mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-29 02:54:06 +08:00
116 lines
4.9 KiB
C++
116 lines
4.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include "flightTimeCheck.hpp"
|
|
|
|
void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter)
|
|
{
|
|
if (_param_com_flt_time_max.get() > FLT_EPSILON && context.status().takeoff_time != 0 &&
|
|
(hrt_absolute_time() - context.status().takeoff_time) > (1_s * _param_com_flt_time_max.get())) {
|
|
reporter.failsafeFlags().flight_time_limit_exceeded = true;
|
|
/* EVENT
|
|
* @description
|
|
* <profile name="dev">
|
|
* This check can be configured via <param>COM_FLT_TIME_MAX</param> parameter.
|
|
* </profile>
|
|
*/
|
|
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
|
|
events::ID("check_flight_time_limit"),
|
|
events::Log::Error, "Maximum flight time reached");
|
|
|
|
if (reporter.mavlink_log_pub()) {
|
|
mavlink_log_critical(reporter.mavlink_log_pub(), "Maximum flight time reached\t");
|
|
}
|
|
|
|
} else {
|
|
reporter.failsafeFlags().flight_time_limit_exceeded = false;
|
|
}
|
|
|
|
// report warning when approaching max flight time
|
|
if (!reporter.failsafeFlags().flight_time_limit_exceeded
|
|
&& context.status().takeoff_time != 0
|
|
&& _param_com_flt_time_max.get() > 0) {
|
|
|
|
const float remaining_flight_time_sec = (context.status().takeoff_time < hrt_absolute_time()) ?
|
|
_param_com_flt_time_max.get() - 1.e-6f * (hrt_absolute_time() - context.status().takeoff_time) :
|
|
_param_com_flt_time_max.get();
|
|
|
|
if (remaining_flight_time_sec < 0.1f * _param_com_flt_time_max.get()) {
|
|
// send warnings every minute until RTL
|
|
|
|
const int floored_remaining_flight_time_sec = int(remaining_flight_time_sec);
|
|
|
|
if (floored_remaining_flight_time_sec <= 60 && _last_flight_time_warning_sec == -1) {
|
|
// less than or equal to a minute remaining on first pass
|
|
|
|
if (reporter.mavlink_log_pub()) {
|
|
mavlink_log_warning(reporter.mavlink_log_pub(), "Approaching max flight time (system will RTL in %i seconds)\t",
|
|
floored_remaining_flight_time_sec);
|
|
}
|
|
|
|
/* EVENT
|
|
* @description
|
|
* Maximal flight time warning (less than 1min remaining)
|
|
*/
|
|
events::send<int16_t>(events::ID("commander_max_flight_time_warning_seconds"), events::Log::Warning,
|
|
"Approaching max flight time (system will RTL in {1} seconds)", floored_remaining_flight_time_sec);
|
|
|
|
} else if ((floored_remaining_flight_time_sec % 60) == 0 && floored_remaining_flight_time_sec >= 60
|
|
&& floored_remaining_flight_time_sec != _last_flight_time_warning_sec) {
|
|
|
|
const int floored_remaining_flight_time_min = (int)(remaining_flight_time_sec * 0.016666667f);
|
|
|
|
if (reporter.mavlink_log_pub()) {
|
|
mavlink_log_warning(reporter.mavlink_log_pub(), "Approaching max flight time (system will RTL in %i minutes)\t",
|
|
floored_remaining_flight_time_min);
|
|
}
|
|
|
|
/* EVENT
|
|
* @description
|
|
* Maximal flight time warning (more than 1min remaining)
|
|
*/
|
|
events::send<int16_t>(events::ID("commander_max_flight_time_warning_minutes"), events::Log::Warning,
|
|
"Approaching max flight time (system will RTL in {1} minutes)", floored_remaining_flight_time_min);
|
|
}
|
|
|
|
_last_flight_time_warning_sec = floored_remaining_flight_time_sec;
|
|
|
|
} else {
|
|
_last_flight_time_warning_sec = -1; //reset if not in last 10%
|
|
}
|
|
|
|
} else {
|
|
_last_flight_time_warning_sec = -1; //reset if not enabled, landed or currently already exceeded
|
|
}
|
|
}
|