failureDetectorCheck.cpp

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 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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#include "failureDetectorCheck.hpp"

void FailureDetectorChecks::checkAndReport(const Context &context, Report &reporter)
{
	failure_detector_status_s fd_status;

	if (!_failure_detector_status_sub.copy(&fd_status)) {
		return;
	}

	if (fd_status.fd_roll) {
		/* EVENT
		 * @description
		 * The vehicle exceeded the maximum configured roll angle.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>FD_FAIL_R</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_roll"),
					    events::Log::Critical, "Attitude failure detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (roll)");
		}

	} else if (fd_status.fd_pitch) {
		/* EVENT
		 * @description
		 * The vehicle exceeded the maximum configured pitch angle.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>FD_FAIL_P</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_pitch"),
					    events::Log::Critical, "Attitude failure detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (pitch)");
		}
	}

	if (fd_status.fd_alt) {
		/* EVENT
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_alt"),
					    events::Log::Critical, "Altitude failure detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Altitude failure");
		}
	}

	if (fd_status.fd_ext) {
		/* EVENT
		 * @description
		 * <profile name="dev">
		 * This check can be configured via <param>FD_EXT_ATS_EN</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_ext"),
					    events::Log::Critical, "Failure triggered by external system");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: triggered by external system");
		}
	}

	reporter.failsafeFlags().fd_critical_failure = fd_status.fd_roll || fd_status.fd_pitch || fd_status.fd_ext;
	reporter.failsafeFlags().fd_alt_loss = fd_status.fd_alt;

	reporter.failsafeFlags().fd_imbalanced_prop = fd_status.fd_imbalanced_prop;

	if (reporter.failsafeFlags().fd_imbalanced_prop) {
		/* EVENT
		 * @description
		 * Check that all propellers are mounted correctly and are not damaged.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>FD_IMB_PROP_THR</param> and <param>COM_IMB_PROP_ACT</param> parameters.
		 * </profile>
		 */
		reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_imbalanced_prop"),
				       events::Log::Critical, "Imbalanced propeller detected");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Imbalanced propeller detected");
		}
	}
}