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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
82911e48be
Before it was possible that the publication timestamp was never than 'now', leading to wrap-around.
123 lines
6.2 KiB
C++
123 lines
6.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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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#pragma once
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#include "../Common.hpp"
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/estimator_selector_status.h>
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#include <uORB/topics/estimator_sensor_bias.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/estimator_status_flags.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/sensor_gps.h>
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#include <lib/hysteresis/hysteresis.h>
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using namespace time_literals;
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class EstimatorChecks : public HealthAndArmingCheckBase
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{
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public:
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EstimatorChecks();
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~EstimatorChecks() = default;
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void checkAndReport(const Context &context, Report &reporter) override;
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private:
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void checkEstimatorStatus(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
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NavModes required_groups);
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void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
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void checkEstimatorStatusFlags(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
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const vehicle_local_position_s &lpos);
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void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const;
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void gpsNoLongerValid(const Context &context, Report &reporter) const;
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void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz,
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const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position,
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vehicle_status_flags_s &failsafe_flags);
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bool checkPosVelValidity(const hrt_abstime &now, const bool data_valid, const float data_accuracy,
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const float required_accuracy,
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const hrt_abstime &data_timestamp_us, hrt_abstime &last_fail_time_us,
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const bool was_valid) const;
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uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
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uORB::Subscription _estimator_status_flags_sub{ORB_ID(estimator_status_flags)};
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uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
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uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
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hrt_abstime _last_gpos_fail_time_us{0}; ///< Last time that the global position validity recovery check failed (usec)
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hrt_abstime _last_lpos_fail_time_us{0}; ///< Last time that the local position validity recovery check failed (usec)
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hrt_abstime _last_lpos_relaxed_fail_time_us{0}; ///< Last time that the relaxed local position validity recovery check failed (usec)
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hrt_abstime _last_lvel_fail_time_us{0}; ///< Last time that the local velocity validity recovery check failed (usec)
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// variables used to check for navigation failure after takeoff
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hrt_abstime _time_last_innov_pass{0}; ///< last time velocity and position innovations passed
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hrt_abstime _time_last_innov_fail{0}; ///< last time velocity and position innovations failed
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bool _nav_test_passed{false}; ///< true if the post takeoff navigation test has passed
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bool _nav_test_failed{false}; ///< true if the post takeoff navigation test has failed
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static constexpr hrt_abstime GPS_VALID_TIME{3_s};
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systemlib::Hysteresis _vehicle_gps_position_valid{false};
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bool _position_reliant_on_optical_flow{false};
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DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
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(ParamInt<px4::params::SYS_MC_EST_GROUP>) _param_sys_mc_est_group,
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(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
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(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
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(ParamFloat<px4::params::COM_ARM_EKF_HGT>) _param_com_arm_ekf_hgt,
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(ParamFloat<px4::params::COM_ARM_EKF_VEL>) _param_com_arm_ekf_vel,
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(ParamFloat<px4::params::COM_ARM_EKF_POS>) _param_com_arm_ekf_pos,
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(ParamFloat<px4::params::COM_ARM_EKF_YAW>) _param_com_arm_ekf_yaw,
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(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
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(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
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(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
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(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
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(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
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(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay
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)
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};
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