FailureDetector.hpp

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#pragma once

#include <matrix/matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <px4_module_params.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::Subscription;

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

    bool update();

    uint8_t get_status() const {return _status;}

private:

    DEFINE_PARAMETERS(
        (ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
        (ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r
    )

    // Subscriptions
    Subscription<vehicle_attitude_s> _sub_vehicle_attitude_setpoint;
    Subscription<vehicle_attitude_s> _sub_vehicule_attitude;

    uint8_t _status{FAILURE_NONE};

    bool update_attitude_status();
};