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Commander: add wind speed warning

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Publishes periodically (max every 1 min) a warning if the current wind estimate
is above COM_WIND_WARN.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-06 11:31:13 -04:00
committed by Daniel Agar
parent 1a4ce136f3
commit eeb6244c6b
3 changed files with 51 additions and 0 deletions
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src/modules/commander/Commander.hpp
+8
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@@ -87,6 +87,7 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/wind.h>
using math::constrain;
using systemlib::Hysteresis;
@@ -182,6 +183,8 @@ private:
void send_parachute_command();
void checkWindAndWarn();
DEFINE_PARAMETERS(
(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
@@ -217,6 +220,8 @@ private:
(ParamFloat<px4::params::COM_OBC_LOSS_T>) _param_com_obc_loss_t,
(ParamFloat<px4::params::COM_WIND_WARN>) _param_com_wind_warn,
// Offboard
(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
@@ -377,6 +382,8 @@ private:
safety_s _safety{};
vtol_vehicle_status_s _vtol_status{};
hrt_abstime _last_wind_warning{0};
// commander publications
actuator_armed_s _armed{};
commander_state_s _internal_state{};
@@ -401,6 +408,7 @@ private:
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
uORB::Subscription _wind_sub{ORB_ID(wind)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};