FailureDetector.hpp
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/****************************************************************************
*
* Copyright (c) 2018 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 FailureDetector.hpp
* Base class for failure detection logic based on vehicle states
* for failsafe triggering.
*
* @author Mathieu Bresciani <brescianimathieu@gmail.com>
*
*/
#pragma once
#include <matrix/matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <px4_platform_common/module_params.h>
#include <hysteresis/hysteresis.h>
// subscriptions
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/pwm_input.h>
typedef enum {
FAILURE_NONE = vehicle_status_s::FAILURE_NONE,
FAILURE_ROLL = vehicle_status_s::FAILURE_ROLL,
FAILURE_PITCH = vehicle_status_s::FAILURE_PITCH,
FAILURE_ALT = vehicle_status_s::FAILURE_ALT,
FAILURE_EXT = vehicle_status_s::FAILURE_EXT,
FAILURE_ARM_ESCS = vehicle_status_s::FAILURE_ARM_ESC
} failure_detector_bitmak;
using uORB::SubscriptionData;
class FailureDetector : public ModuleParams
{
public:
FailureDetector(ModuleParams *parent);
bool update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode);
uint8_t getStatus() const { return _status; }
private:
void updateAttitudeStatus();
void updateExternalAtsStatus();
void updateEscsStatus(const vehicle_status_s &vehicle_status);
uint8_t _status{FAILURE_NONE};
systemlib::Hysteresis _roll_failure_hysteresis{false};
systemlib::Hysteresis _pitch_failure_hysteresis{false};
systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
systemlib::Hysteresis _esc_failure_hysteresis{false};
uORB::Subscription _vehicule_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
uORB::Subscription _pwm_input_sub{ORB_ID(pwm_input)};
DEFINE_PARAMETERS(
(ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r,
(ParamFloat<px4::params::FD_FAIL_R_TTRI>) _param_fd_fail_r_ttri,
(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri,
(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
(ParamInt<px4::params::FD_ESCS_EN>) _param_escs_en
)
};