fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-18 06:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status

Browse Source
This commit is contained in:
Beat Küng
2022-09-05 07:56:39 +02:00
committed by Daniel Agar
parent ae6377dfa0
commit e4bb219d10
30 changed files with 325 additions and 259 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
+20 -10
View File
@@ -42,7 +42,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
// Failing mode requirements generally also clear the can_run bits which prevents mode switching and
// might trigger a failsafe if already in that mode.
if (!reporter.failsafeFlags().angular_velocity_valid && reporter.failsafeFlags().mode_req_angular_velocity != 0) {
if (reporter.failsafeFlags().angular_velocity_invalid && reporter.failsafeFlags().mode_req_angular_velocity != 0) {
/* EVENT
* @description
* Make sure the gyroscope is providing valid data.
@@ -53,7 +53,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_angular_velocity);
}
if (!reporter.failsafeFlags().attitude_valid && reporter.failsafeFlags().mode_req_attitude != 0) {
if (reporter.failsafeFlags().attitude_invalid && reporter.failsafeFlags().mode_req_attitude != 0) {
/* EVENT
* @description
* Wait until the estimator initialized
@@ -66,11 +66,11 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
NavModes local_position_modes = NavModes::None;
if (!reporter.failsafeFlags().local_position_valid && reporter.failsafeFlags().mode_req_local_position != 0) {
if (reporter.failsafeFlags().local_position_invalid && reporter.failsafeFlags().mode_req_local_position != 0) {
local_position_modes = (NavModes)reporter.failsafeFlags().mode_req_local_position;
}
if (!reporter.failsafeFlags().local_position_valid_relaxed
if (reporter.failsafeFlags().local_position_invalid_relaxed
&& reporter.failsafeFlags().mode_req_local_position_relaxed != 0) {
local_position_modes = local_position_modes | (NavModes)reporter.failsafeFlags().mode_req_local_position_relaxed;
}
@@ -84,7 +84,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
reporter.clearCanRunBits(local_position_modes);
}
if (!reporter.failsafeFlags().global_position_valid && reporter.failsafeFlags().mode_req_global_position != 0) {
if (reporter.failsafeFlags().global_position_invalid && reporter.failsafeFlags().mode_req_global_position != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, health_component_t::system,
@@ -93,7 +93,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position);
}
if (!reporter.failsafeFlags().local_altitude_valid && reporter.failsafeFlags().mode_req_local_alt != 0) {
if (reporter.failsafeFlags().local_altitude_invalid && reporter.failsafeFlags().mode_req_local_alt != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_local_alt, health_component_t::system,
@@ -102,12 +102,22 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_local_alt);
}
if (!reporter.failsafeFlags().auto_mission_available && reporter.failsafeFlags().mode_req_mission != 0) {
NavModes mission_required_modes = (NavModes)reporter.failsafeFlags().mode_req_mission;
if (_param_com_arm_mis_req.get()) {
mission_required_modes = NavModes::All;
}
if (reporter.failsafeFlags().auto_mission_missing && mission_required_modes != NavModes::None) {
/* EVENT
* @description
* Upload a mission first.
*
* <profile name="dev">
* This check can be configured via <param>COM_ARM_MIS_REQ</param> parameter.
* </profile>
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_mission, health_component_t::system,
reporter.armingCheckFailure(mission_required_modes, health_component_t::system,
events::ID("check_modes_mission"),
events::Log::Info, "No valid mission available");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_mission);
@@ -116,7 +126,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
if (reporter.failsafeFlags().offboard_control_signal_lost && reporter.failsafeFlags().mode_req_offboard_signal != 0) {
/* EVENT
* @description
* The offboard component is not sending setpoints.
* The offboard component is not sending setpoints or the required estimate (e.g. position) is missing.
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_offboard_signal, health_component_t::system,
events::ID("check_modes_offboard_signal"),
@@ -124,7 +134,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_offboard_signal);
}
if (!reporter.failsafeFlags().home_position_valid && reporter.failsafeFlags().mode_req_home_position != 0) {
if (reporter.failsafeFlags().home_position_invalid && reporter.failsafeFlags().mode_req_home_position != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_home_position, health_component_t::system,