Feature: failure detector hitl

[Ilia-Loginov]

Component: Introduced failure_detector_hitl module, integrating three classes for handling failure injection messages(FailureDetectorHITL),

simulating sensors that have ceased to update (FakeStuckSensor), and a component managing a collection of these simulated sensors (FakeSensors).

This module is a combination of three classes: FailureDetectorHITL for detecting failure injection messages, FakeStuckSensor for simulating sensors whose readings have become stuck, and FakeSensors, a component that aggregates a collection of such simulated sensors.

Additionally, the handling of the sensors module has been extended to support disabling sensors during flight.

Designed exclusively for operation in HITL (Hardware-In-The-Loop) mode, this module does not interfere with normal operational mode.

Reported-by: Ilia Loginov [email protected]

On branch FEATURE_FAILURE_INJECTION_HITL
Changes to be committed:
modified: src/modules/sensors/CMakeLists.txt
new file: src/modules/sensors/failure_detector_HITL/CMakeLists.txt
new file: src/modules/sensors/failure_detector_HITL/failure_detector_HITL.cpp
new file: src/modules/sensors/failure_detector_HITL/failure_detector_HITL.hpp
modified: src/modules/sensors/sensors.cpp
modified: src/modules/sensors/sensors.hpp

Tested on Pixhawk and Saluki v3 HITL mode

[haitomatic]

shall we move this block to be after this block at L256 ? and remove all the InitalizeVehicle* since there is now double Initialization in hitl case ?

#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
	InitializeVehicleAirData();
#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
	InitializeVehicleGPSPosition();
#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
	InitializeVehicleMagnetometer();
#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
	InitializeVehicleOpticalFlow();
#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW

[Ilia-Loginov]

Unfortunately no, because this block should work in amed_ case and be able to change status of sensors during a fly.

	if (_armed) {
		return 0;
	}

However, I can refactor next logic.

	if (!_armed) {
		/* All next code */
	}
	
	if (_hil_enabled || !_armed) {
#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
		InitializeVehicleGPSPosition();
#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION

#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
		InitializeVehicleAirData();
#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA

#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
		InitializeVehicleMagnetometer();
#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER

		if (!_armed) {
#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
		    InitializeVehicleOpticalFlow();
#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
              }
              
		_fakeSensors.update(_failureDetector);
	}

[haitomatic]

some refactoring:

• make it clear for ok/off/stuck with isSensorOk()/isSensorOff()/IsSensorStuck()
• Simplify the update of _fakeSensors in Sensors::parameters_update() . _fakeSensors,Update() can be use also for turnOffAll()
• Update stuck msg timestamp with current time (timestamp_sample as part of the sample remains static (stuck))

[jlaitine]

I added a few comments, maybe I need to understand the thing better still. Code looks nice and clean, no objections to that.

However, I would like to see in the code

1. whether a failure detector (this HITL one or some other) is supposed to run only in HITL, or always
2. if it is only in HITL, it should be better separated from the flying configuration, i.e. not initialize / call failure detector or fake sensors functions when flying.
3. if it is for SITL, HITL and flying cases, then the framework should support adding different failure detectors, initializing the proper one based on the build mode / HITL mode at boot and running the functions always. Initial failure detector for non-HITL case could be just a stub that always returns OK for the sensors.

[haitomatic]

@Ilia-Loginov , I just add all the hitl mode checks . As we agree now that this failure injection should only run in HITL mode

[Ilia-Loginov]

@Ilia-Loginov , I just add all the hitl mode checks . As we agree now that this failure injection should only run in HITL mode

Thank you!

[jlaitine]

LGTM