refactor vehicle_status_flags: rename to failsafe_flags

src/modules/commander/HealthAndArmingChecks/Common.cpp

@@ -178,7 +178,7 @@ void Report::reset()
 void Report::prepare(uint8_t vehicle_type)
 {
 	// Get mode requirements before running any checks (in particular the mode checks require them)
-	mode_util::getModeRequirements(vehicle_type, _status_flags);
+	mode_util::getModeRequirements(vehicle_type, _failsafe_flags);
 }
 
 NavModes Report::getModeGroup(uint8_t nav_state) const

src/modules/commander/HealthAndArmingChecks/Common.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/module_params.h>
 #include <uORB/topics/health_report.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_status_flags.h>
+#include <uORB/topics/failsafe_flags.h>
 #include <systemlib/mavlink_log.h>
 
 #include <stdint.h>
@@ -188,11 +188,11 @@ public:
 		}
 	};
 
-	Report(vehicle_status_flags_s &status_flags, hrt_abstime min_reporting_interval = 2_s)
-		: _min_reporting_interval(min_reporting_interval), _status_flags(status_flags) { }
+	Report(failsafe_flags_s &failsafe_flags, hrt_abstime min_reporting_interval = 2_s)
+		: _min_reporting_interval(min_reporting_interval), _failsafe_flags(failsafe_flags) { }
 	~Report() = default;
 
-	vehicle_status_flags_s &failsafeFlags() { return _status_flags; }
+	failsafe_flags_s &failsafeFlags() { return _failsafe_flags; }
 
 	orb_advert_t *mavlink_log_pub() { return _mavlink_log_pub; }
 
@@ -255,7 +255,7 @@ public:
 	const HealthResults &healthResults() const { return _results[_current_result].health; }
 	const ArmingCheckResults &armingCheckResults() const { return _results[_current_result].arming_checks; }
 
-	bool modePreventsArming(uint8_t nav_state) const { return _status_flags.mode_req_prevent_arming & (1u << nav_state); }
+	bool modePreventsArming(uint8_t nav_state) const { return _failsafe_flags.mode_req_prevent_arming & (1u << nav_state); }
 private:
 
 	/**
@@ -346,7 +346,7 @@ private:
 	Results _results[2]; ///< Previous and current results to check for changes
 	int _current_result{0};
 
-	vehicle_status_flags_s &_status_flags;
+	failsafe_flags_s &_failsafe_flags;
 
 	orb_advert_t *_mavlink_log_pub{nullptr}; ///< mavlink log publication for legacy reporting
 };

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -38,7 +38,7 @@
 #include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/health_report.h>
-#include <uORB/topics/vehicle_status_flags.h>
+#include <uORB/topics/failsafe_flags.h>
 
 #include "checks/accelerometerCheck.hpp"
 #include "checks/airspeedCheck.hpp"
@@ -98,7 +98,7 @@ public:
 	 */
 	bool modePreventsArming(uint8_t nav_state) const { return _reporter.modePreventsArming(nav_state); }
 
-	const vehicle_status_flags_s &failsafeFlags() const { return _failsafe_flags; }
+	const failsafe_flags_s &failsafeFlags() const { return _failsafe_flags; }
 
 protected:
 	void updateParams() override;
@@ -107,10 +107,10 @@ private:
 	Report _reporter;
 	orb_advert_t _mavlink_log_pub{nullptr};
 
-	vehicle_status_flags_s _failsafe_flags{};
+	failsafe_flags_s _failsafe_flags{};
 
 	uORB::Publication<health_report_s> _health_report_pub{ORB_ID(health_report)};
-	uORB::Publication<vehicle_status_flags_s> _failsafe_flags_pub{ORB_ID(vehicle_status_flags)};
+	uORB::Publication<failsafe_flags_s> _failsafe_flags_pub{ORB_ID(failsafe_flags)};
 
 	// all checks
 	AccelerometerChecks _accelerometer_checks;

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp

@@ -63,8 +63,8 @@ public:
 
 TEST_F(ReporterTest, basic_no_checks)
 {
-	vehicle_status_flags_s status_flags{};
-	Report reporter{status_flags, 0_s};
+	failsafe_flags_s failsafe_flags{};
+	Report reporter{failsafe_flags, 0_s};
 	ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
 
 	reporter.reset();
@@ -83,8 +83,8 @@ TEST_F(ReporterTest, basic_no_checks)
 
 TEST_F(ReporterTest, basic_fail_all_modes)
 {
-	vehicle_status_flags_s status_flags{};
-	Report reporter{status_flags, 0_s};
+	failsafe_flags_s failsafe_flags{};
+	Report reporter{failsafe_flags, 0_s};
 
 	// ensure arming is always denied with a NavModes::All failure
 	for (uint8_t nav_state = 0; nav_state < vehicle_status_s::NAVIGATION_STATE_MAX; ++nav_state) {
@@ -101,8 +101,8 @@ TEST_F(ReporterTest, basic_fail_all_modes)
 
 TEST_F(ReporterTest, arming_checks_mode_category)
 {
-	vehicle_status_flags_s status_flags{};
-	Report reporter{status_flags, 0_s};
+	failsafe_flags_s failsafe_flags{};
+	Report reporter{failsafe_flags, 0_s};
 
 	// arming must still be possible for non-relevant failures
 	reporter.reset();
@@ -130,8 +130,8 @@ TEST_F(ReporterTest, arming_checks_mode_category)
 
 TEST_F(ReporterTest, arming_checks_mode_category2)
 {
-	vehicle_status_flags_s status_flags{};
-	Report reporter{status_flags, 0_s};
+	failsafe_flags_s failsafe_flags{};
+	Report reporter{failsafe_flags, 0_s};
 
 	// A matching mode category must deny arming
 	reporter.reset();
@@ -153,8 +153,8 @@ TEST_F(ReporterTest, arming_checks_mode_category2)
 
 TEST_F(ReporterTest, reporting)
 {
-	vehicle_status_flags_s status_flags{};
-	Report reporter{status_flags, 0_s};
+	failsafe_flags_s failsafe_flags{};
+	Report reporter{failsafe_flags, 0_s};
 
 	uORB::Subscription event_sub{ORB_ID(event)};
 	event_sub.subscribe();
@@ -247,8 +247,8 @@ TEST_F(ReporterTest, reporting)
 
 TEST_F(ReporterTest, reporting_multiple)
 {
-	vehicle_status_flags_s status_flags{};
-	Report reporter{status_flags, 0_s};
+	failsafe_flags_s failsafe_flags{};
+	Report reporter{failsafe_flags, 0_s};
 
 	uORB::Subscription event_sub{ORB_ID(event)};
 	event_sub.subscribe();

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -670,7 +670,7 @@ void EstimatorChecks::gpsNoLongerValid(const Context &context, Report &reporter)
 
 void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading,
 		bool pre_flt_fail_innov_vel_horiz,
-		const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position, vehicle_status_flags_s &failsafe_flags)
+		const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position, failsafe_flags_s &failsafe_flags)
 {
 	// The following flags correspond to mode requirements, and are reported in the corresponding mode checks
 

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp

@@ -69,7 +69,7 @@ private:
 	void gpsNoLongerValid(const Context &context, Report &reporter) const;
 	void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz,
 				     const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position,
-				     vehicle_status_flags_s &failsafe_flags);
+				     failsafe_flags_s &failsafe_flags);
 
 	bool checkPosVelValidity(const hrt_abstime &now, const bool data_valid, const float data_accuracy,
 				 const float required_accuracy,