mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-14 23:40:36 +08:00
Silvan Fuhrer
209 lines
7.2 KiB
C++
209 lines
7.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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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#pragma once
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#include "framework.h"
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class Failsafe : public FailsafeBase
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{
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public:
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Failsafe(ModuleParams *parent) : FailsafeBase(parent) {}
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protected:
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void checkStateAndMode(const hrt_abstime &time_us, const State &state,
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const failsafe_flags_s &status_flags) override;
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Action checkModeFallback(const failsafe_flags_s &status_flags, uint8_t user_intended_mode) const override;
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uint8_t modifyUserIntendedMode(Action previous_action, Action current_action,
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uint8_t user_intended_mode) const override;
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private:
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void updateArmingState(const hrt_abstime &time_us, bool armed, const failsafe_flags_s &status_flags);
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enum class ManualControlLossExceptionBits : int32_t {
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Mission = (1 << 0),
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Hold = (1 << 1),
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Offboard = (1 << 2)
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};
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// COM_LOW_BAT_ACT parameter values
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enum class LowBatteryAction : int32_t {
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Warning = 0, // Warning
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Return = 1, // Return mode (deprecated)
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Land = 2, // Land mode
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ReturnOrLand = 3 // Return mode at critically low level, Land mode at current position if reaching dangerously low levels
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};
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enum class offboard_loss_failsafe_mode : int32_t {
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Position_mode = 0,
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Altitude_mode = 1,
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Stabilized = 2,
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Return_mode = 3,
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Land_mode = 4,
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Hold_mode = 5,
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Terminate = 6,
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Disarm = 7,
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};
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enum class position_control_navigation_loss_response : int32_t {
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Altitude_Manual = 0,
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Land_Descend = 1,
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};
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enum class actuator_failure_failsafe_mode : int32_t {
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Warning_only = 0,
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Hold_mode = 1,
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Land_mode = 2,
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Return_mode = 3,
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Terminate = 4,
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};
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enum class imbalanced_propeller_failsafe_mode : int32_t {
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Disabled = -1,
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Warning = 0,
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Return = 1,
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Land = 2,
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};
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enum class geofence_violation_action : int32_t {
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None = 0,
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Warning = 1,
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Hold_mode = 2,
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Return_mode = 3,
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Terminate = 4,
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Land_mode = 5,
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};
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enum class gcs_connection_loss_failsafe_mode : int32_t {
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Disabled = 0,
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Hold_mode = 1,
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Return_mode = 2,
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Land_mode = 3,
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Terminate = 5,
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Disarm = 6,
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};
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enum class command_after_quadchute : int32_t {
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Warning_only = -1,
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Return_mode = 0,
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Land_mode = 1,
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Hold_mode = 2,
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};
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// COM_RC_IN_MODE parameter values
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enum class RcInMode : int32_t {
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RcTransmitterOnly = 0, // RC Transmitter only
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JoystickOnly = 1, // Joystick only
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RcAndJoystickWithFallback = 2, // RC And Joystick with fallback
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RcOrJoystickKeepFirst = 3, // RC or Joystick keep first
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StickInputDisabled = 4 // input disabled
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};
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enum class command_after_high_wind_failsafe : int32_t {
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None = 0,
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Warning = 1,
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Hold_mode = 2,
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Return_mode = 3,
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Terminate = 4,
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Land_mode = 5
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};
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enum class command_after_pos_low_failsafe : int32_t {
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None = 0,
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Warning = 1,
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Hold_mode = 2,
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Return_mode = 3,
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Terminate = 4,
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Land_mode = 5
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};
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enum class command_after_remaining_flight_time_low : int32_t {
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None = 0,
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Warning = 1,
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Return_mode = 3
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};
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static ActionOptions fromNavDllOrRclActParam(int param_value);
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static ActionOptions fromGfActParam(int param_value);
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static ActionOptions fromImbalancedPropActParam(int param_value);
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static ActionOptions fromActuatorFailureActParam(int param_value);
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static ActionOptions fromBatteryWarningActParam(int param_value, uint8_t battery_warning);
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static ActionOptions fromQuadchuteActParam(int param_value);
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static Action fromOffboardLossActParam(int param_value, uint8_t &user_intended_mode);
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static ActionOptions fromHighWindLimitActParam(int param_value);
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static ActionOptions fromPosLowActParam(int param_value);
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static ActionOptions fromRemainingFlightTimeLowActParam(int param_value);
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const int _caller_id_mode_fallback{genCallerId()};
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bool _last_state_mode_fallback{false};
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const int _caller_id_mission_control_lost{genCallerId()};
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bool _last_state_mission_control_lost{false};
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const int _caller_id_battery_warning_low{genCallerId()}; ///< battery warning caller ID's: use different ID's as they have different actions
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bool _last_state_battery_warning_low{false};
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const int _caller_id_battery_warning_critical{genCallerId()};
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bool _last_state_battery_warning_critical{false};
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const int _caller_id_battery_warning_emergency{genCallerId()};
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bool _last_state_battery_warning_emergency{false};
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hrt_abstime _armed_time{0};
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bool _was_armed{false};
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bool _manual_control_lost_at_arming{false}; ///< true if manual control was lost at arming time
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uint8_t _battery_warning_at_arming{0}; ///< low battery state at arming time
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DEFINE_PARAMETERS_CUSTOM_PARENT(FailsafeBase,
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(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
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(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
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(ParamInt<px4::params::COM_RCL_EXCEPT>) _param_com_rcl_except,
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(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
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(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl,
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(ParamInt<px4::params::GF_ACTION>) _param_gf_action,
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(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
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(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
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(ParamFloat<px4::params::COM_LKDOWN_TKO>) _param_com_lkdown_tko,
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(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
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(ParamInt<px4::params::COM_ACT_FAIL_ACT>) _param_com_actuator_failure_act,
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(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
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(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
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(ParamInt<px4::params::COM_QC_ACT>) _param_com_qc_act,
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(ParamInt<px4::params::COM_WIND_MAX_ACT>) _param_com_wind_max_act,
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(ParamInt<px4::params::COM_FLTT_LOW_ACT>) _param_com_fltt_low_act,
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(ParamInt<px4::params::COM_POS_LOW_ACT>) _param_com_pos_low_act
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);
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};
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