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VTOL/Commander: rename transition_failsafe to vtol_fixed_wing_system_failure 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-01-12 09:56:58 +01:00 committed by Roman Bapst
parent 2d4be68e00
commit 303b879748
9 changed files with 17 additions and 16 deletions
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2
msg/FailsafeFlags.msg
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@ -44,7 +44,7 @@ bool battery_unhealthy # Battery unhealthy
# Other
bool primary_geofence_breached # Primary Geofence breached
bool mission_failure # Mission failure
bool vtol_transition_failure # VTOL transition failed (quadchute)
bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded

2
msg/VtolVehicleStatus.msg
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@ -9,4 +9,4 @@ uint64 timestamp # time since system start (microseconds)
uint8 vehicle_vtol_state # current state of the vtol, see VEHICLE_VTOL_STATE
bool vtol_transition_failsafe # vtol in transition failsafe mode
bool fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)

7
src/modules/commander/HealthAndArmingChecks/checks/vtolCheck.cpp
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@ -40,12 +40,13 @@ void VtolChecks::checkAndReport(const Context &context, Report &reporter)
vtol_vehicle_status_s vtol_vehicle_status;
if (_vtol_vehicle_status_sub.copy(&vtol_vehicle_status)) {
reporter.failsafeFlags().vtol_transition_failure = vtol_vehicle_status.vtol_transition_failsafe;
reporter.failsafeFlags().vtol_fixed_wing_system_failure = vtol_vehicle_status.fixed_wing_system_failure;
if (reporter.failsafeFlags().vtol_transition_failure) {
if (reporter.failsafeFlags().vtol_fixed_wing_system_failure) {
/* EVENT
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_vtol_transition_failure"),
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
events::ID("check_vtol_fixed_wing_system_failure"),
events::Log::Error, "VTOL transition failure");
if (reporter.mavlink_log_pub()) {

2
src/modules/commander/failsafe/failsafe.cpp
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@ -373,7 +373,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) {
CHECK_FAILSAFE(status_flags, vtol_transition_failure, fromQuadchuteActParam(_param_com_qc_act.get()));
CHECK_FAILSAFE(status_flags, vtol_fixed_wing_system_failure, fromQuadchuteActParam(_param_com_qc_act.get()));
}
// Mission

2
src/modules/vtol_att_control/standard.cpp
View File

@ -72,7 +72,7 @@ void Standard::update_vtol_state()
float mc_weight = _mc_roll_weight;
if (_vtol_vehicle_status->vtol_transition_failsafe) {
if (_vtol_vehicle_status->fixed_wing_system_failure) {
// Failsafe event, engage mc motors immediately
_vtol_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;

2
src/modules/vtol_att_control/tailsitter.cpp
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@ -71,7 +71,7 @@ void Tailsitter::update_vtol_state()
float pitch = Eulerf(Quatf(_v_att->q)).theta();
if (_vtol_vehicle_status->vtol_transition_failsafe) {
if (_vtol_vehicle_status->fixed_wing_system_failure) {
// Failsafe event, switch to MC mode immediately
_vtol_mode = vtol_mode::MC_MODE;

2
src/modules/vtol_att_control/tiltrotor.cpp
View File

@ -71,7 +71,7 @@ void Tiltrotor::update_vtol_state()
* forward completely. For the backtransition the motors simply rotate back.
*/
if (_vtol_vehicle_status->vtol_transition_failsafe) {
if (_vtol_vehicle_status->fixed_wing_system_failure) {
// Failsafe event, switch to MC mode immediately
_vtol_mode = vtol_mode::MC_MODE;

12
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -134,9 +134,9 @@ void VtolAttitudeControl::action_request_poll()
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_immediate_transition = false;
// reset vtol_transition_failsafe flag when a new transition to FW is triggered
// reset fixed_wing_system_failure flag when a new transition to FW is triggered
if (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
_vtol_vehicle_status.vtol_transition_failsafe = false;
_vtol_vehicle_status.fixed_wing_system_failure = false;
}
break;
@ -169,9 +169,9 @@ void VtolAttitudeControl::vehicle_cmd_poll()
_transition_command = transition_command_param1;
_immediate_transition = (PX4_ISFINITE(vehicle_command.param2)) ? int(vehicle_command.param2 + 0.5f) : false;
// reset vtol_transition_failsafe flag when a new transition to FW is triggered
// reset fixed_wing_system_failure flag when a new transition to FW is triggered
if (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
_vtol_vehicle_status.vtol_transition_failsafe = false;
_vtol_vehicle_status.fixed_wing_system_failure = false;
}
}
@ -193,7 +193,7 @@ void VtolAttitudeControl::vehicle_cmd_poll()
void
VtolAttitudeControl::quadchute(QuadchuteReason reason)
{
if (!_vtol_vehicle_status.vtol_transition_failsafe) {
if (!_vtol_vehicle_status.fixed_wing_system_failure) {
switch (reason) {
case QuadchuteReason::TransitionTimeout:
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: transition timeout\t");
@ -242,7 +242,7 @@ VtolAttitudeControl::quadchute(QuadchuteReason reason)
return;
}
_vtol_vehicle_status.vtol_transition_failsafe = true;
_vtol_vehicle_status.fixed_wing_system_failure = true;
}
}

2
src/modules/vtol_att_control/vtol_type.cpp
View File

@ -471,7 +471,7 @@ float VtolType::pusher_assist()
}
// Do not engage pusher assist during a failsafe event (could be a problem with the fixed wing drive)
if (_attc->get_vtol_vehicle_status()->vtol_transition_failsafe) {
if (_attc->get_vtol_vehicle_status()->fixed_wing_system_failure) {
return 0.0f;
}