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estimatorCheck: check if vehicle_land_detected data is succesfully copied from uorb topic

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This commit is contained in:
Stefano Colli
2025-10-30 09:32:04 +01:00
committed by Pernilla
parent 033520ba47
commit 836d2228fc
1 changed files with 12 additions and 11 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+12 -11
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@@ -653,21 +653,22 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
const hrt_abstime now = hrt_absolute_time();
vehicle_land_detected_s vehicle_land_detected;
_vehicle_land_detected_sub.copy(&vehicle_land_detected);
if (!lpos.dead_reckoning) {
_last_not_dead_reckoning_time_us = now;
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
}
if (!lpos.dead_reckoning) {
_last_not_dead_reckoning_time_us = now;
}
if (!vehicle_land_detected.landed && ((reporter.failsafeFlags().mode_req_global_position
&& !reporter.failsafeFlags().global_position_invalid) ||
(reporter.failsafeFlags().mode_req_global_position_relaxed
&& !reporter.failsafeFlags().global_position_invalid_relaxed) ||
(reporter.failsafeFlags().mode_req_local_position && !reporter.failsafeFlags().local_position_invalid))) {
if (!vehicle_land_detected.landed && ((reporter.failsafeFlags().mode_req_global_position
&& !reporter.failsafeFlags().global_position_invalid) ||
(reporter.failsafeFlags().mode_req_global_position_relaxed
&& !reporter.failsafeFlags().global_position_invalid_relaxed) ||
(reporter.failsafeFlags().mode_req_local_position && !reporter.failsafeFlags().local_position_invalid))) {
reporter.failsafeFlags().dead_reckoning_invalid = (_last_not_dead_reckoning_time_us != 0
&& now > _last_not_dead_reckoning_time_us + _param_com_dead_reckoning_tout_t.get() * 1_s);
reporter.failsafeFlags().dead_reckoning_invalid = (_last_not_dead_reckoning_time_us != 0
&& now > _last_not_dead_reckoning_time_us + _param_com_dead_reckoning_tout_t.get() * 1_s);
}
}
if (reporter.failsafeFlags().dead_reckoning_invalid && _param_com_dead_reckoning_tout_act.get()) {