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commander failsafe: never override user intended termination + unit test

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This commit is contained in:
Matthias Grob
2025-07-28 11:36:21 +02:00
parent 82569aad8d
commit b9f7b8f705
2 changed files with 27 additions and 1 deletions
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src/modules/commander/failsafe/failsafe_test.cpp
+25
View File
@@ -432,3 +432,28 @@ TEST_F(FailsafeTest, skip_failsafe)
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn); ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
} }
TEST_F(FailsafeTest, user_termination)
{
FailsafeTester failsafe(nullptr);
failsafe_flags_s failsafe_flags{};
FailsafeBase::State state{};
state.armed = true;
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
hrt_abstime time = 5_s;
// User intended termination -> failsafe termination
uint8_t updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
EXPECT_EQ(updated_user_intented_mode, state.user_intended_mode);
EXPECT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
// Links lost during termination -> stay in termination
failsafe_flags.gcs_connection_lost = true;
failsafe_flags.manual_control_signal_lost = true;
updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
EXPECT_EQ(updated_user_intented_mode, state.user_intended_mode);
EXPECT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
}
src/modules/commander/failsafe/framework.cpp
+2 -1
View File
@@ -443,7 +443,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
returned_state.updated_user_intended_mode = state.user_intended_mode; returned_state.updated_user_intended_mode = state.user_intended_mode;
returned_state.cause = Cause::Generic; returned_state.cause = Cause::Generic;
if (_selected_action == Action::Terminate) { // Terminate never clears if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_TERMINATION
|| _selected_action == Action::Terminate) { // Terminate never clears
returned_state.action = Action::Terminate; returned_state.action = Action::Terminate;
return; return;
} }