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gguidone
68e47df055
Detects when a rotary-wing vehicle drops more than FD_ALT_LOSS metres below a NED-z reference while altitude control is active, and immediately triggers flight termination (parachute deployment). Detection (FailureDetector): - FD_ALT_LOSS: drop threshold in metres (0 = disabled, default) - FD_ALT_LOSS_T: hysteresis time - Guards: rotary-wing only, altitude control active, z_valid, setpoint fresh (<1 s). Manual, Acro and FW/VTOL-FW modes are excluded. - Ratcheting reference: initialises to lpos.z on first sample below setpoint, preventing false triggers on new waypoints Failsafe action (commander): - New fd_alt_loss flag in FailsafeFlags.msg - COM_ALT_LOSS_ACT: -1=Disabled (default), 0=Terminate - Terminate fires immediately, cannot be overridden, and never clears until disarm (parachute deployment is irreversible)
137 lines
5.3 KiB
C++
137 lines
5.3 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.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 "FailureInjector.hpp"
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#include <lib/hysteresis/hysteresis.h>
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#include <lib/mathlib/mathlib.h>
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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 <px4_platform_common/module_params.h>
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// subscriptions
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/failure_detector_status.h>
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#include <uORB/topics/pwm_input.h>
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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_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_status.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 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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~FailureDetector() = default;
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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 _failure_detector_status; }
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void publishStatus(bool esc_arm_status, uint16_t motor_failure_mask);
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private:
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void updateAttitudeStatus(const vehicle_status_s &vehicle_status);
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void updateAltitudeStatus(const vehicle_status_s &vehicle_status,
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const vehicle_control_mode_s &vehicle_control_mode);
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void updateExternalAtsStatus();
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void updateImbalancedPropStatus();
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failure_detector_status_u _failure_detector_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 _alt_loss_hysteresis{false};
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systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
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float _alt_loss_ref_z{NAN}; // ratcheting NED-z reference for altitude loss detection
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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 _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};
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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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uORB::Publication<failure_detector_status_s> _failure_detector_status_pub{ORB_ID(failure_detector_status)};
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FailureInjector _failure_injector;
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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_IMB_PROP_THR>) _param_fd_imb_prop_thr,
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(ParamFloat<px4::params::FD_ALT_LOSS>) _param_fd_alt_loss,
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(ParamFloat<px4::params::FD_ALT_LOSS_T>) _param_fd_alt_loss_ttri
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)
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};
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