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PreFlightCheck: only allow modes suitable for takeoff

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This commit is contained in:
Matthias Grob 2022-03-07 17:57:16 +01:00
parent a430f0ccae
commit f1e44c6e2a
4 changed files with 72 additions and 0 deletions
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1
src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt
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@ -47,6 +47,7 @@ px4_add_library(PreFlightCheck
checks/ekf2Check.cpp
checks/failureDetectorCheck.cpp
checks/manualControlCheck.cpp
checks/modeCheck.cpp
checks/cpuResourceCheck.cpp
checks/sdcardCheck.cpp
checks/parachuteCheck.cpp

1
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
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@ -271,6 +271,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
}
failed = failed || !manualControlCheck(mavlink_log_pub, report_failures);
failed = failed || !modeCheck(mavlink_log_pub, report_failures, status);
failed = failed || !cpuResourceCheck(mavlink_log_pub, report_failures);
failed = failed || !parachuteCheck(mavlink_log_pub, report_failures, status_flags);

1
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
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@ -119,6 +119,7 @@ private:
const bool prearm);
static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool modeCheck(orb_advert_t *mavlink_log_pub, const bool report_fail, const vehicle_status_s &status);
static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status);
static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool sdcardCheck(orb_advert_t *mavlink_log_pub, bool &sd_card_detected_once, const bool report_fail);

69
src/modules/commander/Arming/PreFlightCheck/checks/modeCheck.cpp Normal file
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@ -0,0 +1,69 @@
/****************************************************************************
*
* 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 "../PreFlightCheck.hpp"
#include <systemlib/mavlink_log.h>
using namespace time_literals;
bool PreFlightCheck::modeCheck(orb_advert_t *mavlink_log_pub, const bool report_fail,
const vehicle_status_s &vehicle_status)
{
bool success = true;
switch (vehicle_status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_STAB:
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
break;
default:
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Mode not suitable for takeoff");
}
break;
}
return success;
}