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fix commander: do not trigger Hold (delay) when failsafe action is Warn

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The new unit test failed before and passes with the fix.
This commit is contained in:
Beat Küng
2026-02-05 10:15:04 +01:00
committed by Nick
parent 271d3f01a3
commit 3eb0255922
2 changed files with 34 additions and 0 deletions
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src/modules/commander/failsafe/failsafe_test.cpp
+33
View File
@@ -62,6 +62,9 @@ protected:
CHECK_FAILSAFE(status_flags, battery_low_remaining_time, ActionOptions(Action::RTL).causedBy(Cause::RemainingFlightTimeLow));
CHECK_FAILSAFE(status_flags, offboard_control_signal_lost, ActionOptions(Action::Hold));
CHECK_FAILSAFE(status_flags, navigator_failure, ActionOptions(Action::Warn));
CHECK_FAILSAFE(status_flags, fd_imbalanced_prop, ActionOptions(Action::None));
_last_state_test = checkFailsafe(_caller_id_test, _last_state_test, status_flags.fd_motor_failure
&& status_flags.fd_critical_failure, ActionOptions(Action::Terminate).cannotBeDeferred());
}
@@ -305,6 +308,36 @@ TEST_F(FailsafeTest, can_takeover_degraded_failsafe)
ASSERT_TRUE(failsafe.userTakeoverActive());
}
TEST_F(FailsafeTest, no_delay_for_warn)
{
// Ensure there is no Hold/delay when the current action is Warn
FailsafeTester failsafe(nullptr);
FailsafeBase::State state{};
state.armed = true;
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_MANUAL;
state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
hrt_abstime time = 3847124342;
failsafe_flags_s failsafe_flags{};
bool user_intended_mode_updated = false;
uint8_t updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
// Navigator failure -> Warn
time += 10_ms;
failsafe_flags.navigator_failure = true;
updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
// Imbalanced props -> Warn (no delay)
time += 5_s;
failsafe_flags.fd_imbalanced_prop = true;
updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
}
TEST_F(FailsafeTest, no_immediate_takeover_when_failsafe_on_mode_switch)
{
FailsafeTester failsafe(nullptr);
src/modules/commander/failsafe/framework.cpp
+1
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@@ -488,6 +488,7 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
// Check if we should enter delayed Hold
const bool action_can_be_delayed = selected_action != Action::None &&
selected_action != Action::Warn &&
selected_action != Action::Disarm &&
selected_action != Action::Terminate &&
selected_action != Action::Hold;