HealthFlags.h
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/****************************************************************************
*
* Copyright (c) 2013 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.
*
****************************************************************************/
/**
* @file HealthFlags.h
*
* Contains helper functions to efficiently set the system health flags from commander and preflight check.
*
* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
*/
#pragma once
#include <px4_platform_common/log.h>
#include <uORB/topics/vehicle_status.h>
struct subsystem_info_s {
// keep in sync with mavlink MAV_SYS_STATUS_SENSOR
static constexpr uint64_t SUBSYSTEM_TYPE_GYRO = 1 << 0;
static constexpr uint64_t SUBSYSTEM_TYPE_ACC = 1 << 1;
static constexpr uint64_t SUBSYSTEM_TYPE_MAG = 1 << 2;
static constexpr uint64_t SUBSYSTEM_TYPE_ABSPRESSURE = 1 << 3;
static constexpr uint64_t SUBSYSTEM_TYPE_DIFFPRESSURE = 1 << 4;
static constexpr uint64_t SUBSYSTEM_TYPE_GPS = 1 << 5;
static constexpr uint64_t SUBSYSTEM_TYPE_OPTICALFLOW = 1 << 6;
static constexpr uint64_t SUBSYSTEM_TYPE_CVPOSITION = 1 << 7;
static constexpr uint64_t SUBSYSTEM_TYPE_LASERPOSITION = 1 << 8;
static constexpr uint64_t SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 1 << 9;
static constexpr uint64_t SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1 << 10;
static constexpr uint64_t SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 1 << 11;
static constexpr uint64_t SUBSYSTEM_TYPE_YAWPOSITION = 1 << 12;
static constexpr uint64_t SUBSYSTEM_TYPE_ALTITUDECONTROL = 1 << 13;
static constexpr uint64_t SUBSYSTEM_TYPE_POSITIONCONTROL = 1 << 14;
static constexpr uint64_t SUBSYSTEM_TYPE_MOTORCONTROL = 1 << 15;
static constexpr uint64_t SUBSYSTEM_TYPE_RCRECEIVER = 1 << 16;
static constexpr uint64_t SUBSYSTEM_TYPE_GYRO2 = 1 << 17;
static constexpr uint64_t SUBSYSTEM_TYPE_ACC2 = 1 << 18;
static constexpr uint64_t SUBSYSTEM_TYPE_MAG2 = 1 << 19;
static constexpr uint64_t SUBSYSTEM_TYPE_GEOFENCE = 1 << 20;
static constexpr uint64_t SUBSYSTEM_TYPE_AHRS = 1 << 21;
static constexpr uint64_t SUBSYSTEM_TYPE_TERRAIN = 1 << 22;
static constexpr uint64_t SUBSYSTEM_TYPE_REVERSEMOTOR = 1 << 23;
static constexpr uint64_t SUBSYSTEM_TYPE_LOGGING = 1 << 24;
static constexpr uint64_t SUBSYSTEM_TYPE_SENSORBATTERY = 1 << 25;
static constexpr uint64_t SUBSYSTEM_TYPE_SENSORPROXIMITY = 1 << 26;
static constexpr uint64_t SUBSYSTEM_TYPE_SATCOM = 1 << 27;
static constexpr uint64_t SUBSYSTEM_TYPE_PREARM_CHECK = 1 << 28;
static constexpr uint64_t SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE = 1 << 29;
};
void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status);
void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status);
void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status);
void print_health_flags(const vehicle_status_s &status);