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feat(commander): add companion computer temperature warning check (#27637)

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* feat(commander) add companion computer temperature warning check

* refactor(commander): improve wording

* Apply suggestions from code review

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
elisaaferraraa
2026-06-17 18:23:44 +02:00
committed by GitHub
parent 143b518528
commit 2d74cfb2c1
5 changed files with 147 additions and 1 deletions
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1
src/modules/commander/HealthAndArmingChecks/CMakeLists.txt
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@@ -40,6 +40,7 @@ px4_add_library(health_and_arming_checks
checks/armPermissionCheck.cpp
checks/baroCheck.cpp
checks/batteryCheck.cpp
checks/companionComputerCheck.cpp
checks/cpuResourceCheck.cpp
checks/distanceSensorChecks.cpp
checks/opticalFlowCheck.cpp

5
src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
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@@ -44,6 +44,7 @@
#include "checks/airspeedCheck.hpp"
#include "checks/armPermissionCheck.hpp"
#include "checks/baroCheck.hpp"
#include "checks/companionComputerCheck.hpp"
#include "checks/cpuResourceCheck.hpp"
#include "checks/distanceSensorChecks.hpp"
#include "checks/opticalFlowCheck.hpp"
@@ -135,6 +136,7 @@ private:
AirspeedChecks _airspeed_checks;
ArmPermissionChecks _arm_permission_checks;
BaroChecks _baro_checks;
CompanionComputerChecks _companion_computer_checks;
CpuResourceChecks _cpu_resource_checks;
DistanceSensorChecks _distance_sensor_checks;
OpticalFlowCheck _optical_flow_check;
@@ -170,7 +172,7 @@ private:
ExternalChecks _external_checks;
#endif
HealthAndArmingCheckBase *_checks[41] = {
HealthAndArmingCheckBase *_checks[42] = {
#ifndef CONSTRAINED_FLASH
&_external_checks,
#endif
@@ -178,6 +180,7 @@ private:
&_airspeed_checks,
&_arm_permission_checks,
&_baro_checks,
&_companion_computer_checks,
&_cpu_resource_checks,
&_distance_sensor_checks,
&_optical_flow_check,

71
src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.cpp Normal file
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@@ -0,0 +1,71 @@
/****************************************************************************
*
* Copyright (c) 2026 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 "companionComputerCheck.hpp"
using namespace time_literals;
void CompanionComputerChecks::checkAndReport(const Context &context, Report &reporter)
{
const float temperature_warn_threshold = _param_com_cc_temp_warn.get();
if (temperature_warn_threshold < FLT_EPSILON) {
return;
}
onboard_computer_status_s onboard_computer_status;
// Skip if no companion computer is connected or reporting.
if (!_onboard_computer_status_sub.copy(&onboard_computer_status)
|| hrt_elapsed_time(&onboard_computer_status.timestamp) > 5_s
|| onboard_computer_status.temperature_board == INT8_MAX) {
return;
}
const float temperature_board = (float)onboard_computer_status.temperature_board;
if (temperature_board >= temperature_warn_threshold) {
/* EVENT
* @description
* The companion computer temperature is above the warning threshold.
*
* <profile name="dev">
* The threshold can be adjusted via <param>COM_CC_TEMP_WARN</param> parameter.
* </profile>
*/
reporter.healthFailure<int8_t>(NavModes::None, health_component_t::system,
events::ID("check_companion_computer_temperature_high"),
events::Log::Warning, "Companion computer temperature warning, {1} C",
onboard_computer_status.temperature_board);
}
}

55
src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.hpp Normal file
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@@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (c) 2026 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.
*
****************************************************************************/
#pragma once
#include "../Common.hpp"
#include <uORB/Subscription.hpp>
#include <uORB/topics/onboard_computer_status.h>
class CompanionComputerChecks : public HealthAndArmingCheckBase
{
public:
CompanionComputerChecks() = default;
~CompanionComputerChecks() = default;
void checkAndReport(const Context &context, Report &reporter) override;
private:
uORB::Subscription _onboard_computer_status_sub{ORB_ID(onboard_computer_status)};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamFloat<px4::params::COM_CC_TEMP_WARN>) _param_com_cc_temp_warn
)
};

16
src/modules/commander/commander_params.yaml
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@@ -595,6 +595,22 @@ parameters:
decimal: 1
increment: 0.1
unit: s
COM_CC_TEMP_WARN:
description:
short: Companion computer high-temperature warning threshold
long: |-
Arming is not prevented as the temperature typically drops in flight.
Set to -1 to disable.
type: float
default: 80.0
min: -1
max: 127
decimal: 0
increment: 1
unit: celcius
COM_WIND_WARN:
description:
short: Wind speed warning threshold