forked from Archive/PX4-Autopilot
commander: remove circuit breakers from status msg
Since the circuit breaker bools are not actually used anywhere else than in the commander, it is safe to remove them and replace them with local bools.
This commit is contained in:
Julian Oes
parent
ebacd4c1de
commit
5f3a23a253
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@ -127,7 +127,7 @@ bool in_transition_mode # True if VTOL is doing a transition
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bool condition_battery_voltage_valid
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bool condition_system_in_air_restore # true if we can restore in mid air
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bool condition_system_sensors_initialized
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bool condition_system_prearm_error_reported # true if errors have already been reported
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bool condition_system_prearm_error_reported # true if errors have already been reported
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bool condition_system_hotplug_timeout # true if the hotplug sensor search is over
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bool condition_system_returned_to_home
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bool condition_auto_mission_available
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@ -186,8 +186,3 @@ uint16 errors_count2
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uint16 errors_count3
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uint16 errors_count4
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bool circuit_breaker_engaged_power_check
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bool circuit_breaker_engaged_airspd_check
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bool circuit_breaker_engaged_enginefailure_check
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bool circuit_breaker_engaged_gpsfailure_check
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bool cb_usb
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@ -210,6 +210,12 @@ static manual_control_setpoint_s _last_sp_man = {};
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static struct vtol_vehicle_status_s vtol_status = {};
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static bool circuit_breaker_engaged_power_check;
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static bool circuit_breaker_engaged_airspd_check;
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static bool circuit_breaker_engaged_enginefailure_check;
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static bool circuit_breaker_engaged_gpsfailure_check;
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static bool cb_usb;
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/**
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* The daemon app only briefly exists to start
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* the background job. The stack size assigned in the
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@ -388,9 +394,15 @@ int commander_main(int argc, char *argv[])
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if (!strcmp(argv[1], "check")) {
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int checkres = 0;
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checkres = preflight_check(&status, &mavlink_log_pub, false, true);
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checkres = preflight_check(&status, &mavlink_log_pub, false, true,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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cb_usb);
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warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
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checkres = preflight_check(&status, &mavlink_log_pub, true, true);
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checkres = preflight_check(&status, &mavlink_log_pub, true, true,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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cb_usb);
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warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
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return 0;
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}
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@ -612,9 +624,17 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
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return TRANSITION_DENIED;
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}
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// Transition the armed state.
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arming_res = arming_state_transition(&status, &safety, arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY, &armed,
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true /* fRunPreArmChecks */, mavlink_log_pub_local);
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// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
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// output appropriate error messages if the state cannot transition.
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arming_res = arming_state_transition(&status, &safety,
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arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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true /* fRunPreArmChecks */,
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mavlink_log_pub_local,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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circuit_breaker_engaged_power_check,
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cb_usb);
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if (arming_res == TRANSITION_CHANGED) {
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mavlink_log_info(mavlink_log_pub_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
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@ -1244,10 +1264,10 @@ int commander_thread_main(int argc, char *argv[])
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status.usb_connected = false;
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// CIRCUIT BREAKERS
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status.circuit_breaker_engaged_power_check = false;
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status.circuit_breaker_engaged_airspd_check = false;
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status.circuit_breaker_engaged_enginefailure_check = false;
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status.circuit_breaker_engaged_gpsfailure_check = false;
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circuit_breaker_engaged_power_check = false;
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circuit_breaker_engaged_airspd_check = false;
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circuit_breaker_engaged_enginefailure_check = false;
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circuit_breaker_engaged_gpsfailure_check = false;
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get_circuit_breaker_params();
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/* publish initial state */
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@ -1455,7 +1475,7 @@ int commander_thread_main(int argc, char *argv[])
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bool checkAirspeed = false;
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/* Perform airspeed check only if circuit breaker is not
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* engaged and it's not a rotary wing */
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if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
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if (!circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
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checkAirspeed = true;
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}
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@ -1472,7 +1492,7 @@ int commander_thread_main(int argc, char *argv[])
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} else {
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// sensor diagnostics done continiously, not just at boot so don't warn about any issues just yet
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status.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true,
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checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status.circuit_breaker_engaged_gpsfailure_check, false);
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checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !circuit_breaker_engaged_gpsfailure_check, false);
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set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
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}
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@ -1655,7 +1675,7 @@ int commander_thread_main(int argc, char *argv[])
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/* Perform airspeed check only if circuit breaker is not
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* engaged and it's not a rotary wing
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*/
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if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
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if (!circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
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chAirspeed = true;
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}
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@ -1667,7 +1687,7 @@ int commander_thread_main(int argc, char *argv[])
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} else {
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/* check sensors also */
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(void)Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, chAirspeed,
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(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
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(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
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}
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}
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@ -1764,9 +1784,17 @@ int commander_thread_main(int argc, char *argv[])
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arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
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vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
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if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed,
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true /* fRunPreArmChecks */, &mavlink_log_pub)) {
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mavlink_log_info(&mavlink_log_pub, "DISARMED by safety switch");
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if (TRANSITION_CHANGED == arming_state_transition(&status,
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&safety,
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new_arming_state,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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circuit_breaker_engaged_power_check,
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cb_usb)) {
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mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
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arming_state_changed = true;
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}
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}
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@ -2030,8 +2058,16 @@ int commander_thread_main(int argc, char *argv[])
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/* If in INIT state, try to proceed to STANDBY state */
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if (!status.calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
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arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */,
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&mavlink_log_pub);
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arming_ret = arming_state_transition(&status,
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&safety,
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vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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circuit_breaker_engaged_power_check,
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cb_usb);
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if (arming_ret == TRANSITION_CHANGED) {
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arming_state_changed = true;
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@ -2069,7 +2105,7 @@ int commander_thread_main(int argc, char *argv[])
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}
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/* check if GPS is ok */
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if (!status.circuit_breaker_engaged_gpsfailure_check) {
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if (!circuit_breaker_engaged_gpsfailure_check) {
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bool gpsIsNoisy = gps_position.noise_per_ms > 0 && gps_position.noise_per_ms < COMMANDER_MAX_GPS_NOISE;
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//Check if GPS receiver is too noisy while we are disarmed
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@ -2281,8 +2317,15 @@ int commander_thread_main(int argc, char *argv[])
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/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
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arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
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vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
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arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */,
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&mavlink_log_pub);
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arming_ret = arming_state_transition(&status, &safety,
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new_arming_state,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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circuit_breaker_engaged_power_check,
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cb_usb);
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if (arming_ret == TRANSITION_CHANGED) {
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arming_state_changed = true;
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@ -2318,8 +2361,16 @@ int commander_thread_main(int argc, char *argv[])
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print_reject_arm("NOT ARMING: Geofence RTL requires valid home");
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} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
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arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */,
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&mavlink_log_pub);
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arming_ret = arming_state_transition(&status,
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&safety,
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vehicle_status_s::ARMING_STATE_ARMED,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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circuit_breaker_engaged_power_check,
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cb_usb);
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if (arming_ret == TRANSITION_CHANGED) {
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arming_state_changed = true;
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@ -2461,7 +2512,7 @@ int commander_thread_main(int argc, char *argv[])
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/* Check engine failure
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* only for fixed wing for now
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*/
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if (!status.circuit_breaker_engaged_enginefailure_check &&
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if (!circuit_breaker_engaged_enginefailure_check &&
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status.is_rotary_wing == false &&
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armed.armed &&
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((actuator_controls.control[3] > ef_throttle_thres &&
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@ -2744,15 +2795,15 @@ int commander_thread_main(int argc, char *argv[])
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void
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get_circuit_breaker_params()
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{
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status.circuit_breaker_engaged_power_check =
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circuit_breaker_engaged_power_check =
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circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
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status.cb_usb =
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cb_usb =
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circuit_breaker_enabled("CBRK_USB_CHK", CBRK_USB_CHK_KEY);
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status.circuit_breaker_engaged_airspd_check =
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circuit_breaker_engaged_airspd_check =
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circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
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status.circuit_breaker_engaged_enginefailure_check =
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circuit_breaker_engaged_enginefailure_check =
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circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY);
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status.circuit_breaker_engaged_gpsfailure_check =
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circuit_breaker_engaged_gpsfailure_check =
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circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY);
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}
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@ -3486,8 +3537,16 @@ void *commander_low_prio_loop(void *arg)
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int calib_ret = ERROR;
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/* try to go to INIT/PREFLIGHT arming state */
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if (TRANSITION_DENIED == arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
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false /* fRunPreArmChecks */, &mavlink_log_pub)) {
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if (TRANSITION_DENIED == arming_state_transition(&status,
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&safety,
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vehicle_status_s::ARMING_STATE_INIT,
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&armed,
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false /* fRunPreArmChecks */,
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&mavlink_log_pub,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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circuit_breaker_engaged_power_check,
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cb_usb)) {
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answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub, command_ack);
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break;
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} else {
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@ -3566,14 +3625,23 @@ void *commander_low_prio_loop(void *arg)
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bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
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/* Perform airspeed check only if circuit breaker is not
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* engaged and it's not a rotary wing */
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if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
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if (!circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
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checkAirspeed = true;
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}
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status.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
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!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
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!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
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arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, &mavlink_log_pub);
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arming_state_transition(&status,
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&safety,
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vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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false /* fRunPreArmChecks */,
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&mavlink_log_pub,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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circuit_breaker_engaged_power_check,
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cb_usb);
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} else {
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tune_negative(true);
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@ -116,6 +116,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
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struct actuator_armed_s *armed, ///< current armed status
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bool fRunPreArmChecks, ///< true: run the pre-arm checks, false: no pre-arm checks, for unit testing
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orb_advert_t *mavlink_log_pub) ///< uORB handle for mavlink log
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bool circuit_breaker_engaged_airspd_check,
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bool circuit_breaker_engaged_gpsfailure_check,
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bool circuit_breaker_engaged_power_check,
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bool cb_usb)
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{
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// Double check that our static arrays are still valid
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ASSERT(vehicle_status_s::ARMING_STATE_INIT == 0);
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@ -140,7 +144,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
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if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
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&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
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prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */ );
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prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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cb_usb);
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}
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/* re-run the pre-flight check as long as sensors are failing */
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if (!status->condition_system_sensors_initialized
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@ -149,7 +156,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
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&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
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if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
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prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */);
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prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */,
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circuit_breaker_engaged_airspd_check,
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circuit_breaker_engaged_gpsfailure_check,
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cb_usb);
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status->condition_system_sensors_initialized = !prearm_ret;
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last_preflight_check = hrt_absolute_time();
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last_prearm_ret = prearm_ret;
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@ -208,7 +218,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
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// Perform power checks only if circuit breaker is not
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// engaged for these checks
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if (!status->circuit_breaker_engaged_power_check) {
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if (!circuit_breaker_engaged_power_check) {
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// Fail transition if power is not good
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if (!status->condition_power_input_valid) {
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@ -859,7 +869,10 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
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return status->nav_state != nav_state_old;
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}
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int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report)
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int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report,
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bool circuit_breaker_engaged_airspd_check,
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bool circuit_breaker_engaged_gpsfailure_check,
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bool cb_usb)
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{
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/*
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*/
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@ -869,15 +882,15 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
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bool checkAirspeed = false;
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/* Perform airspeed check only if circuit breaker is not
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* engaged and it's not a rotary wing */
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if (!status->circuit_breaker_engaged_airspd_check && (!status->is_rotary_wing || status->is_vtol)) {
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if (!circuit_breaker_engaged_airspd_check && (!status->is_rotary_wing || status->is_vtol)) {
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checkAirspeed = true;
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}
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||||
bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, true, true, true, true,
|
||||
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
|
||||
!status->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
|
||||
!circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
|
||||
|
||||
if (!status->cb_usb && status->usb_connected && prearm) {
|
||||
if (!cb_usb && status->usb_connected && prearm) {
|
||||
preflight_ok = false;
|
||||
if (reportFailures) {
|
||||
mavlink_and_console_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");
|
||||
|
|
|
|||
|
|
@ -56,8 +56,16 @@ typedef enum {
|
|||
|
||||
bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
|
||||
|
||||
transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
|
||||
arming_state_t new_arming_state, struct actuator_armed_s *armed, bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub);
|
||||
transition_result_t arming_state_transition(struct vehicle_status_s *current_state,
|
||||
const struct safety_s *safety,
|
||||
arming_state_t new_arming_state,
|
||||
struct actuator_armed_s *armed,
|
||||
bool fRunPreArmChecks,
|
||||
orb_advert_t *mavlink_log_pub,
|
||||
bool circuit_breaker_engaged_airspd_check,
|
||||
bool circuit_breaker_engaged_gpsfailure_check,
|
||||
bool circuit_breaker_engaged_power_check,
|
||||
bool cb_usb);
|
||||
|
||||
transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);
|
||||
|
||||
|
|
@ -65,6 +73,9 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
|
|||
|
||||
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);
|
||||
|
||||
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report=false);
|
||||
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
|
||||
bool circuit_breaker_engaged_airspd_check,
|
||||
bool circuit_breaker_engaged_gpsfailure_check,
|
||||
bool cb_usb);
|
||||
|
||||
#endif /* STATE_MACHINE_HELPER_H_ */
|
||||
|
|
|
|||
Loading…
Reference in New Issue