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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
127 lines
4.9 KiB
C++
127 lines
4.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "airspeedCheck.hpp"
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#include <lib/circuit_breaker/circuit_breaker.h>
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using namespace time_literals;
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AirspeedChecks::AirspeedChecks()
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: _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_trim_handle(param_find("FW_AIRSPD_TRIM"))
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{
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}
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void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
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{
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if (circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY) ||
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(context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !context.status().is_vtol)) {
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return;
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}
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int32_t airspeed_mode = 0;
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param_get(_param_fw_arsp_mode_handle, &airspeed_mode);
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const bool optional = (airspeed_mode == 1);
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airspeed_validated_s airspeed_validated;
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if (_airspeed_validated_sub.copy(&airspeed_validated) && hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s) {
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reporter.setIsPresent(health_component_t::differential_pressure);
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float airspeed_trim = 10.0f;
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param_get(_param_fw_airspd_trim_handle, &airspeed_trim);
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const float arming_max_airspeed_allowed = airspeed_trim / 2.0f; // set to half of trim airspeed
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/*
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* Check if airspeed is declared valid or not by airspeed selector.
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*/
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if (!PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)) {
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/* EVENT
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*/
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reporter.healthFailure(NavModes::All, health_component_t::differential_pressure,
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events::ID("check_airspeed_invalid"),
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events::Log::Error, "Airspeed invalid");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed invalid");
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}
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}
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/*
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* Check if airspeed is higher than maximally accepted while the vehicle is landed / not flying
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* Negative and positive offsets are considered. This check is optional, because the pitot cover
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* might have been removed before arming.
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*/
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if (!context.isArmed() && _param_com_arm_arsp_en.get()
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&& fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) {
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/* EVENT
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* @description
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* Check the airspeed calibration and the pitot.
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*
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* <profile name="dev">
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* Measured: {1:.1m/s}, limit: {2:.1m/s}.
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*
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* This check can be configured via <param>COM_ARM_ARSP_EN</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure<float, float>(NavModes::None, health_component_t::differential_pressure,
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events::ID("check_airspeed_too_high"),
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events::Log::Error, "Airspeed too high", airspeed_validated.calibrated_airspeed_m_s, arming_max_airspeed_allowed);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed too high - check cal or pitot");
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}
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}
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} else if (!optional) {
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/* EVENT
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* @description
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* <profile name="dev">
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* Most likely the airspeed selector module is not running.
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* This check can be configured via <param>CBRK_AIRSPD_CHK</param> parameter.
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* </profile>
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*/
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reporter.healthFailure(NavModes::All, health_component_t::differential_pressure,
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events::ID("check_airspeed_no_data"),
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events::Log::Error, "No airspeed data");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed selector module down");
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}
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}
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}
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