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commander: move estimator checks to arming check

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This commit is contained in:
Beat Küng
2022-09-01 17:07:23 -04:00
committed by Daniel Agar
parent cfe3d793bf
commit f17f38197d
9 changed files with 428 additions and 359 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
+52 -4
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@@ -39,13 +39,21 @@
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status_flags.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/sensor_gps.h>
#include <lib/hysteresis/hysteresis.h>
using namespace time_literals;
class EstimatorChecks : public HealthAndArmingCheckBase
{
public:
EstimatorChecks() = default;
EstimatorChecks();
~EstimatorChecks() = default;
void checkAndReport(const Context &context, Report &reporter) override;
@@ -54,13 +62,49 @@ private:
void checkEstimatorStatus(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
NavModes required_groups);
void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
void checkEstimatorStatusFlags(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
const vehicle_local_position_s &lpos);
void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const;
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);
bool checkPosVelValidity(const hrt_abstime &now, const bool data_valid, const float data_accuracy,
const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime &last_fail_time_us,
const bool was_valid) const;
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
uORB::Subscription _estimator_status_flags_sub{ORB_ID(estimator_status_flags)};
uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
hrt_abstime _last_gpos_fail_time_us{0}; ///< Last time that the global position validity recovery check failed (usec)
hrt_abstime _last_lpos_fail_time_us{0}; ///< Last time that the local position validity recovery check failed (usec)
hrt_abstime _last_lpos_relaxed_fail_time_us{0}; ///< Last time that the relaxed local position validity recovery check failed (usec)
hrt_abstime _last_lvel_fail_time_us{0}; ///< Last time that the local velocity validity recovery check failed (usec)
// variables used to check for navigation failure after takeoff
hrt_abstime _time_last_innov_pass{0}; ///< last time velocity and position innovations passed
hrt_abstime _time_last_innov_fail{0}; ///< last time velocity and position innovations failed
bool _nav_test_passed{false}; ///< true if the post takeoff navigation test has passed
bool _nav_test_failed{false}; ///< true if the post takeoff navigation test has failed
static constexpr hrt_abstime GPS_VALID_TIME{3_s};
systemlib::Hysteresis _vehicle_gps_position_valid{false};
bool _position_reliant_on_optical_flow{false};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::SYS_MC_EST_GROUP>) _param_sys_mc_est_group,
(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
(ParamFloat<px4::params::COM_ARM_EKF_HGT>) _param_com_arm_ekf_hgt,
@@ -68,6 +112,10 @@ private:
(ParamFloat<px4::params::COM_ARM_EKF_POS>) _param_com_arm_ekf_pos,
(ParamFloat<px4::params::COM_ARM_EKF_YAW>) _param_com_arm_ekf_yaw,
(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps
(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay
)
};