mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 13:40:35 +08:00
Beat Küng
80 lines
3.4 KiB
C++
80 lines
3.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2022 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 "windCheck.hpp"
|
|
|
|
void WindChecks::checkAndReport(const Context &context, Report &reporter)
|
|
{
|
|
if (_param_com_wind_warn.get() < FLT_EPSILON && _param_com_wind_max.get() < FLT_EPSILON) {
|
|
reporter.failsafeFlags().wind_limit_exceeded = false;
|
|
return;
|
|
}
|
|
|
|
wind_s wind_estimate;
|
|
const hrt_abstime now = hrt_absolute_time();
|
|
|
|
if (_wind_sub.copy(&wind_estimate)) {
|
|
const matrix::Vector2f wind(wind_estimate.windspeed_north, wind_estimate.windspeed_east);
|
|
|
|
// publish a warning if it's the first since in air or 60s have passed since the last warning
|
|
const bool warning_timeout_passed = _last_wind_warning == 0 || now - _last_wind_warning > 60_s;
|
|
|
|
reporter.failsafeFlags().wind_limit_exceeded = _param_com_wind_max.get() > FLT_EPSILON
|
|
&& wind.longerThan(_param_com_wind_max.get());
|
|
|
|
if (reporter.failsafeFlags().wind_limit_exceeded) {
|
|
|
|
/* EVENT
|
|
* @description
|
|
* <profile name="dev">
|
|
* This check can be configured via <param>COM_WIND_MAX</param> parameter.
|
|
* </profile>
|
|
*/
|
|
reporter.armingCheckFailure<float>(NavModes::All, health_component_t::system,
|
|
events::ID("check_wind_too_high"),
|
|
events::Log::Warning, "Wind speed is above limit ({1:.1m/s})", wind.norm());
|
|
|
|
} else if (_param_com_wind_warn.get() > FLT_EPSILON
|
|
&& wind.longerThan(_param_com_wind_warn.get())
|
|
&& warning_timeout_passed
|
|
&& context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
|
|
&& context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
|
|
|
|
events::send<float>(events::ID("check_high_wind_warning"),
|
|
{events::Log::Warning, events::LogInternal::Info},
|
|
"High wind speed detected ({1:.1m/s}), landing advised", wind.norm());
|
|
_last_wind_warning = now;
|
|
}
|
|
}
|
|
}
|