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109 lines
3.0 KiB
C++
109 lines
3.0 KiB
C++
/****************************************************************************
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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.cpp
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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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#include "FailureDetector.hpp"
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FailureDetector::FailureDetector() :
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ModuleParams(nullptr),
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_sub_vehicle_attitude_setpoint(ORB_ID(vehicle_attitude_setpoint)),
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_sub_vehicule_attitude(ORB_ID(vehicle_attitude))
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{
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}
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void
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FailureDetector::update_params()
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{
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updateParams();
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}
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bool
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FailureDetector::update()
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{
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bool updated(false);
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updated = update_attitude_status();
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return updated;
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}
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bool
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FailureDetector::update_attitude_status()
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{
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bool updated(false);
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if (_sub_vehicule_attitude.update()) {
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const vehicle_attitude_s &attitude = _sub_vehicule_attitude.get();
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const matrix::Eulerf euler(matrix::Quatf(attitude.q));
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const float roll(euler.phi());
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const float pitch(euler.theta());
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const float max_roll_deg = _fail_trig_roll.get();
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const float max_pitch_deg = _fail_trig_pitch.get();
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const float max_roll(fabsf(math::radians(max_roll_deg)));
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const float max_pitch(fabsf(math::radians(max_pitch_deg)));
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if ((max_roll > 0.0f) &&
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(fabsf(roll) > max_roll)) {
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_status.roll = true;
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} else {
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_status.roll = false;
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}
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if ((max_pitch > 0.0f) &&
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(fabsf(pitch) > max_pitch)) {
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_status.pitch = true;
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} else {
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_status.pitch = false;
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}
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updated = true;
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} else {
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updated = false;
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}
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return updated;
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}
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