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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Konrad
62 lines
2.6 KiB
C++
62 lines
2.6 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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#include "missionCheck.hpp"
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void MissionChecks::checkAndReport(const Context &context, Report &reporter)
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{
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reporter.failsafeFlags().mission_failure = false;
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reporter.failsafeFlags().auto_mission_missing = true;
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mission_result_s mission_result;
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if (_mission_result_sub.copy(&mission_result) && mission_result.valid) {
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reporter.failsafeFlags().mission_failure = mission_result.failure;
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if (reporter.failsafeFlags().mission_failure) {
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// navigator sends out the exact reason
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/* EVENT
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*/
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reporter.armingCheckFailure(NavModes::All, health_component_t::system,
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events::ID("check_mission_failure"),
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events::Log::Error, "Mission cannot be completed");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Mission cannot be completed\t");
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}
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}
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// This is a mode requirement, no need to report
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reporter.failsafeFlags().auto_mission_missing = mission_result.mission_id <= 0;
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}
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}
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