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

/****************************************************************************
 *
 *   Copyright (c) 2019 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 "failureDetectorCheck.hpp"

void FailureDetectorChecks::checkAndReport(const Context &context, Report &reporter)
{
	if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
		/* EVENT
		 * @description
		 * The vehicle exceeded the maximum configured roll angle.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>FD_FAIL_R</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_roll"),
					    events::Log::Critical, "Attitude failure detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (roll)");
		}

	} else if (context.status().failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
		/* EVENT
		 * @description
		 * The vehicle exceeded the maximum configured pitch angle.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>FD_FAIL_P</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_pitch"),
					    events::Log::Critical, "Attitude failure detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (pitch)");
		}
	}

	if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ALT) {
		/* EVENT
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_alt"),
					    events::Log::Critical, "Altitude failure detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Altitude failure");
		}
	}

	if (context.status().failure_detector_status & vehicle_status_s::FAILURE_EXT) {
		/* EVENT
		 * @description
		 * <profile name="dev">
		 * This check can be configured via <param>FD_EXT_ATS_EN</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_ext"),
					    events::Log::Critical, "Failure triggered by external system");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: triggered by external system");
		}
	}

	reporter.failsafeFlags().fd_critical_failure = context.status().failure_detector_status &
			(vehicle_status_s::FAILURE_ROLL | vehicle_status_s::FAILURE_PITCH | vehicle_status_s::FAILURE_ALT |
			 vehicle_status_s::FAILURE_EXT);


	reporter.failsafeFlags().fd_esc_arming_failure = context.status().failure_detector_status &
			vehicle_status_s::FAILURE_ARM_ESC;

	if (reporter.failsafeFlags().fd_esc_arming_failure) {
		/* EVENT
		 * @description
		 * One or more ESCs failed to arm.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>FD_ESCS_EN</param> parameter.
		 * </profile>
		 */
		reporter.healthFailure(NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_arm_esc"),
				       events::Log::Critical, "ESC failure");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: ESC failure detected");
		}
	}

	reporter.failsafeFlags().fd_imbalanced_prop = context.status().failure_detector_status &
			vehicle_status_s::FAILURE_IMBALANCED_PROP;

	if (reporter.failsafeFlags().fd_imbalanced_prop) {
		/* EVENT
		 * @description
		 * Check that all propellers are mounted correctly and are not damaged.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>FD_IMB_PROP_THR</param> and <param>COM_IMB_PROP_ACT</param> parameters.
		 * </profile>
		 */
		reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_imbalanced_prop"),
				       events::Log::Critical, "Imbalanced propeller detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Imbalanced propeller detected");
		}
	}



}