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simulator: use failure injection to block GPS

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This uses the new failure injection system using vehicle_commands
instead of specific parameters. For now it implements GPS only.
This commit is contained in:
Julian Oes
2020-09-16 12:51:56 -04:00
committed by Daniel Agar
parent 53b14233a2
commit a9c4f269bd
4 changed files with 122 additions and 74 deletions
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src/modules/simulator/simulator.h
+14 -8
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@@ -72,6 +72,8 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <random>
@@ -145,7 +147,8 @@ private:
_instance = nullptr;
}
// class methods
void check_failure_injections();
int publish_flow_topic(const mavlink_hil_optical_flow_t *flow);
int publish_odometry_topic(const mavlink_message_t *odom_mavlink);
@@ -176,6 +179,8 @@ private:
uORB::Publication<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
uORB::Publication<vehicle_odometry_s> _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};
uORB::PublicationQueued<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::PublicationMulti<distance_sensor_s> *_dist_pubs[RANGE_FINDER_MAX_SENSORS] {};
uint8_t _dist_sensor_ids[RANGE_FINDER_MAX_SENSORS] {};
@@ -235,6 +240,7 @@ private:
actuator_outputs_s _actuator_outputs{};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
// hil map_ref data
struct map_projection_reference_s _hil_local_proj_ref {};
@@ -246,20 +252,20 @@ private:
float _hil_ref_alt{0.0f};
uint64_t _hil_ref_timestamp{0};
// uORB data containers
vehicle_status_s _vehicle_status{};
bool _accel_blocked{false};
bool _gyro_blocked{false};
bool _baro_blocked{false};
bool _mag_blocked{false};
bool _gps_blocked{false};
bool _airspeed_blocked{false};
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
px4::atomic<bool> _has_initialized {false};
#endif
DEFINE_PARAMETERS(
(ParamBool<px4::params::SIM_GPS_BLOCK>) _param_sim_gps_block,
(ParamBool<px4::params::SIM_ACCEL_BLOCK>) _param_sim_accel_block,
(ParamBool<px4::params::SIM_GYRO_BLOCK>) _param_sim_gyro_block,
(ParamBool<px4::params::SIM_BARO_BLOCK>) _param_sim_baro_block,
(ParamBool<px4::params::SIM_MAG_BLOCK>) _param_sim_mag_block,
(ParamBool<px4::params::SIM_DPRES_BLOCK>) _param_sim_dpres_block,
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id