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check avoidance status in commander and set sys status

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remove mavlink log
This commit is contained in:
Martina Rivizzigno
2020-02-18 17:35:12 +01:00
committed by Julian Kent
parent 48b7cd926e
commit aee1e70642
4 changed files with 55 additions and 34 deletions
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src/modules/commander/Commander.cpp
+45 -17
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@@ -1976,6 +1976,8 @@ Commander::run()
// data link checks which update the status
data_link_check();
avoidance_check();
// engine failure detection
// TODO: move out of commander
if (_actuator_controls_sub.updated()) {
@@ -3614,7 +3616,6 @@ void Commander::data_link_check()
_datalink_last_status_avoidance_system = telemetry.remote_system_status;
if (_avoidance_system_lost) {
mavlink_log_info(&mavlink_log_pub, "Avoidance system regained");
_status_changed = true;
_avoidance_system_lost = false;
status_flags.avoidance_system_valid = true;
@@ -3654,42 +3655,29 @@ void Commander::data_link_check()
// AVOIDANCE SYSTEM state check (only if it is enabled)
if (status_flags.avoidance_system_required && !_onboard_controller_lost) {
//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0
&& hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _param_com_oa_boot_t.get() * 1_s) {
if (!_print_avoidance_msg_once) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available");
_print_avoidance_msg_once = true;
}
}
//if heartbeats stop
if (!_avoidance_system_lost && (_datalink_last_heartbeat_avoidance_system > 0)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > 5_s)) {
_avoidance_system_lost = true;
mavlink_log_critical(&mavlink_log_pub, "Avoidance system lost");
status_flags.avoidance_system_valid = false;
_print_avoidance_msg_once = false;
}
//if status changed
if (_avoidance_system_status_change) {
if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_BOOT) {
mavlink_log_info(&mavlink_log_pub, "Avoidance system starting");
status_flags.avoidance_system_valid = false;
}
if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_ACTIVE) {
mavlink_log_info(&mavlink_log_pub, "Avoidance system connected");
status_flags.avoidance_system_valid = true;
}
if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_CRITICAL) {
mavlink_log_info(&mavlink_log_pub, "Avoidance system timed out");
status_flags.avoidance_system_valid = false;
_status_changed = true;
}
if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_FLIGHT_TERMINATION) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system rejected");
status_flags.avoidance_system_valid = false;
_status_changed = true;
}
@@ -3712,6 +3700,46 @@ void Commander::data_link_check()
}
}
void Commander::avoidance_check()
{
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
if (_sub_distance_sensor[i].updated()) {
distance_sensor_s distance_sensor {};
_sub_distance_sensor[i].copy(&distance_sensor);
if ((distance_sensor.orientation != distance_sensor_s::ROTATION_DOWNWARD_FACING) &&
(distance_sensor.orientation != distance_sensor_s::ROTATION_UPWARD_FACING)) {
_valid_distance_sensor_time_us = distance_sensor.timestamp;
}
}
}
const bool cp_enabled = _param_cp_dist.get() > 0.f;
const bool distance_sensor_valid = hrt_elapsed_time(&_valid_distance_sensor_time_us) < 500_ms;
const bool cp_healthy = status_flags.avoidance_system_valid || distance_sensor_valid;
const bool sensor_oa_present = cp_healthy || status_flags.avoidance_system_required || cp_enabled;
const bool auto_mode = _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION
|| _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER
|| _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL
|| _internal_state.main_state == commander_state_s::MAIN_STATE_OFFBOARD
|| _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_TAKEOFF
|| _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND;
const bool pos_ctl_mode = _internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL;
const bool sensor_oa_enabled = ((auto_mode && status_flags.avoidance_system_required) || (pos_ctl_mode
&& cp_enabled)) ? true : false;
const bool sensor_oa_healthy = ((auto_mode && status_flags.avoidance_system_valid) || (pos_ctl_mode
&& cp_healthy)) ? true : false;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE, sensor_oa_present, sensor_oa_enabled,
sensor_oa_healthy, status);
}
void Commander::battery_status_check()
{
bool battery_sub_updated = false;