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commander: add Open Drone ID arming check (#21652)

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This commit is contained in:
Eric Katzfey
2023-06-01 07:52:52 +02:00
committed by GitHub
parent 4b5e14aeec
commit d2011e99b2
6 changed files with 159 additions and 1 deletions
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src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp
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/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "openDroneIDCheck.hpp"
void OpenDroneIDChecks::checkAndReport(const Context &context, Report &reporter)
{
// Check to see if the check has been disabled
if (!_param_com_arm_odid.get()) {
return;
}
NavModes affected_modes{NavModes::None};
if (_param_com_arm_odid.get() == 2) {
// disallow arming without the Open Drone ID system
affected_modes = NavModes::All;
}
if (!context.status().open_drone_id_system_present) {
/* EVENT
* @description
* Open Drone ID system failed to report. Make sure it is setup and installed properly.
*
* <profile name="dev">
* This check can be configured via <param>COM_ARM_ODID</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
events::ID("check_open_drone_id_missing"),
events::Log::Error, "Open Drone ID system missing");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system missing");
}
} else if (!context.status().open_drone_id_system_healthy) {
/* EVENT
* @description
* Open Drone ID system reported being unhealthy.
*
* <profile name="dev">
* This check can be configured via <param>COM_ARM_ODID</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
events::ID("check_open_drone_id_unhealthy"),
events::Log::Error, "Open Drone ID system not ready");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system not ready");
}
}
}
src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.hpp
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/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "../Common.hpp"
class OpenDroneIDChecks : public HealthAndArmingCheckBase
{
public:
OpenDroneIDChecks() = default;
~OpenDroneIDChecks() = default;
void checkAndReport(const Context &context, Report &reporter) override;
private:
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::COM_ARM_ODID>) _param_com_arm_odid
)
};