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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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89 lines
2.9 KiB
C++
89 lines
2.9 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 <matrix/matrix/math.hpp>
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#include <mathlib/mathlib.h>
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#include <px4_module_params.h>
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// subscriptions
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#include <uORB/Subscription.hpp>
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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_status.h>
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typedef enum {
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FAILURE_NONE = vehicle_status_s::FAILURE_NONE,
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FAILURE_ROLL = vehicle_status_s::FAILURE_ROLL,
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FAILURE_PITCH = vehicle_status_s::FAILURE_PITCH,
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FAILURE_ALT = vehicle_status_s::FAILURE_ALT,
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} failure_detector_bitmak;
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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();
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uint8_t get_status() const {return _status;}
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private:
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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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)
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// Subscriptions
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SubscriptionData<vehicle_attitude_s> _sub_vehicle_attitude_setpoint;
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SubscriptionData<vehicle_attitude_s> _sub_vehicule_attitude;
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uint8_t _status{FAILURE_NONE};
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bool update_attitude_status();
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};
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