FailureDetector.hpp

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/**
* @file FailureDetector.hpp
* Base class for failure detection logic based on vehicle states
* for failsafe triggering.
*
* @author Mathieu Bresciani     <brescianimathieu@gmail.com>
*
*/

#pragma once

#include <matrix/matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <px4_platform_common/module_params.h>
#include <hysteresis/hysteresis.h>

// subscriptions
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>

typedef enum {
    FAILURE_NONE = vehicle_status_s::FAILURE_NONE,
    FAILURE_ROLL = vehicle_status_s::FAILURE_ROLL,
    FAILURE_PITCH = vehicle_status_s::FAILURE_PITCH,
    FAILURE_ALT = vehicle_status_s::FAILURE_ALT,
} failure_detector_bitmak;

using uORB::SubscriptionData;

class FailureDetector : public ModuleParams
{
public:
    FailureDetector(ModuleParams *parent);

    bool update(const vehicle_status_s &vehicle_status);

    uint8_t getStatus() const { return _status; }
    bool isFailure() const { return _status != FAILURE_NONE; }

private:

    DEFINE_PARAMETERS(
        (ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
        (ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r,
        (ParamFloat<px4::params::FD_FAIL_R_TTRI>) _param_fd_fail_r_ttri,
        (ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri
    )

    // Subscriptions
    uORB::Subscription _sub_vehicule_attitude{ORB_ID(vehicle_attitude)};

    uint8_t _status{FAILURE_NONE};

    systemlib::Hysteresis _roll_failure_hysteresis{false};
    systemlib::Hysteresis _pitch_failure_hysteresis{false};

    bool resetStatus();
    bool isAttitudeStabilized(const vehicle_status_s &vehicle_status);
    bool updateAttitudeStatus();
};