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-rw-r--r--src/drivers/px4io/px4io.cpp14
-rw-r--r--src/modules/commander/commander.cpp45
-rw-r--r--src/modules/commander/commander_helper.cpp6
-rw-r--r--src/modules/commander/state_machine_helper.cpp169
-rw-r--r--src/modules/mc_att_control/mc_att_control_main.cpp17
-rw-r--r--src/modules/systemlib/circuit_breaker.c93
-rw-r--r--src/modules/systemlib/circuit_breaker.h55
-rw-r--r--src/modules/systemlib/module.mk5
-rw-r--r--src/modules/uORB/topics/vehicle_status.h4
9 files changed, 378 insertions, 30 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 992ab9623..24da4c68b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -72,6 +72,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
@@ -1012,6 +1013,19 @@ PX4IO::task_main()
}
}
+ int32_t safety_param_val;
+ param_t safety_param = param_find("RC_FAILS_THR");
+
+ if (safety_param != PARAM_INVALID) {
+
+ param_get(safety_param, &safety_param_val);
+
+ if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
+ /* disable IO safety if circuit breaker asked for it */
+ (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
+ }
+ }
+
}
}
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index ef4c18ea6..e4a709ef6 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -52,6 +52,7 @@
#include <fcntl.h>
#include <errno.h>
#include <systemlib/err.h>
+#include <systemlib/circuit_breaker.h>
#include <debug.h>
#include <sys/prctl.h>
#include <sys/stat.h>
@@ -76,6 +77,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/safety.h>
+#include <uORB/topics/system_power.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/telemetry_status.h>
@@ -707,6 +709,12 @@ int commander_thread_main(int argc, char *argv[])
status.counter++;
status.timestamp = hrt_absolute_time();
+ status.condition_power_input_valid = true;
+ status.avionics_power_rail_voltage = -1.0f;
+
+ // CIRCUIT BREAKERS
+ status.circuit_breaker_engaged_power_check = false;
+
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -852,6 +860,11 @@ int commander_thread_main(int argc, char *argv[])
struct position_setpoint_triplet_s pos_sp_triplet;
memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
+ /* Subscribe to system power */
+ int system_power_sub = orb_subscribe(ORB_ID(system_power));
+ struct system_power_s system_power;
+ memset(&system_power, 0, sizeof(system_power));
+
control_status_leds(&status, &armed, true);
/* now initialized */
@@ -910,6 +923,9 @@ int commander_thread_main(int argc, char *argv[])
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id));
+
+ status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
+
status_changed = true;
/* re-check RC calibration */
@@ -961,6 +977,26 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
}
+ orb_check(system_power_sub, &updated);
+
+ if (updated) {
+ orb_copy(ORB_ID(system_power), system_power_sub, &system_power);
+
+ if (hrt_elapsed_time(&system_power.timestamp) < 200000) {
+ if (system_power.servo_valid &&
+ !system_power.brick_valid &&
+ !system_power.usb_connected) {
+ /* flying only on servo rail, this is unsafe */
+ status.condition_power_input_valid = false;
+ } else {
+ status.condition_power_input_valid = true;
+ }
+
+ /* copy avionics voltage */
+ status.avionics_power_rail_voltage = system_power.voltage5V_v;
+ }
+ }
+
check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed);
/* update safety topic */
@@ -1270,12 +1306,13 @@ int commander_thread_main(int argc, char *argv[])
if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
- if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
- print_reject_arm("#audio: NOT ARMING: Press safety switch first.");
- } else if (status.main_state != MAIN_STATE_MANUAL) {
+ /* we check outside of the transition function here because the requirement
+ * for being in manual mode only applies to manual arming actions.
+ * the system can be armed in auto if armed via the GCS.
+ */
+ if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
-
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 940a04aa1..80e6861f6 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -209,12 +209,18 @@ int led_init()
/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
(void)ioctl(leds, LED_ON, LED_BLUE);
+ /* switch blue off */
+ led_off(LED_BLUE);
+
/* we consider the amber led mandatory */
if (ioctl(leds, LED_ON, LED_AMBER)) {
warnx("Amber LED: ioctl fail\n");
return ERROR;
}
+ /* switch amber off */
+ led_off(LED_AMBER);
+
/* then try RGB LEDs, this can fail on FMUv1*/
rgbleds = open(RGBLED_DEVICE_PATH, 0);
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 74885abf6..244513375 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2013, 2014 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
@@ -46,20 +46,32 @@
#include <dirent.h>
#include <fcntl.h>
#include <string.h>
+#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/differential_pressure.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_airspeed.h>
#include <drivers/drv_device.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
#include "commander_helper.h"
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+static int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
+
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
@@ -98,18 +110,31 @@ arming_state_transition(struct vehicle_status_s *status, /// current
ASSERT(ARMING_STATE_INIT == 0);
ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
- /*
- * Perform an atomic state update
- */
- irqstate_t flags = irqsave();
-
transition_result_t ret = TRANSITION_DENIED;
+ arming_state_t current_arming_state = status->arming_state;
+
/* only check transition if the new state is actually different from the current one */
- if (new_arming_state == status->arming_state) {
+ if (new_arming_state == current_arming_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
+
+ /*
+ * Get sensing state if necessary
+ */
+ int prearm_ret = OK;
+
+ /* only perform the check if we have to */
+ if (new_arming_state == ARMING_STATE_ARMED) {
+ prearm_ret = prearm_check(status, mavlink_fd);
+ }
+
+ /*
+ * Perform an atomic state update
+ */
+ irqstate_t flags = irqsave();
+
/* enforce lockdown in HIL */
if (status->hil_state == HIL_STATE_ON) {
armed->lockdown = true;
@@ -124,15 +149,44 @@ arming_state_transition(struct vehicle_status_s *status, /// current
if (valid_transition) {
// We have a good transition. Now perform any secondary validation.
if (new_arming_state == ARMING_STATE_ARMED) {
- // Fail transition if we need safety switch press
- // Allow if coming from in air restore
+
+ // Do not perform pre-arm checks if coming from in air restore
// Allow if HIL_STATE_ON
- if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
- if (mavlink_fd) {
- mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first.");
+ if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE &&
+ status->hil_state == HIL_STATE_OFF) {
+
+ // Fail transition if pre-arm check fails
+ if (prearm_ret) {
+ valid_transition = false;
+
+ // Fail transition if we need safety switch press
+ } else if (safety->safety_switch_available && !safety->safety_off) {
+
+ mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!");
+
+ valid_transition = false;
+ }
+
+ // Perform power checks only if circuit breaker is not
+ // engaged for these checks
+ if (!status->circuit_breaker_engaged_power_check) {
+ // Fail transition if power is not good
+ if (!status->condition_power_input_valid) {
+
+ mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
+ valid_transition = false;
+ }
+
+ // Fail transition if power levels on the avionics rail
+ // are measured but are insufficient
+ if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
+ (status->avionics_power_rail_voltage < 4.9f)) {
+
+ mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage);
+ valid_transition = false;
+ }
}
- valid_transition = false;
}
} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {
@@ -157,17 +211,15 @@ arming_state_transition(struct vehicle_status_s *status, /// current
ret = TRANSITION_CHANGED;
status->arming_state = new_arming_state;
}
- }
- /* end of atomic state update */
- irqrestore(flags);
+ /* end of atomic state update */
+ irqrestore(flags);
+ }
if (ret == TRANSITION_DENIED) {
- static const char *errMsg = "Invalid arming transition from %s to %s";
+ static const char *errMsg = "INVAL: %s - %s";
- if (mavlink_fd) {
- mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
- }
+ mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
}
@@ -539,3 +591,80 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
return status->nav_state != nav_state_old;
}
+int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
+{
+ int ret;
+
+ int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
+ ret = fd;
+ goto system_eval;
+ }
+
+ ret = ioctl(fd, ACCELIOCSELFTEST, 0);
+
+ if (ret != OK) {
+ mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
+ goto system_eval;
+ }
+
+ /* check measurement result range */
+ struct accel_report acc;
+ ret = read(fd, &acc, sizeof(acc));
+
+ if (ret == sizeof(acc)) {
+ /* evaluate values */
+ float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
+
+ if (accel_scale < 9.78f || accel_scale > 9.83f) {
+ mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended.");
+ }
+
+ if (accel_scale > 30.0f /* m/s^2 */) {
+ mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
+ /* this is frickin' fatal */
+ ret = ERROR;
+ goto system_eval;
+ } else {
+ ret = OK;
+ }
+ } else {
+ mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
+ /* this is frickin' fatal */
+ ret = ERROR;
+ goto system_eval;
+ }
+
+ if (!status->is_rotary_wing) {
+ int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
+ ret = fd;
+ goto system_eval;
+ }
+
+ struct differential_pressure_s diff_pres;
+
+ ret = read(fd, &diff_pres, sizeof(diff_pres));
+
+ if (ret == sizeof(diff_pres)) {
+ if (fabsf(diff_pres.differential_pressure_filtered_pa > 5.0f)) {
+ mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING");
+ // XXX do not make this fatal yet
+ ret = OK;
+ }
+ } else {
+ mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ");
+ /* this is frickin' fatal */
+ ret = ERROR;
+ goto system_eval;
+ }
+ }
+
+system_eval:
+ close(fd);
+ return ret;
+}
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 20e016da3..19c10198c 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -72,6 +72,7 @@
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
+#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
@@ -123,6 +124,8 @@ private:
orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
+ bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
+
struct vehicle_attitude_s _v_att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
@@ -267,6 +270,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_v_rates_sp_pub(-1),
_actuators_0_pub(-1),
+ _actuators_0_circuit_breaker_enabled(false),
+
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
@@ -402,6 +407,8 @@ MulticopterAttitudeControl::parameters_update()
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
+ _actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
+
return OK;
}
@@ -840,11 +847,13 @@ MulticopterAttitudeControl::task_main()
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
- if (_actuators_0_pub > 0) {
- orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
+ if (!_actuators_0_circuit_breaker_enabled) {
+ if (_actuators_0_pub > 0) {
+ orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
- } else {
- _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
+ } else {
+ _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
+ }
}
}
}
diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c
new file mode 100644
index 000000000..b59531d69
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker.c
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2014 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 circuit_breaker.c
+ *
+ * Circuit breaker parameters.
+ * Analog to real aviation circuit breakers these parameters
+ * allow to disable subsystems. They are not supported as standard
+ * operation procedure and are only provided for development purposes.
+ * To ensure they are not activated accidentally, the associated
+ * parameter needs to set to the key (magic).
+ */
+
+#include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
+
+/**
+ * Circuit breaker for power supply check
+ *
+ * Setting this parameter to 894281 will disable the power valid
+ * checks in the commander.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 894281
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
+
+/**
+ * Circuit breaker for rate controller output
+ *
+ * Setting this parameter to 140253 will disable the rate
+ * controller uORB publication.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 140253
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
+
+/**
+ * Circuit breaker for IO safety
+ *
+ * Setting this parameter to 894281 will disable IO safety.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 22027
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0);
+
+bool circuit_breaker_enabled(const char* breaker, int32_t magic)
+{
+ int32_t val;
+ (void)param_get(param_find(breaker), val);
+
+ return (val == magic);
+}
+
diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h
new file mode 100644
index 000000000..86439e2a5
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker.h
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2014 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 circuit_breaker.h
+ *
+ * Circuit breaker functionality.
+ */
+
+#ifndef CIRCUIT_BREAKER_H_
+#define CIRCUIT_BREAKER_H_
+
+#define CBRK_SUPPLY_CHK_KEY 894281
+#define CBRK_RATE_CTRL_KEY 140253
+#define CBRK_IO_SAFETY_KEY 22027
+
+#include <stdbool.h>
+
+__BEGIN_DECLS
+
+__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
+
+__END_DECLS
+
+#endif /* CIRCUIT_BREAKER_H_ */
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 3953b757d..147903aa0 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (C) 2012 PX4 Development Team. All rights reserved.
+# Copyright (c) 2012-2014 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
@@ -52,5 +52,6 @@ SRCS = err.c \
rc_check.c \
otp.c \
board_serial.c \
- pwm_limit/pwm_limit.c
+ pwm_limit/pwm_limit.c \
+ circuit_breaker.c
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 5dc46dacb..56590047f 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -191,6 +191,8 @@ struct vehicle_status_s {
bool condition_local_altitude_valid;
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
bool condition_landed; /**< true if vehicle is landed, always true if disarmed */
+ bool condition_power_input_valid; /**< set if input power is valid */
+ float avionics_power_rail_voltage; /**< voltage of the avionics power rail */
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception lost */
@@ -220,6 +222,8 @@ struct vehicle_status_s {
uint16_t errors_count2;
uint16_t errors_count3;
uint16_t errors_count4;
+
+ bool circuit_breaker_engaged_power_check;
};
/**
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-13 05:52:43 +0000