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

2026-07-18 08:10:36 +08:00 · 2022-09-05 07:56:39 +02:00
parent ae6377dfa0
commit e4bb219d10
30 changed files with 325 additions and 259 deletions
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "offboardCheck.hpp"
+
+using namespace time_literals;
+
+OffboardChecks::OffboardChecks()
+{
+	_offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get() * 1_s);
+}
+
+void OffboardChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	reporter.failsafeFlags().offboard_control_signal_lost = true;
+
+	offboard_control_mode_s offboard_control_mode;
+
+	if (_offboard_control_mode_sub.copy(&offboard_control_mode)) {
+		bool offboard_available = offboard_control_mode.position || offboard_control_mode.velocity
+					  || offboard_control_mode.acceleration || offboard_control_mode.attitude || offboard_control_mode.body_rate
+					  || offboard_control_mode.actuator;
+
+		if (offboard_control_mode.position && reporter.failsafeFlags().local_position_invalid) {
+			offboard_available = false;
+
+		} else if (offboard_control_mode.velocity && reporter.failsafeFlags().local_velocity_invalid) {
+			offboard_available = false;
+
+		} else if (offboard_control_mode.acceleration && reporter.failsafeFlags().local_velocity_invalid) {
+			// OFFBOARD acceleration handled by position controller
+			offboard_available = false;
+		}
+
+		_offboard_available.set_state_and_update(offboard_available, hrt_absolute_time());
+
+		// This is a mode requirement, no need to report
+		reporter.failsafeFlags().offboard_control_signal_lost = !_offboard_available.get_state();
+	}
+}