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Commander: run ekf checks without grace period after boot

This commit is contained in:
Matthias Grob 2022-06-22 17:29:20 +02:00 committed by Daniel Agar
parent 8deebd07b8
commit a3288ff732
7 changed files with 12 additions and 35 deletions
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3
src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp
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@ -42,7 +42,7 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s &status_flags,
const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason)
arm_disarm_reason_t calling_reason)
{
// Double check that our static arrays are still valid
static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
@ -69,7 +69,6 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
if (!PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, control_mode,
true, // report_failures
time_since_boot,
safety_button_available, safety_off,
true)) { // is_arm_attempt
feedback_provided = true; // Preflight checks report error messages

2
src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp
View File

@ -58,7 +58,7 @@ public:
const bool safety_button_available, const bool safety_off, const arming_state_t new_arming_state,
actuator_armed_s &armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub,
vehicle_status_flags_s &status_flags,
const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason);
arm_disarm_reason_t calling_reason);
// Getters
uint8_t getArmState() const { return _arm_state; }

1
src/modules/commander/Arming/ArmStateMachine/ArmStateMachineTest.cpp
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@ -269,7 +269,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
true /* enable pre-arm checks */,
nullptr /* no mavlink_log_pub */,
status_flags,
2e6, /* 2 seconds after boot, everything should be checked */
arm_disarm_reason_t::unit_test);
// Validate result of transition

21
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
View File

@ -52,7 +52,7 @@ static constexpr unsigned max_mandatory_baro_count = 1;
bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
vehicle_status_flags_s &status_flags, const vehicle_control_mode_s &control_mode,
bool report_failures, const hrt_abstime &time_since_boot,
bool report_failures,
const bool safety_button_available, const bool safety_off,
const bool is_arm_attempt)
{
@ -193,23 +193,10 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
}
if (estimator_type == 2) {
const bool ekf_healthy = ekf2Check(mavlink_log_pub, status, report_failures) &&
ekf2CheckSensorBias(mavlink_log_pub, report_failures);
const bool in_grace_period = time_since_boot < 10_s;
const bool do_report_ekf2_failures = report_failures && (!in_grace_period);
const bool ekf_healthy = ekf2Check(mavlink_log_pub, status, false, do_report_ekf2_failures) &&
ekf2CheckSensorBias(mavlink_log_pub, do_report_ekf2_failures);
// For the first 10 seconds the ekf2 can be unhealthy, and we just mark it
// as not present.
// After that or if we're forced to report, we'll set the flags as is.
if (!ekf_healthy && !do_report_ekf2_failures) {
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, true, false, false, status);
} else {
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, true, true, ekf_healthy, status);
}
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, true, true, ekf_healthy, status);
if (control_mode.flag_control_attitude_enabled
|| control_mode.flag_control_velocity_enabled

5
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
View File

@ -64,7 +64,7 @@ public:
**/
static bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
vehicle_status_flags_s &status_flags, const vehicle_control_mode_s &control_mode,
bool reportFailures, const hrt_abstime &time_since_boot,
bool reportFailures,
const bool safety_button_available, const bool safety_off,
const bool is_arm_attempt = false);
@ -93,8 +93,7 @@ private:
const float arming_max_airspeed_allowed);
static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail);
static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail);
static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
const bool report_fail);
static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool report_fail);
static bool ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail);
static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);

3
src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
View File

@ -44,8 +44,7 @@
using namespace time_literals;
bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
const bool report_fail)
bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool report_fail)
{
bool success = true; // start with a pass and change to a fail if any test fails

12
src/modules/commander/Commander.cpp
View File

@ -299,7 +299,6 @@ int Commander::custom_command(int argc, char *argv[])
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, vehicle_status, vehicle_status_flags,
vehicle_control_mode,
true, // report_failures
30_s,
false, // safety_buttton_available not known
false); // safety_off not known
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
@ -496,7 +495,7 @@ bool Commander::shutdown_if_allowed()
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_SHUTDOWN,
_actuator_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::shutdown);
arm_disarm_reason_t::shutdown);
}
static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
@ -748,7 +747,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status, _vehicle_control_mode,
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_ARMED, _actuator_armed, run_preflight_checks,
&_mavlink_log_pub, _vehicle_status_flags, hrt_elapsed_time(&_boot_timestamp),
&_mavlink_log_pub, _vehicle_status_flags,
calling_reason);
if (arming_res == TRANSITION_CHANGED) {
@ -793,7 +792,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed, false,
&_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp), calling_reason);
calling_reason);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(&_mavlink_log_pub, "Disarmed by %s\t", arm_disarm_reason_str(calling_reason));
@ -853,7 +852,6 @@ Commander::Commander() :
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
false, // report_failures
hrt_elapsed_time(&_boot_timestamp),
false, // safety_buttton_available not known
false); // safety_off not known
}
@ -1408,7 +1406,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_INIT, _actuator_armed,
false /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
30_s, // time since boot not relevant for switching to ARMING_STATE_INIT
(cmd.from_external ? arm_disarm_reason_t::command_external : arm_disarm_reason_t::command_internal))
) {
@ -2459,7 +2456,6 @@ Commander::run()
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed,
true /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp),
arm_disarm_reason_t::transition_to_standby);
}
@ -3000,7 +2996,6 @@ Commander::run()
_vehicle_status_flags,
_vehicle_control_mode,
false, // report_failures
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff());
perf_end(_preflight_check_perf);
@ -3630,7 +3625,6 @@ void Commander::data_link_check()
// make sure to report preflight check failures to a connecting GCS
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
true, // report_failures
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff());
}
}