mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-19 04:10:34 +08:00
Beat Küng
184 lines
7.0 KiB
C++
184 lines
7.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019-2020 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 "systemCheck.hpp"
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#include "../../Arming/ArmAuthorization/ArmAuthorization.h"
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#include <lib/circuit_breaker/circuit_breaker.h>
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#include <uORB/topics/vehicle_command_ack.h>
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void SystemChecks::checkAndReport(const Context &context, Report &reporter)
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{
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actuator_armed_s actuator_armed;
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if (_actuator_armed_sub.copy(&actuator_armed)) {
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if (actuator_armed.force_failsafe || actuator_armed.manual_lockdown) {
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/* EVENT
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_flight_term_active"),
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events::Log::Critical, "Flight termination active");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Flight termination active");
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}
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}
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}
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// USB not connected
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if (!circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(), CBRK_USB_CHK_KEY) && context.status().usb_connected) {
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/* EVENT
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* @description
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* Flying with USB is not safe. Disconnect it and reboot the FMU.
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*
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* <profile name="dev">
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* This check can be configured via <param>CBRK_USB_CHK</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_usb_connected"),
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events::Log::Error, "USB connected");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Flying with USB is not safe");
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}
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}
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// Global position required
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if (!_param_com_arm_wo_gps.get() && !context.isArmed()) {
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if (reporter.failsafeFlags().global_position_invalid) {
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/* EVENT
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* @description
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* <profile name="dev">
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* This check can be configured via <param>COM_ARM_WO_GPS</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_no_global_pos"),
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events::Log::Error, "Global position required");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Global position required");
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}
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} else if (reporter.failsafeFlags().home_position_invalid) {
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/* EVENT
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* @description
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* <profile name="dev">
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* This check can be configured via <param>COM_ARM_WO_GPS</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_no_home_pos"),
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events::Log::Error, "Home position required");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Home position required");
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}
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}
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}
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// safety button
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if (context.status().safety_button_available && !context.status().safety_off && !context.isArmed()) {
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/* EVENT
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* @description
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* <profile name="dev">
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* This check can be configured via <param>CBRK_IO_SAFETY</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_safety_button"),
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events::Log::Info, "Press safety button first");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Press safety button first");
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}
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}
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// avoidance system
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if (context.status().avoidance_system_required) {
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if (context.status().avoidance_system_valid) {
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reporter.setIsPresent(health_component_t::avoidance);
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} else {
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/* EVENT
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* @description
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* <profile name="dev">
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* This check can be configured via <param>COM_OBS_AVOID</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_avoidance_not_ready"),
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events::Log::Error, "Avoidance system not ready");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Avoidance system not ready");
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}
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}
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}
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// VTOL in transition
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if (context.status().is_vtol && !context.isArmed()) {
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if (context.status().in_transition_mode) {
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/* EVENT
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_vtol_in_transition"),
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events::Log::Warning, "Vehicle is in transition state");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle is in transition state");
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}
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}
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if (!circuit_breaker_enabled_by_val(_param_cbrk_vtolarming.get(), CBRK_VTOLARMING_KEY)
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&& context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
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/* EVENT
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* @description
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* <profile name="dev">
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* This check can be configured via <param>CBRK_VTOLARMING</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_vtol_in_fw_mode"),
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events::Log::Warning, "Vehicle is not in multicopter mode");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle is not in multicopter mode");
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}
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}
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}
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// Arm Requirements: authorization
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if (_param_com_arm_auth_req.get() != 0 && !context.isArmed()) {
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if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
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/* EVENT
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_arm_auth_failed"),
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events::Log::Error, "Arm authorization denied");
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}
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}
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}
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