mirror of
https://github.com/PX4/PX4-Autopilot.git
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03bf4a5e95
* feat(commander): add traffic avoidance system failsafe * test(commander): add tests for traffic avoidance failsafe * docs(parameters): add COM_ARM_TRAFF migration notes * fix(failsafe): use a shared header instead of hard-coding enum literals * fix(commander): clear stale traffic avoidance unhealthy flag when check disabled * refactor(failsafe): rename failsafe_mode_params.h to failsafe_action_modes.h * docs(adsb_flarm): fix formatting in traffic avoidance parameter table --------- Co-authored-by: Claudio Chies <chiesc@chies.com>
82 lines
3.4 KiB
C++
82 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "trafficAvoidanceCheck.hpp"
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#include "../../failsafe/failsafe_action_modes.h"
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void TrafficAvoidanceChecks::checkAndReport(const Context &context, Report &reporter)
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{
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const auto mode = static_cast<traffic_avoidance::FailsafeMode>(_param_com_traff_avoid.get());
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const bool enabled = traffic_avoidance::isEnabled(mode);
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// Always update the flag, so that disabling the check also clears a previously-set flag
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reporter.failsafeFlags().traffic_avoidance_unhealthy = enabled
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&& !context.status().traffic_avoidance_system_present;
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if (!enabled) {
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return;
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}
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if (!context.status().traffic_avoidance_system_present) {
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const bool block_arming = traffic_avoidance::blocksArming(mode);
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const NavModes nav_modes = block_arming ? NavModes::All : NavModes::None;
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const events::Log log_level = block_arming ? events::Log::Error : events::Log::Warning;
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/* EVENT
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* @description
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* Traffic avoidance system (ADSB/FLARM) failed to report. Make sure it is setup and connected properly.
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*
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* <profile name="dev">
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* Configured by <param>COM_TRAFF_AVOID</param> parameter.
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* </profile>
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*/
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reporter.healthFailure(nav_modes, health_component_t::traffic_avoidance,
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events::ID("check_traffic_avoidance_missing"),
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log_level, "Traffic avoidance system missing");
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if (reporter.mavlink_log_pub()) {
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if (block_arming) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Traffic avoidance system missing");
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} else {
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mavlink_log_warning(reporter.mavlink_log_pub(), "Traffic avoidance system missing");
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}
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}
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}
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if (context.status().traffic_avoidance_system_present) {
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reporter.setIsPresent(health_component_t::traffic_avoidance);
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}
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}
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