mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-08-21 08:00:35 +08:00
Damien SIX
130 lines
5.2 KiB
C++
130 lines
5.2 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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#include "rcAndDataLinkCheck.hpp"
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using namespace time_literals;
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void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporter)
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{
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// RC
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bool rc_is_optional = true;
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if (_param_com_rc_in_mode.get() == 4) { // RC disabled
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reporter.failsafeFlags().manual_control_signal_lost = false;
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} else {
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manual_control_setpoint_s manual_control_setpoint;
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if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
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manual_control_setpoint = {};
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reporter.failsafeFlags().manual_control_signal_lost = true;
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}
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// Check if RC is valid
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if (!manual_control_setpoint.valid
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|| hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) {
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if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
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events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
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"Manual control lost");
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}
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reporter.failsafeFlags().manual_control_signal_lost = true;
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} else {
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reporter.setIsPresent(health_component_t::remote_control);
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if (reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
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float elapsed = hrt_elapsed_time(&_last_valid_manual_control_setpoint) * 1e-6f;
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events::send<float>(events::ID("commander_rc_regained"), events::Log::Info,
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"Manual control regained after {1:.1} s", elapsed);
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}
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reporter.failsafeFlags().manual_control_signal_lost = false;
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_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
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}
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if (reporter.failsafeFlags().manual_control_signal_lost) {
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NavModes affected_modes = rc_is_optional ? NavModes::None : NavModes::All;
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events::LogLevel log_level = rc_is_optional ? events::Log::Info : events::Log::Error;
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/* EVENT
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* @description
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* <profile name="dev">
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* This check can be configured via <param>COM_RC_IN_MODE</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(affected_modes, health_component_t::remote_control, events::ID("check_rc_dl_no_rc"),
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log_level, "No manual control input");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_info(reporter.mavlink_log_pub(), "Preflight Fail: No manual control input\t");
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}
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}
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}
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// GCS connection
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reporter.failsafeFlags().gcs_connection_lost = context.status().gcs_connection_lost;
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if (reporter.failsafeFlags().gcs_connection_lost) {
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// Prevent arming if we neither have RC nor a GCS connection. TODO: disabled for now due to MAVROS tests
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bool gcs_connection_required = _param_nav_dll_act.get() > 0
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/*|| (rc_is_optional && reporter.failsafeFlags().manual_control_signal_lost) */;
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NavModes affected_modes = gcs_connection_required ? NavModes::All : NavModes::None;
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events::LogLevel log_level = gcs_connection_required ? events::Log::Error : events::Log::Info;
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/* EVENT
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* @description
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* To arm, at least a data link or manual control (RC) must be present.
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*
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* <profile name="dev">
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* This check can be configured via <param>NAV_DLL_ACT</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure(affected_modes, health_component_t::communication_links,
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events::ID("check_rc_dl_no_dllink"),
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log_level, "No connection to the ground control station");
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if (gcs_connection_required && reporter.mavlink_log_pub()) {
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mavlink_log_warning(reporter.mavlink_log_pub(), "Preflight Fail: No connection to the ground control station\t");
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}
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} else {
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reporter.setIsPresent(health_component_t::communication_links);
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}
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}
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