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Failsafe: only update failsafe flag in air

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Pernilla
2025-10-24 16:54:34 +02:00
parent b32f3f648b
commit a7118bdd96
2 changed files with 9 additions and 14 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+9 -13
View File
@@ -654,25 +654,23 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
vehicle_land_detected_s vehicle_land_detected;
_vehicle_land_detected_sub.copy(&vehicle_land_detected);
_in_air_valid = (now < vehicle_land_detected.timestamp + 2_s) && !vehicle_land_detected.landed;
if (!lpos.dead_reckoning && _in_air_valid) {
if (!lpos.dead_reckoning) {
_last_not_dead_reckoning_time_us = now;
}
bool dead_reckoning_valid_but_timouted = false;
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 ((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)) {
dead_reckoning_valid_but_timouted = (_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 (dead_reckoning_valid_but_timouted && _param_com_dead_reckoning_tout_act.get()) {
if (reporter.failsafeFlags().dead_reckoning_invalid && _param_com_dead_reckoning_tout_act.get()) {
// only report if armed
if (context.isArmed()) {
@@ -692,8 +690,6 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
}
}
}
reporter.failsafeFlags().dead_reckoning_invalid = dead_reckoning_valid_but_timouted;
}
void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading,
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
-1
View File
@@ -107,7 +107,6 @@ private:
bool _gps_was_fused{false};
bool _gnss_spoofed{false};
bool _in_air_valid{false};
bool _nav_failure_imminent_warned{false};