Failure Detector - Various cleanup and style changes.

- use pragma once guard in FailureDetector.hpp
- send Commander parent to ModuleParams and remove update_params() method
- simplify attitude checks
- FailureDetector::get_status() (previously named "get") is now a constant method that returns a constant reference

src/modules/commander/Commander.cpp

@@ -540,7 +540,8 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 }
 
 Commander::Commander() :
-	ModuleParams(nullptr)
+	ModuleParams(nullptr),
+	_failure_detector(this)
 {
 	_battery_sub = orb_subscribe(ORB_ID(battery_status));
 }
@@ -1425,7 +1426,6 @@ Commander::run()
 			orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
 
 			updateParams();
-			_failure_detector.update_params();
 
 			/* update parameters */
 			if (!armed.armed) {
@@ -2289,21 +2289,20 @@ Commander::run()
 
 			if (_failure_detector.update()) {
 
-				const auto _failure_status = _failure_detector.get();
+				const failure_detector_status_s failure_status = _failure_detector.get_status();
 
-				if (_failure_status.roll ||
+				if (failure_status.roll ||
-					_failure_status.pitch) {
+					failure_status.pitch) {
 
 					armed.force_failsafe = true;
 					status_changed = true;
 
 					// Only display an user message if the circuit-breaker is disabled
 					if (!status_flags.circuit_breaker_flight_termination_disabled) {
-						static bool parachute_termination_printed = false;
 
-						if (!parachute_termination_printed) {
+						if (!_failure_detector_termination_printed) {
-							warnx("Flight termination because of attitude exceeding maximum values");
+							PX4_WARN("Flight termination because of attitude exceeding maximum values");
-							parachute_termination_printed = true;
+							_failure_detector_termination_printed = true;
 						}
 
 						if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {

src/modules/commander/Commander.hpp

@@ -129,6 +129,7 @@ private:
 	bool		_nav_test_failed{false};	/**< true if the post takeoff navigation test has failed */
 
 	FailureDetector _failure_detector;
+	bool _failure_detector_termination_printed{false};
 
 	bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd,
 			    actuator_armed_s *armed, home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);

src/modules/commander/failure_detector/FailureDetector.cpp

@@ -40,19 +40,13 @@
 
 #include "FailureDetector.hpp"
 
-FailureDetector::FailureDetector() :
+FailureDetector::FailureDetector(ModuleParams *parent) :
-	ModuleParams(nullptr),
+	ModuleParams(parent),
 	_sub_vehicle_attitude_setpoint(ORB_ID(vehicle_attitude_setpoint)),
 	_sub_vehicule_attitude(ORB_ID(vehicle_attitude))
 {
 }
 
-void
-FailureDetector::update_params()
-{
-	updateParams();
-}
-
 bool
 FailureDetector::update()
 {
@@ -80,23 +74,8 @@ FailureDetector::update_attitude_status()
 		const float max_roll(fabsf(math::radians(max_roll_deg)));
 		const float max_pitch(fabsf(math::radians(max_pitch_deg)));
 
-		if ((max_roll > 0.0f) &&
+		_status.roll = (max_roll > 0.0f) && (fabsf(roll) > max_roll);
-		    (fabsf(roll) > max_roll)) {
+		_status.pitch = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch);
-
-			_status.roll = true;
-
-		} else {
-			_status.roll = false;
-		}
-
-		if ((max_pitch > 0.0f) &&
-		    (fabsf(pitch) > max_pitch)) {
-
-			_status.pitch = true;
-
-		} else {
-			_status.pitch = false;
-		}
 
 		updated = true;
 

src/modules/commander/failure_detector/FailureDetector.hpp

@@ -41,8 +41,7 @@
 *
 */
 
-#ifndef FAILURE_DETECTOR_HPP
+#pragma once
-#define FAILURE_DETECTOR_HPP
 
 #include <matrix/matrix/math.hpp>
 #include <mathlib/mathlib.h>
@@ -53,24 +52,22 @@
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 
+struct failure_detector_status_s {
+	bool roll;
+	bool pitch;
+	bool altitude;
+};
+
 using uORB::Subscription;
 
 class FailureDetector : public ModuleParams
 {
 public:
-	FailureDetector();
+	FailureDetector(ModuleParams *parent);
-
-	void update_params();
 
 	bool update();
 
-	struct failure_detector_status_s {
+	const failure_detector_status_s& get_status() const {return _status;}
-		bool roll;
-		bool pitch;
-		bool altitude;
-	};
-
-	failure_detector_status_s get() {return _status;};
 
 private:
 
@@ -87,5 +84,3 @@ private:
 
 	bool update_attitude_status();
 };
-
-#endif /* FAILURE_DETECTOR_HPP */