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failure_detector: add motor/ESC failure detection

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This commit is contained in:
Alessandro Simovic
2022-05-12 07:58:56 +02:00
committed by Beat Küng
parent dfd934fbdb
commit fb71e7587c
25 changed files with 338 additions and 441 deletions
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msg/failure_detector_status.msg
+2
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@@ -8,5 +8,7 @@ bool fd_ext
bool fd_arm_escs
bool fd_battery
bool fd_imbalanced_prop
bool fd_motor
float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
msg/vehicle_status.msg
+11 -11
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@@ -11,14 +11,15 @@ uint8 ARMING_STATE_IN_AIR_RESTORE = 5
uint8 ARMING_STATE_MAX = 6
# FailureDetector status
uint8 FAILURE_NONE = 0
uint8 FAILURE_ROLL = 1 # (1 << 0)
uint8 FAILURE_PITCH = 2 # (1 << 1)
uint8 FAILURE_ALT = 4 # (1 << 2)
uint8 FAILURE_EXT = 8 # (1 << 3)
uint8 FAILURE_ARM_ESC = 16 # (1 << 4)
uint8 FAILURE_BATTERY = 32 # (1 << 5)
uint8 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
uint16 FAILURE_NONE = 0
uint16 FAILURE_ROLL = 1 # (1 << 0)
uint16 FAILURE_PITCH = 2 # (1 << 1)
uint16 FAILURE_ALT = 4 # (1 << 2)
uint16 FAILURE_EXT = 8 # (1 << 3)
uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
uint16 FAILURE_BATTERY = 32 # (1 << 5)
uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
uint16 FAILURE_MOTOR = 128 # (1 << 7)
# HIL
uint8 HIL_STATE_OFF = 0
@@ -31,7 +32,7 @@ uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
uint8 NAVIGATION_STATE_UNUSED3 = 8 # Free slot
uint8 NAVIGATION_STATE_UNUSED = 9 # Free slot
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_UNUSED1 = 11 # Free slot
@@ -85,11 +86,10 @@ uint8 data_link_lost_counter # counts unique data link lost events
bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
bool engine_failure # Set to true if an engine failure is detected
bool mission_failure # Set to true if mission could not continue/finish
bool geofence_violated
uint8 failure_detector_status # Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
uint16 failure_detector_status # Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
# see SYS_STATUS mavlink message for the following
# lower 32 bits are for the base flags, higher 32 bits are or the extended flags
msg/vehicle_status_flags.msg
-1
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@@ -28,7 +28,6 @@ bool flight_terminated
bool circuit_breaker_engaged_power_check
bool circuit_breaker_engaged_airspd_check
bool circuit_breaker_engaged_enginefailure_check
bool circuit_breaker_flight_termination_disabled
bool circuit_breaker_engaged_usb_check
bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled