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HealthAndArmingChecks: improve messaging for position estimate failure

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-10-10 10:28:59 +02:00
committed by Matthias Grob
parent da8827883f
commit 9cb12d8e8e
2 changed files with 12 additions and 5 deletions
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src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
+9 -3
View File
@@ -77,29 +77,35 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
if (local_position_modes != NavModes::None) {
/* EVENT
* @description
* The available positioning data is not sufficient to execute the selected mode.
*/
reporter.armingCheckFailure(local_position_modes, health_component_t::local_position_estimate,
events::ID("check_modes_local_pos"),
events::Log::Error, "No valid local position estimate");
events::Log::Error, "Navigation error: No valid local position estimate");
reporter.clearCanRunBits(local_position_modes);
}
if (reporter.failsafeFlags().global_position_invalid && reporter.failsafeFlags().mode_req_global_position != 0) {
/* EVENT
* @description
* The available positioning data is not sufficient to execute the selected mode.
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position,
health_component_t::global_position_estimate,
events::ID("check_modes_global_pos"),
events::Log::Error, "No valid global position estimate");
events::Log::Error, "Navigation error: No valid global position estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position);
}
if (reporter.failsafeFlags().local_altitude_invalid && reporter.failsafeFlags().mode_req_local_alt != 0) {
/* EVENT
* @description
* The available positioning data is not sufficient to execute the selected mode.
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_local_alt, health_component_t::system,
events::ID("check_modes_local_alt"),
events::Log::Critical, "No valid altitude estimate");
events::Log::Critical, "Navigation error: No valid altitude estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_local_alt);
}
src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp
+3 -2
View File
@@ -80,12 +80,13 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
* <profile name="dev">
* This check can be configured via <param>COM_ARM_WO_GPS</param> parameter.
* </profile>
* The available positioning data is not sufficient to determine the vehicle's global position.
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_no_global_pos"),
events::Log::Error, "Global position required");
events::Log::Error, "Global position estimate required");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Global position required");
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Global position estimate required");
}
} else if (reporter.failsafeFlags().home_position_invalid) {