From f1e44c6e2ae6def6deb5d47ccd9da400d08da086 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 7 Mar 2022 17:57:16 +0100 Subject: [PATCH] PreFlightCheck: only allow modes suitable for takeoff --- .../Arming/PreFlightCheck/CMakeLists.txt | 1 + .../Arming/PreFlightCheck/PreFlightCheck.cpp | 1 + .../Arming/PreFlightCheck/PreFlightCheck.hpp | 1 + .../PreFlightCheck/checks/modeCheck.cpp | 69 +++++++++++++++++++ 4 files changed, 72 insertions(+) create mode 100644 src/modules/commander/Arming/PreFlightCheck/checks/modeCheck.cpp diff --git a/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt b/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt index 36dd4dcce9..a4e3f4d3cc 100644 --- a/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt +++ b/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt @@ -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 diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp index 2b9f6ff0b7..b070dc882c 100644 --- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp @@ -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); diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp index 242fbf58ae..492caeaddb 100644 --- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp +++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp @@ -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); diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/modeCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/modeCheck.cpp new file mode 100644 index 0000000000..fa69e77692 --- /dev/null +++ b/src/modules/commander/Arming/PreFlightCheck/checks/modeCheck.cpp @@ -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 + +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; +}