mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 18:27:35 +08:00
Julian Oes
2445fa8b4c
This prevents a memory sanitizer/valgrind warning: Conditional jump or move depends on uninitialised value(s) at 0x2DA536: __sanitizer_cov_trace_cmp4 (in build/px4_sitl_default-clang/bin/px4) by 0x6590D8: FailureDetector::update(vehicle_status_s const&, vehicle_control_mode_s const&) (src/modules/commander/failure_detector/FailureDetector.cpp:76) by 0x3817DF: Commander::run() (src/modules/commander/Commander.cpp:2605) by 0x38B10B: ModuleBase<Commander>::run_trampoline(int, char**) (platforms/common/include/px4_platform_common/module.h:180)
124 lines
4.6 KiB
C++
124 lines
4.6 KiB
C++
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/****************************************************************************
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*
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* Copyright (c) 2018 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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/**
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* @file FailureDetector.hpp
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* Base class for failure detection logic based on vehicle states
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* for failsafe triggering.
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*
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* @author Mathieu Bresciani <brescianimathieu@gmail.com>
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*
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*/
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#pragma once
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#include <lib/mathlib/math/filter/AlphaFilter.hpp>
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#include <matrix/matrix/math.hpp>
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#include <mathlib/mathlib.h>
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#include <px4_platform_common/module_params.h>
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#include <hysteresis/hysteresis.h>
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// subscriptions
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_imu_status.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/pwm_input.h>
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union failure_detector_status_u {
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struct {
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uint16_t roll : 1;
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uint16_t pitch : 1;
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uint16_t alt : 1;
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uint16_t ext : 1;
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uint16_t arm_escs : 1;
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uint16_t high_wind : 1;
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uint16_t battery : 1;
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uint16_t imbalanced_prop : 1;
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} flags;
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uint16_t value {0};
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};
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using uORB::SubscriptionData;
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class FailureDetector : public ModuleParams
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{
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public:
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FailureDetector(ModuleParams *parent);
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bool update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode);
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const failure_detector_status_u &getStatus() const { return _status; }
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const decltype(failure_detector_status_u::flags) &getStatusFlags() const { return _status.flags; }
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float getImbalancedPropMetric() const { return _imbalanced_prop_lpf.getState(); }
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private:
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void updateAttitudeStatus();
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void updateExternalAtsStatus();
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void updateEscsStatus(const vehicle_status_s &vehicle_status);
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void updateImbalancedPropStatus();
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failure_detector_status_u _status{};
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systemlib::Hysteresis _roll_failure_hysteresis{false};
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systemlib::Hysteresis _pitch_failure_hysteresis{false};
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systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
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systemlib::Hysteresis _esc_failure_hysteresis{false};
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static constexpr float _imbalanced_prop_lpf_time_constant{5.f};
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AlphaFilter<float> _imbalanced_prop_lpf{};
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uint32_t _selected_accel_device_id{0};
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hrt_abstime _imu_status_timestamp_prev{0};
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uORB::Subscription _vehicule_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
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uORB::Subscription _pwm_input_sub{ORB_ID(pwm_input)};
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uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
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uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
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(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r,
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(ParamFloat<px4::params::FD_FAIL_R_TTRI>) _param_fd_fail_r_ttri,
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(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri,
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(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
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(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
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(ParamInt<px4::params::FD_ESCS_EN>) _param_escs_en,
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(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr
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)
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};
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