Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Obstacle Avoidance prearm checks and log health status #11638

Merged
merged 10 commits into from
Mar 27, 2019
Merged

Obstacle Avoidance prearm checks and log health status #11638

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
9ad80bb
Added obstacle avoidance healthiness topic in vehicle status msg.
cmic0 Feb 13, 2019
153345d
Added status_change to force message updating.
cmic0 Feb 14, 2019
5bf776e
Commander: Improved logic for OA prearm checks.
cmic0 Mar 12, 2019
62ba7ce
Commander: increased hardcoded timeout time for avoidance to start.
cmic0 Mar 13, 2019
912d902
Commander: Added COM_ONB_BOOT_T parameter.
cmic0 Mar 13, 2019
e004f77
Commander: changed logic for checking OA at boot time.
cmic0 Mar 14, 2019
4b85732
Commander: reset print once variable if OA is lost.
cmic0 Mar 14, 2019
4a15a86
Commander: Changed COM_ONB_BOOT_T parameter to COM_OA_BOOT_T.
cmic0 Mar 19, 2019
99bd6ef
Fixed CI errors. changed _print_msg_once into private class member.
cmic0 Mar 22, 2019
384cfc3
Commander: renamed print_msg_once variable into a more self-explanato…
cmic0 Mar 25, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/modules/commander/Commander.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3967,7 +3967,7 @@ void Commander::data_link_check(bool &status_changed)

//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0
&& hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _onboard_boot_timeout.get() * 1_s) {
&& hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _oa_boot_timeout.get() * 1_s) {
if (!print_msg_once) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available!");
print_msg_once = true;
Expand Down
2 changes: 1 addition & 1 deletion src/modules/commander/Commander.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,

(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
(ParamInt<px4::params::COM_ONB_BOOT_T>) _onboard_boot_timeout
(ParamInt<px4::params::COM_OA_BOOT_T>) _oa_boot_timeout

)

Expand Down
12 changes: 6 additions & 6 deletions src/modules/commander/commander_params.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -798,22 +798,22 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);

/**
* Flag to enable obstacle avoidance
* Flag to enable obstacle avoidance.
*
* @boolean
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);

/**
* Set onboard controller bootup timeout
* Set avoidance system bootup timeout.
*
* This parameter defines the bootup timeout.
* After the timeout, a mavlink message that tells the user that the avoidance system
* is not available is sent.
* The avoidance system running on the companion computer is expected to boot
* within this time and start providing trajectory points.
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Is this true? Is it about trajectory points being sent? Or is it about a heartbeat?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Yes, it is true. In the actual implementation, as soon as the avoidance node is running sends both heartbeats and trajectory points. On the long term, this behavior will probably be changed.

If we want to maintain a more general statement we could go for:
The avoidance system running on the companion computer is expected to boot within this time, after which its functionalities are fully operative.

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

No if it's true it's fine.

* If no avoidance system is detected a MAVLink warning message is sent.
* @group Commander
* @unit s
* @min 0
* @max 200
*/
PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 100);
PARAM_DEFINE_INT32(COM_OA_BOOT_T, 100);