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e0488b19e5
The ArmingCheckReply uORB queue was sized to 4 (ORB_QUEUE_LENGTH) while ExternalChecks supports up to MAX_NUM_REGISTRATIONS (8) external modes, each of which publishes a reply for every ArmingCheckRequest. With more than 4 registered modes the replies from the 5th+ mode overwrote earlier ones within a single request cycle, so those modes were flagged "unresponsive" and silently failed to activate. Increase ORB_QUEUE_LENGTH to 8 to match MAX_NUM_REGISTRATIONS, and add a static_assert so the two limits cannot drift apart again. Fixes #27271 Signed-off-by: Marko T <marko.tavcar@c-astral.com>
47 lines
2.9 KiB
Plaintext
47 lines
2.9 KiB
Plaintext
# Arming check reply
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#
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# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
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# The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
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#
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# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
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# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
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uint8 registration_id # [-] Id of external component emitting this response
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
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uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
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uint8 num_events # Number of queued failure messages (Event) in the events field
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Event[5] events # Arming failure reasons (Queue of events to report to GCS)
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# Mode requirements
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
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bool mode_req_attitude # Requires an attitude estimate
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bool mode_req_local_alt # Requires a local altitude estimate
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bool mode_req_local_position # Requires a local position estimate
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
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bool mode_req_global_position # Requires a global position estimate
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
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bool mode_req_mission # Requires an uploaded mission
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
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bool mode_req_manual_control # Requires a manual controller
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# Must be >= ExternalChecks::MAX_NUM_REGISTRATIONS so replies from all registered
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# modes fit in the queue within a single request cycle (otherwise replies from the
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# 5th+ mode overwrite earlier ones, causing spurious "unresponsive mode" failures).
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uint8 ORB_QUEUE_LENGTH = 8
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