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Failure Detector - use bitmask field instead of boolean in vehicle_status msg (failure_detector_status) and instead of struct in class

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bresch
2018-08-28 11:23:25 -04:00
committed by Daniel Agar
parent 0001031e59
commit 9be0c97346
4 changed files with 41 additions and 22 deletions
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src/modules/commander/Commander.cpp
+11 -11
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@@ -2289,22 +2289,22 @@ Commander::run()
if (_failure_detector.update()) {
const failure_detector_status_s failure_status = _failure_detector.get_status();
const uint8_t failure_status = _failure_detector.get_status();
if (failure_status.roll ||
failure_status.pitch) {
status.attitude_failure = true;
if (failure_status != status.failure_detector_status) {
status.failure_detector_status = failure_status;
status_changed = true;
}
// Only display an user message if the circuit-breaker is disabled
if (!status_flags.circuit_breaker_flight_termination_disabled) {
if (failure_status != 0 && !status_flags.circuit_breaker_flight_termination_disabled) {
if (!_failure_detector_termination_printed) {
mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected: force failsafe");
_failure_detector_termination_printed = true;
}
// TODO: set force_failsafe flag
if (!_failure_detector_termination_printed) {
mavlink_log_critical(&mavlink_log_pub, "Attitude failure detected: force failsafe");
_failure_detector_termination_printed = true;
}
}
}
}