manualControlCheck.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "../PreFlightCheck.hpp"
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_switches.h>
using namespace time_literals;
bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail)
{
bool success = true;
uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
const manual_control_switches_s &manual_control_switches = manual_control_switches_sub.get();
if (manual_control_switches.timestamp != 0) {
// check action switches
if (manual_control_switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) {
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Failure: RTL switch engaged");
}
}
if (manual_control_switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Failure: Kill switch engaged");
}
}
if (manual_control_switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Failure: Landing gear switch set in UP position");
}
}
}
return success;
}