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rcAndDataLinkCheck: always update manual control availability

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and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
This commit is contained in:
Matthias Grob
2022-11-30 21:37:05 +01:00
committed by Beat Küng
parent f498b90c41
commit 7fa8dfe2d2
2 changed files with 26 additions and 52 deletions
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src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp
+26 -51
View File
@@ -38,65 +38,40 @@ using namespace time_literals;
void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporter)
{
// RC
bool rc_is_optional = true;
manual_control_setpoint_s manual_control_setpoint;
if (_param_com_rc_in_mode.get() == 4) { // RC disabled
reporter.failsafeFlags().manual_control_signal_lost = false;
if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
manual_control_setpoint = {};
reporter.failsafeFlags().manual_control_signal_lost = true;
}
// Check if RC is valid
if (!manual_control_setpoint.valid
|| hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) {
if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
"Manual control lost");
}
reporter.failsafeFlags().manual_control_signal_lost = true;
} else {
reporter.setIsPresent(health_component_t::remote_control);
manual_control_setpoint_s manual_control_setpoint;
if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
manual_control_setpoint = {};
reporter.failsafeFlags().manual_control_signal_lost = true;
if (reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
float elapsed = hrt_elapsed_time(&_last_valid_manual_control_setpoint) * 1e-6f;
events::send<float>(events::ID("commander_rc_regained"), events::Log::Info,
"Manual control regained after {1:.1} s", elapsed);
}
// Check if RC is valid
if (!manual_control_setpoint.valid
|| hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) {
if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
"Manual control lost");
}
reporter.failsafeFlags().manual_control_signal_lost = true;
} else {
reporter.setIsPresent(health_component_t::remote_control);
if (reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
float elapsed = hrt_elapsed_time(&_last_valid_manual_control_setpoint) * 1e-6f;
events::send<float>(events::ID("commander_rc_regained"), events::Log::Info,
"Manual control regained after {1:.1} s", elapsed);
}
reporter.failsafeFlags().manual_control_signal_lost = false;
_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
}
if (reporter.failsafeFlags().manual_control_signal_lost) {
NavModes affected_modes = rc_is_optional ? NavModes::None : NavModes::All;
events::LogLevel log_level = rc_is_optional ? events::Log::Info : events::Log::Error;
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>COM_RC_IN_MODE</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::remote_control, events::ID("check_rc_dl_no_rc"),
log_level, "No manual control input");
if (reporter.mavlink_log_pub()) {
mavlink_log_info(reporter.mavlink_log_pub(), "Preflight Fail: No manual control input\t");
}
}
reporter.failsafeFlags().manual_control_signal_lost = false;
_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
}
// Manual control check is in modeCheck as mode requirement
// GCS connection
reporter.failsafeFlags().gcs_connection_lost = context.status().gcs_connection_lost;
src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.hpp
-1
View File
@@ -52,7 +52,6 @@ private:
hrt_abstime _last_valid_manual_control_setpoint{0};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act
)