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uavcan:fix check

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ttechnick
2026-02-12 14:13:24 +01:00
committed by Matthias Grob
parent 96c5c7ba02
commit 03fc051c29
1 changed files with 3 additions and 47 deletions
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50
src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
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@@ -325,53 +325,9 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
events::ID("check_failure_detector_motor_oc"),
events::Log::Critical, "Motor {1} overcurrent detected", actuator_function_index + 1);
for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; ++index) {
const bool esc_failure = (esc_status.esc[index].failures != 0);
reporter.failsafeFlags().fd_motor_failure = context.status().failure_detector_status & vehicle_status_s::FAILURE_MOTOR;
const bool motor_failure = (reporter.failsafeFlags().fd_motor_failure);
if (esc_failure) {
for (uint8_t fault_index = 0; fault_index <= static_cast<uint8_t>(esc_fault_reason_t::_max); fault_index++) {
if (esc_status.esc[index].failures & (1 << fault_index)) {
esc_fault_reason_t fault_reason_index = static_cast<esc_fault_reason_t>(fault_index);
const char *user_action = "";
events::px4::enums::suggested_action_t action = events::px4::enums::suggested_action_t::none;
if (context.isArmed()) {
if (fault_reason_index == esc_fault_reason_t::motor_warn_temp
|| fault_reason_index == esc_fault_reason_t::esc_warn_temp
|| fault_reason_index == esc_fault_reason_t::over_rpm) {
user_action = "Reduce throttle";
action = events::px4::enums::suggested_action_t::reduce_throttle;
} else {
user_action = "Land now!";
action = events::px4::enums::suggested_action_t::land;
}
}
uint8_t motor_index = esc_status.esc[index].actuator_function - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1;
/* EVENT
* @description
* {3}
*
* <profile name="dev">
* This check can be configured via <param>COM_ARM_CHK_ESCS</param> parameter.
* </profile>
*/
reporter.healthFailure<uint8_t, events::px4::enums::esc_fault_reason_t, events::px4::enums::suggested_action_t>(
required_modes, health_component_t::motors_escs, events::ID("check_escs_fault"),
events::Log::Critical, "ESC {1}: {2}", motor_index, fault_reason_index, action);
if (reporter.mavlink_log_pub()) {
mavlink_log_emergency(reporter.mavlink_log_pub(), "ESC%d: %s. %s \t", motor_index,
esc_fault_reason_str(fault_reason_index), user_action);
}
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Motor failure: Motor %d overcurrent detected",
actuator_function_index + 1);
}
}
}