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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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src/modules/mavlink/mavlink_messages.cpp
-5
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@@ -260,11 +260,6 @@ union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
break;
src/modules/mavlink/streams/HEARTBEAT.hpp
-3
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@@ -131,9 +131,6 @@ private:
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
system_status = MAV_STATE_FLIGHT_TERMINATION;
} else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL) {
system_status = MAV_STATE_EMERGENCY;
} else if (vehicle_status_flags.calibration_enabled) {
system_status = MAV_STATE_CALIBRATING;
}
src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+1 -1
View File
@@ -437,7 +437,7 @@ private:
msg->failure_flags |= HL_FAILURE_FLAG_RC_RECEIVER;
}
if (status.engine_failure) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_MOTOR) {
msg->failure_flags |= HL_FAILURE_FLAG_ENGINE;
}
src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp
-1
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@@ -141,7 +141,6 @@ private:
bool vehicle_in_auto_mode = (vehicle_status.timestamp > 0)
&& (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER