mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 22:20:34 +08:00
Daniel Agar
bd9d09663f
- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic - fixes https://github.com/PX4/PX4-Autopilot/issues/20944
68 lines
3.0 KiB
C++
68 lines
3.0 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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****************************************************************************/
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#include "offboardCheck.hpp"
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using namespace time_literals;
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void OffboardChecks::checkAndReport(const Context &context, Report &reporter)
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{
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reporter.failsafeFlags().offboard_control_signal_lost = true;
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offboard_control_mode_s offboard_control_mode;
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if (_offboard_control_mode_sub.copy(&offboard_control_mode)) {
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bool data_is_recent = hrt_absolute_time() < offboard_control_mode.timestamp
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+ static_cast<hrt_abstime>(_param_com_of_loss_t.get() * 1_s);
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bool offboard_available = (offboard_control_mode.position || offboard_control_mode.velocity
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|| offboard_control_mode.acceleration || offboard_control_mode.attitude || offboard_control_mode.body_rate
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|| offboard_control_mode.actuator) && data_is_recent;
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if (offboard_control_mode.position && reporter.failsafeFlags().local_position_invalid) {
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offboard_available = false;
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} else if (offboard_control_mode.velocity && reporter.failsafeFlags().local_velocity_invalid) {
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offboard_available = false;
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} else if (offboard_control_mode.acceleration && reporter.failsafeFlags().local_velocity_invalid) {
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// OFFBOARD acceleration handled by position controller
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offboard_available = false;
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}
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// This is a mode requirement, no need to report
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reporter.failsafeFlags().offboard_control_signal_lost = !offboard_available;
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}
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}
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