mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
260 lines
10 KiB
C++
260 lines
10 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 <gtest/gtest.h>
|
|
|
|
#include "framework.h"
|
|
#include <uORB/topics/vehicle_status.h>
|
|
|
|
// to run: make tests TESTFILTER=failsafe_test
|
|
|
|
using namespace time_literals;
|
|
|
|
class FailsafeTester : public FailsafeBase
|
|
{
|
|
public:
|
|
FailsafeTester(ModuleParams *parent) : FailsafeBase(parent) {}
|
|
|
|
protected:
|
|
|
|
void checkStateAndMode(const hrt_abstime &time_us, const State &state,
|
|
const vehicle_status_flags_s &status_flags) override
|
|
{
|
|
CHECK_FAILSAFE(status_flags, rc_signal_lost, ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm));
|
|
CHECK_FAILSAFE(status_flags, data_link_lost, Action::Descend);
|
|
|
|
if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
|
|
CHECK_FAILSAFE(status_flags, mission_failure, Action::Descend);
|
|
}
|
|
|
|
CHECK_FAILSAFE(status_flags, wind_limit_exceeded,
|
|
ActionOptions(Action::RTL).allowUserTakeover(UserTakeoverAllowed::Never));
|
|
|
|
_last_state_test = checkFailsafe(_caller_id_test, _last_state_test, status_flags.fd_motor_failure
|
|
&& status_flags.fd_critical_failure, Action::Terminate);
|
|
}
|
|
|
|
Action checkModeFallback(const vehicle_status_flags_s &status_flags, uint8_t user_intended_mode) const override
|
|
{
|
|
return Action::None;
|
|
}
|
|
|
|
private:
|
|
const int _caller_id_test{genCallerId()};
|
|
bool _last_state_test{false};
|
|
};
|
|
|
|
class FailsafeTest : public ::testing::Test
|
|
|
|
{
|
|
public:
|
|
|
|
void SetUp() override
|
|
{
|
|
param_control_autosave(false);
|
|
param_t param = param_handle(px4::params::COM_FAIL_ACT_T);
|
|
|
|
float hold_delay = 5.f;
|
|
param_set(param, &hold_delay);
|
|
}
|
|
|
|
};
|
|
|
|
|
|
TEST_F(FailsafeTest, general)
|
|
{
|
|
FailsafeTester failsafe(nullptr);
|
|
|
|
vehicle_status_flags_s failsafe_flags{};
|
|
FailsafeBase::State state{};
|
|
state.armed = true;
|
|
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;
|
|
state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
|
|
hrt_abstime time = 5_s;
|
|
bool stick_override_request = false;
|
|
|
|
uint8_t updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
|
|
|
|
// RC lost -> Hold, then RTL
|
|
time += 10_ms;
|
|
failsafe_flags.rc_signal_lost = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold);
|
|
time += 6_s;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
|
|
|
|
// DL link lost -> Descend
|
|
time += 10_ms;
|
|
failsafe_flags.data_link_lost = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Descend);
|
|
|
|
// DL link regained -> RTL (RC still lost)
|
|
time += 10_ms;
|
|
failsafe_flags.data_link_lost = false;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
|
|
|
|
// RC lost cleared -> keep RTL
|
|
time += 10_ms;
|
|
failsafe_flags.rc_signal_lost = false;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
|
|
|
|
// Mode change -> clear failsafe
|
|
time += 10_ms;
|
|
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
|
|
}
|
|
|
|
TEST_F(FailsafeTest, takeover)
|
|
{
|
|
FailsafeTester failsafe(nullptr);
|
|
|
|
vehicle_status_flags_s failsafe_flags{};
|
|
FailsafeBase::State state{};
|
|
state.armed = true;
|
|
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;
|
|
state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
|
|
hrt_abstime time = 3847124342;
|
|
bool stick_override_request = false;
|
|
|
|
uint8_t updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
|
|
// Mission failure -> no failsafe
|
|
time += 10_ms;
|
|
failsafe_flags.mission_failure = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
|
|
|
|
// Change to mission -> Hold, then Descend
|
|
time += 10_ms;
|
|
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold);
|
|
// Try stick movement during hold -> must be denied
|
|
time += 3_s;
|
|
stick_override_request = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
stick_override_request = false;
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold);
|
|
// Now Descend
|
|
time += 3_s;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Descend);
|
|
|
|
// Move sticks -> user takeover active
|
|
time += 10_ms;
|
|
stick_override_request = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
|
|
ASSERT_TRUE(failsafe.userTakeoverActive());
|
|
stick_override_request = false;
|
|
|
|
// Now the failsafe must clear as we switched mode
|
|
time += 10_ms;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
|
|
ASSERT_FALSE(failsafe.userTakeoverActive());
|
|
}
|
|
|
|
TEST_F(FailsafeTest, takeover_denied)
|
|
{
|
|
FailsafeTester failsafe(nullptr);
|
|
|
|
vehicle_status_flags_s failsafe_flags{};
|
|
FailsafeBase::State state{};
|
|
state.armed = true;
|
|
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;
|
|
state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
|
|
hrt_abstime time = 3847124342;
|
|
bool stick_override_request = false;
|
|
|
|
uint8_t updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
|
|
// Wind limit exceeded -> RTL w/o delay and denying takeover
|
|
time += 10_ms;
|
|
failsafe_flags.wind_limit_exceeded = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
|
|
// Try takeover (mode switch + stick movements)
|
|
time += 10_ms;
|
|
stick_override_request = true;
|
|
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_STAB;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
stick_override_request = false;
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
|
|
|
|
// Test termination
|
|
failsafe_flags.fd_motor_failure = true;
|
|
failsafe_flags.fd_critical_failure = true;
|
|
time += 10_ms;
|
|
stick_override_request = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
stick_override_request = false;
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
|
|
|
|
// Termination is final
|
|
failsafe_flags.wind_limit_exceeded = false;
|
|
failsafe_flags.fd_motor_failure = false;
|
|
failsafe_flags.fd_critical_failure = false;
|
|
state.armed = false;
|
|
time += 10_ms;
|
|
stick_override_request = true;
|
|
updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
|
|
stick_override_request = false;
|
|
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
|
|
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
|
|
}
|
|
|