mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 21:50:34 +08:00
Silvan Fuhrer
2865bbb8ab
- do reporting of breaching in-air only in geofenceCheck - remove geofence_violation_reason_t - replace geofence_breached field in GeofenceResult.msg with 3 fields (one for each GF type: max dist, max alt, custom geofence) - the warning message after breaching a GF is only done by Commander, and it's specific to the GF type failure Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
117 lines
4.7 KiB
C++
117 lines
4.7 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 "geofenceCheck.hpp"
|
|
|
|
void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
|
|
{
|
|
geofence_result_s geofence_result;
|
|
|
|
if (!_geofence_result_sub.copy(&geofence_result)) {
|
|
geofence_result = {};
|
|
}
|
|
|
|
const bool any_geofence_triggered = geofence_result.geofence_max_dist_triggered ||
|
|
geofence_result.geofence_max_alt_triggered ||
|
|
geofence_result.geofence_custom_fence_triggered;
|
|
|
|
reporter.failsafeFlags().geofence_breached = any_geofence_triggered;
|
|
|
|
if (geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE && any_geofence_triggered) {
|
|
|
|
if (geofence_result.geofence_max_dist_triggered) {
|
|
/* EVENT
|
|
* @description
|
|
* <profile name="dev">
|
|
* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_HOR_DIST</param> parameters.
|
|
* </profile>
|
|
*/
|
|
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
|
|
events::ID("check_gf_violation_max_hor_dist"),
|
|
events::Log::Error, "Geofence violation: exceeding maximum distance to Home");
|
|
|
|
if (reporter.mavlink_log_pub()) {
|
|
mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum distance to Home");
|
|
}
|
|
}
|
|
|
|
if (geofence_result.geofence_max_alt_triggered) {
|
|
/* EVENT
|
|
* @description
|
|
* <profile name="dev">
|
|
* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_VER_DIST</param> parameters.
|
|
* </profile>
|
|
*/
|
|
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
|
|
events::ID("check_gf_violation_max_alt"),
|
|
events::Log::Error, "Geofence violation: exceeding maximum altitude above Home");
|
|
|
|
if (reporter.mavlink_log_pub()) {
|
|
mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum altitude above Home");
|
|
}
|
|
}
|
|
|
|
if (geofence_result.geofence_custom_fence_triggered) {
|
|
/* EVENT
|
|
* @description
|
|
* <profile name="dev">
|
|
* This check can be configured via <param>GF_ACTION</param> parameter.
|
|
* </profile>
|
|
*/
|
|
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
|
|
events::ID("check_gf_violation_custom_gf"),
|
|
events::Log::Error, "Geofence violation: approaching or outside geofence");
|
|
|
|
if (reporter.mavlink_log_pub()) {
|
|
mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: approaching or outside geofence");
|
|
}
|
|
}
|
|
}
|
|
|
|
if (geofence_result.geofence_action == geofence_result_s::GF_ACTION_RTL
|
|
&& reporter.failsafeFlags().home_position_invalid) {
|
|
/* EVENT
|
|
* @description
|
|
* <profile name="dev">
|
|
* This check can be configured via <param>GF_ACTION</param> parameter.
|
|
* </profile>
|
|
*/
|
|
reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_gf_no_home"),
|
|
events::Log::Error, "Geofence RTL requires valid home");
|
|
|
|
if (reporter.mavlink_log_pub()) {
|
|
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Geofence RTL requires valid home");
|
|
}
|
|
}
|
|
}
|