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fix(commander): ignore none failsafe actions

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Skip Action::None entries when selecting failsafe policy so a no-action
condition cannot restrict user takeover for another active failsafe.
This commit is contained in:
Wang Jiayue
2026-05-17 22:00:05 +08:00
committed by Ramon Roche
parent 4d3a53a8e2
commit 72be5d3eae
2 changed files with 45 additions and 1 deletions
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42
src/modules/commander/failsafe/failsafe_test.cpp
View File

@@ -63,7 +63,8 @@ protected:
CHECK_FAILSAFE(status_flags, offboard_control_signal_lost, ActionOptions(Action::Hold));
CHECK_FAILSAFE(status_flags, navigator_failure, ActionOptions(Action::Warn));
CHECK_FAILSAFE(status_flags, fd_imbalanced_prop, ActionOptions(Action::None));
CHECK_FAILSAFE(status_flags, fd_imbalanced_prop,
ActionOptions(Action::None).allowUserTakeover(UserTakeoverAllowed::AlwaysModeSwitchOnly));
_last_state_test = checkFailsafe(_caller_id_test, _last_state_test, status_flags.fd_motor_failure
&& status_flags.fd_critical_failure, ActionOptions(Action::Terminate).cannotBeDeferred());
@@ -338,6 +339,45 @@ TEST_F(FailsafeTest, no_delay_for_warn)
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
}
TEST_F(FailsafeTest, none_action_does_not_restrict_user_takeover)
{
FailsafeTester failsafe(nullptr);
FailsafeBase::State state{};
state.armed = true;
state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_MANUAL;
state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
hrt_abstime time = 3847124342;
failsafe_flags_s failsafe_flags{};
bool user_intended_mode_updated = false;
// Add an active Action::None entry with a restrictive takeover setting.
failsafe_flags.fd_imbalanced_prop = true;
uint8_t updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
// Battery time low -> Hold for the delay
time += 10_ms;
failsafe_flags.battery_low_remaining_time = true;
updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold);
// Delay over -> RTL
time += 5_s;
updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
// User wants takeover via sticks. The active Action::None must not downgrade this to mode-switch-only.
time += 10_ms;
updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, true, failsafe_flags);
ASSERT_EQ(updated_user_intented_mode, vehicle_status_s::NAVIGATION_STATE_POSCTL);
ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
ASSERT_TRUE(failsafe.userTakeoverActive());
}
TEST_F(FailsafeTest, no_immediate_takeover_when_failsafe_on_mode_switch)
{
FailsafeTester failsafe(nullptr);

4
src/modules/commander/failsafe/framework.cpp
View File

@@ -467,6 +467,10 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
const ActionOptions &cur_action = _actions[action_idx];
if (cur_action.valid()) {
if (cur_action.action == Action::None) {
continue;
}
if (cur_action.allow_user_takeover > allow_user_takeover) {
// Use the most restrictive setting among all active actions
allow_user_takeover = cur_action.allow_user_takeover;