual_lockdown = false, bool prearm = false)
{
actuator_armed_s actuator_armed{};
actuator_armed.timestamp = hrt_absolute_time();
actuator_armed.armed = armed;
actuator_armed.force_failsafe = force_failsafe;
actuator_armed.termination = termination;
actuator_armed.manual_lockdown = manual_lockdown;
actuator_armed.prearmed = prearm;
_actuator_armed_pub.publish(actuator_armed);

8
src/modules/commander/Commander.cpp
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@ -94,7 +94,7 @@ static constexpr bool operator ==(const actuator_armed_s &a, const actuator_arme
a.ready_to_arm == b.ready_to_arm &&
a.lockdown == b.lockdown &&
a.manual_lockdown == b.manual_lockdown &&
a.force_failsafe == b.force_failsafe &&
a.termination == b.termination &&
a.in_esc_calibration_mode == b.in_esc_calibration_mode);
}
static_assert(sizeof(actuator_armed_s) == 16, "actuator_armed equality operator review");
@ -1898,11 +1898,11 @@ void Commander::run()
_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
|| _multicopter_throw_launch.isThrowLaunchInProgress());
// _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL
_actuator_armed.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
// if force_failsafe activated send parachute command
if (!actuator_armed_prev.force_failsafe && _actuator_armed.force_failsafe && isArmed()) {
// Send parachute command upon termination
if (!actuator_armed_prev.termination && _actuator_armed.termination && isArmed()) {
send_parachute_command();
}

2
src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp
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@ -42,7 +42,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
actuator_armed_s actuator_armed;
if (_actuator_armed_sub.copy(&actuator_armed)) {
if (actuator_armed.force_failsafe || actuator_armed.manual_lockdown) {
if (actuator_armed.termination || actuator_armed.manual_lockdown) {
/* EVENT
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_flight_term_active"),

6
src/modules/mavlink/streams/HEARTBEAT.hpp
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@ -119,9 +119,9 @@ private:
}
// system_status overrides
if (actuator_armed.force_failsafe || (actuator_armed.lockdown
&& vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF) || actuator_armed.manual_lockdown
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
if (actuator_armed.termination
|| (actuator_armed.lockdown && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF)
|| actuator_armed.manual_lockdown) {
system_status = MAV_STATE_FLIGHT_TERMINATION;
}