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

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 * modification, are permitted provided that the following conditions
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#include "modeCheck.hpp"

void ModeChecks::checkAndReport(const Context &context, Report &reporter)
{
	if (!context.isArmed()) {
		checkArmingRequirement(context, reporter);
	}

	// Failing mode requirements generally also clear the can_run bits which prevents mode switching and
	// might trigger a failsafe if already in that mode.

	if (reporter.failsafeFlags().angular_velocity_invalid && reporter.failsafeFlags().mode_req_angular_velocity != 0) {
		/* EVENT
		 * @description
		 * Make sure the gyroscope is providing valid data.
		 */
		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_angular_velocity, health_component_t::system,
					    events::ID("check_modes_angular_velocity"),
					    events::Log::Critical, "Angular velocity not valid");
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_angular_velocity);
	}

	if (reporter.failsafeFlags().attitude_invalid && reporter.failsafeFlags().mode_req_attitude != 0) {
		/* EVENT
		 * @description
		 * Wait until the estimator initialized
		 */
		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::system,
					    events::ID("check_modes_attitude"),
					    events::Log::Critical, "No valid attitude estimate");
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_attitude);
	}

	NavModes local_position_modes = NavModes::None;

	if (reporter.failsafeFlags().local_position_invalid && reporter.failsafeFlags().mode_req_local_position != 0) {
		local_position_modes = (NavModes)reporter.failsafeFlags().mode_req_local_position;
	}

	if (reporter.failsafeFlags().local_position_invalid_relaxed
	    && reporter.failsafeFlags().mode_req_local_position_relaxed != 0) {
		local_position_modes = local_position_modes | (NavModes)reporter.failsafeFlags().mode_req_local_position_relaxed;
	}

	if (local_position_modes != NavModes::None) {
		/* EVENT
		 */
		reporter.armingCheckFailure(local_position_modes, health_component_t::system,
					    events::ID("check_modes_local_pos"),
					    events::Log::Error, "No valid local position estimate");
		reporter.clearCanRunBits(local_position_modes);
	}

	if (reporter.failsafeFlags().global_position_invalid && reporter.failsafeFlags().mode_req_global_position != 0) {
		/* EVENT
		 */
		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, health_component_t::system,
					    events::ID("check_modes_global_pos"),
					    events::Log::Error, "No valid global position estimate");
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position);
	}

	if (reporter.failsafeFlags().local_altitude_invalid && reporter.failsafeFlags().mode_req_local_alt != 0) {
		/* EVENT
		 */
		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_local_alt, health_component_t::system,
					    events::ID("check_modes_local_alt"),
					    events::Log::Critical, "No valid altitude estimate");
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_local_alt);
	}

	NavModes mission_required_modes = (NavModes)reporter.failsafeFlags().mode_req_mission;

	if (_param_com_arm_mis_req.get()) {
		mission_required_modes = NavModes::All;
	}

	if (reporter.failsafeFlags().auto_mission_missing && mission_required_modes != NavModes::None) {
		/* EVENT
		 * @description
		 * Upload a mission first.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>COM_ARM_MIS_REQ</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(mission_required_modes, health_component_t::system,
					    events::ID("check_modes_mission"),
					    events::Log::Info, "No valid mission available");
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_mission);
	}

	if (reporter.failsafeFlags().offboard_control_signal_lost && reporter.failsafeFlags().mode_req_offboard_signal != 0) {
		/* EVENT
		 * @description
		 * The offboard component is not sending setpoints or the required estimate (e.g. position) is missing.
		 */
		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_offboard_signal, health_component_t::system,
					    events::ID("check_modes_offboard_signal"),
					    events::Log::Error, "No offboard signal");
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_offboard_signal);
	}

	if (reporter.failsafeFlags().home_position_invalid && reporter.failsafeFlags().mode_req_home_position != 0) {
		/* EVENT
		 */
		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_home_position, health_component_t::system,
					    events::ID("check_modes_home_position"),
					    events::Log::Info, "Home position not set");
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_home_position);
	}

	if (reporter.failsafeFlags().manual_control_signal_lost && reporter.failsafeFlags().mode_req_manual_control != 0) {
		const bool rc_disabled = (_param_com_rc_in_mode.get() == 4);
		NavModes nav_modes = rc_disabled ? (NavModes)reporter.failsafeFlags().mode_req_manual_control : NavModes::None;
		events::LogLevel log_level = rc_disabled ? events::Log::Error : events::Log::Warning;

		/* EVENT
		 * @description
		 * Connect and enable stick input or use autonomous mode.
		 * <profile name="dev">
		 * Sticks can be enabled via <param>COM_RC_IN_MODE</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(nav_modes,
					    health_component_t::remote_control,
					    events::ID("check_modes_manual_control"),
					    log_level, "No manual control input");
		reporter.clearArmingBits((NavModes)reporter.failsafeFlags().mode_req_manual_control);
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_manual_control);
	}

	if (reporter.failsafeFlags().mode_req_other != 0) {
		// Here we expect there is already an event reported for the failing check (this is for external modes)
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_other);
	}

	if ((reporter.failsafeFlags().flight_time_limit_exceeded || reporter.failsafeFlags().wind_limit_exceeded)
	    && reporter.failsafeFlags().mode_req_wind_and_flight_time_compliance != 0) {
		// Already reported
		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_wind_and_flight_time_compliance);
	}
}

void ModeChecks::checkArmingRequirement(const Context &context, Report &reporter)
{
	if (reporter.failsafeFlags().mode_req_prevent_arming & (1u << context.status().nav_state)) {
		/* EVENT
		 * @description
		 * Switch to another mode first.
		 */
		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_prevent_arming, health_component_t::system,
					    events::ID("check_modes_cannot_takeoff"),
					    events::Log::Info, "Mode not suitable for arming");
	}
}