PX4-Autopilot/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp

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#include "HealthAndArmingChecks.hpp"

HealthAndArmingChecks::HealthAndArmingChecks(ModuleParams *parent, vehicle_status_s &status)
	: ModuleParams(parent),
	  _context(status)
{
	// Initialize mode requirements to invalid
	_failsafe_flags.angular_velocity_invalid = true;
	_failsafe_flags.attitude_invalid = true;
	_failsafe_flags.local_altitude_invalid = true;
	_failsafe_flags.local_position_invalid = true;
	_failsafe_flags.local_position_invalid_relaxed = true;
	_failsafe_flags.local_velocity_invalid = true;
	_failsafe_flags.global_position_invalid = true;
	_failsafe_flags.auto_mission_missing = true;
	_failsafe_flags.offboard_control_signal_lost = true;
	_failsafe_flags.home_position_invalid = true;
}

bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
{
	_reporter.reset();

	_reporter.prepare(_context.status().vehicle_type);

	_context.setIsArmingRequest(is_arming_request);

	for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
		if (!_checks[i]) {
			break;
		}

		_checks[i]->checkAndReport(_context, _reporter);
	}

	const bool results_changed = _reporter.finalize();
	const bool reported = _reporter.report(force_reporting);

	if (reported) {

		// LEGACY start
		// Run the checks again, this time with the mavlink publication set.
		// We don't expect any change, and rate limitation would prevent the events from being reported again,
		// so we only report mavlink_log_*.
		_reporter._mavlink_log_pub = &_mavlink_log_pub;
		_reporter.reset();

		_reporter.prepare(_context.status().vehicle_type);

		for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
			if (!_checks[i]) {
				break;
			}

			_checks[i]->checkAndReport(_context, _reporter);
		}

		_reporter.finalize();
		_reporter.report(false);
		_reporter._mavlink_log_pub = nullptr;
		// LEGACY end

		health_report_s health_report;
		_reporter.getHealthReport(health_report);
		health_report.timestamp = hrt_absolute_time();
		_health_report_pub.publish(health_report);
	}

	// Check if we need to publish the failsafe flags
	const hrt_abstime now = hrt_absolute_time();

	if ((now > _failsafe_flags.timestamp + 500_ms) || results_changed) {
		_failsafe_flags.timestamp = hrt_absolute_time();
		_failsafe_flags_pub.publish(_failsafe_flags);
	}

	return reported;
}

void HealthAndArmingChecks::updateParams()
{
	for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
		if (!_checks[i]) {
			break;
		}

		_checks[i]->updateParams();
	}
}

bool HealthAndArmingChecks::reportIfUnreportedDifferences()
{
	return _reporter.reportIfUnreportedDifferences();
}