FailureDetector - New class, first working simple implementation. Outputs PX4_ERR messages if roll or pitch is exceeded.

src/modules/commander/failure_detector/FailureDetector.cpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+* @file FailureDetector.cpp
+*
+* @author Mathieu Bresciani	<brescianimathieu@gmail.com>
+*
+*/
+
+#include "FailureDetector.hpp"
+
+FailureDetector::FailureDetector() :
+	ModuleParams(nullptr),
+	_sub_vehicle_attitude_setpoint(ORB_ID(vehicle_attitude_setpoint)),
+	_sub_vehicule_attitude(ORB_ID(vehicle_attitude))
+{
+}
+
+void
+FailureDetector::update_params()
+{
+	updateParams();
+}
+
+bool
+FailureDetector::update()
+{
+	bool result(false);
+
+	result = update_attitude_status();
+
+	return result;
+}
+
+bool
+FailureDetector::update_attitude_status()
+{
+	bool result(false);
+
+	if (_sub_vehicule_attitude.update()) {
+		const vehicle_attitude_s &attitude = _sub_vehicule_attitude.get();
+
+		const matrix::Eulerf euler(matrix::Quatf(attitude.q));
+		const float roll(euler.phi());
+		const float pitch(euler.theta());
+
+		const float max_roll_deg = _fail_trig_roll.get();
+		const float max_pitch_deg = _fail_trig_pitch.get();
+		const float max_roll(fabsf(math::radians(max_roll_deg)));
+		const float max_pitch(fabsf(math::radians(max_pitch_deg)));
+
+		if (fabsf(roll) > max_roll) {
+			_status.roll = true;
+		} else {
+			_status.roll = false;
+		}
+
+		if (fabsf(pitch) > max_pitch) {
+			_status.pitch = true;
+		} else {
+			_status.pitch = false;
+		}
+
+		result = true;
+
+	} else {
+		result = false;
+	}
+
+	return result;
+}