Reboot vehicle only for ROVs if heartbeat lost #3790
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patrickelectric wants to merge 4 commits intobluerobotics:masterfrom
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Reboot vehicle only for ROVs if heartbeat lost #3790patrickelectric wants to merge 4 commits intobluerobotics:masterfrom
patrickelectric wants to merge 4 commits intobluerobotics:masterfrom
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…reType Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
…wareType enum Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
…ly for ROV We don't want to reboot flying vehicles Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
Reviewer's GuideRestricts automatic Ardupilot restarts on heartbeat loss to ROV/ArduSub vehicles by introducing a typed MAVLink firmware enum and using it to gate the heartbeat-based reboot logic, while updating VehicleManager and related helpers to use the new type-safe firmware type API. Sequence diagram for conditional ArduSub-only heartbeat restartsequenceDiagram
participant AutopilotManager
participant VehicleManager
participant Mavlink2Rest
AutopilotManager->>AutopilotManager: auto_restart_ardupilot loop
AutopilotManager->>VehicleManager: is_heart_beating() async
VehicleManager-->>AutopilotManager: alive or failure
alt heartbeat failure
AutopilotManager->>AutopilotManager: increment _heartbeat_fail_count
else heartbeat ok
AutopilotManager->>AutopilotManager: reset _heartbeat_fail_count
end
AutopilotManager->>AutopilotManager: check _heartbeat_fail_count >= _max_heartbeat_failures
alt threshold reached
AutopilotManager->>AutopilotManager: check _firmware_vehicle_type is None
alt firmware type unknown
AutopilotManager->>VehicleManager: get_vehicle_type() async
VehicleManager->>Mavlink2Rest: get_updated_mavlink_message(HEARTBEAT) async
Mavlink2Rest-->>VehicleManager: heartbeat_message
VehicleManager-->>AutopilotManager: MavlinkVehicleType
AutopilotManager->>AutopilotManager: _firmware_vehicle_type = vehicle_type.mavlink_firmware_type()
end
AutopilotManager->>AutopilotManager: check _firmware_vehicle_type == MavlinkFirmwareType.ArduSub
alt firmware is ArduSub
AutopilotManager->>AutopilotManager: restart_ardupilot() async
else firmware is not ArduSub
AutopilotManager->>AutopilotManager: skip restart
end
AutopilotManager->>AutopilotManager: _heartbeat_fail_count = 0
end
Class diagram for MAVLink firmware typing and conditional heartbeat restartclassDiagram
class AutopilotManager {
- VehicleManager vehicle_manager
- int _heartbeat_fail_count
- int _max_heartbeat_failures
- MavlinkFirmwareType _firmware_vehicle_type
- bool should_be_running
+ setup() async
+ auto_restart_ardupilot() async
+ restart_ardupilot() async
+ is_running() bool
}
class VehicleManager {
- Mavlink2Rest mavlink2rest
+ get_vehicle_type() async MavlinkVehicleType
+ get_firmware_vehicle_type() async MavlinkFirmwareType
}
class MavlinkVehicleType {
<<enumeration>>
MAV_TYPE_GENERIC
MAV_TYPE_FIXED_WING
MAV_TYPE_VTOL_DUOROTOR
MAV_TYPE_VTOL_QUADROTOR
MAV_TYPE_VTOL_TILTROTOR
MAV_TYPE_VTOL_RESERVED2
MAV_TYPE_VTOL_RESERVED3
MAV_TYPE_VTOL_RESERVED4
MAV_TYPE_VTOL_RESERVED5
MAV_TYPE_QUADROTOR
MAV_TYPE_COAXIAL
MAV_TYPE_HELICOPTER
MAV_TYPE_ANTENNA_TRACKER
MAV_TYPE_GCS
MAV_TYPE_AIRSHIP
MAV_TYPE_FREE_BALLOON
MAV_TYPE_ROCKET
MAV_TYPE_GROUND_ROVER
MAV_TYPE_SURFACE_BOAT
MAV_TYPE_SUBMARINE
MAV_TYPE_HEXAROTOR
MAV_TYPE_OCTOROTOR
MAV_TYPE_TRICOPTER
MAV_TYPE_FLAPPING_WING
MAV_TYPE_KITE
MAV_TYPE_ONBOARD_CONTROLLER
MAV_TYPE_VTOL_RESERVED6
MAV_TYPE_VTOL_RESERVED7
MAV_TYPE_VTOL_RESERVED8
MAV_TYPE_VTOL_RESERVED9
MAV_TYPE_GIMBAL
MAV_TYPE_ADSB
MAV_TYPE_PARAFOIL
MAV_TYPE_DODECAROTOR
MAV_TYPE_CAMERA
MAV_TYPE_CHARGING_STATION
MAV_TYPE_FLARM
MAV_TYPE_SERVO
MAV_TYPE_ODID
MAV_TYPE_DECAROTOR
MAV_TYPE_BATTERY
MAV_TYPE_PARACHUTE
MAV_TYPE_LOG
MAV_TYPE_OSD
MAV_TYPE_IMU
MAV_TYPE_GPS
MAV_TYPE_WINCH
+ mavlink_firmware_type() MavlinkFirmwareType
+ is_actually_a_vehicle() bool
}
class MavlinkFirmwareType {
<<enumeration>>
ArduPlane
ArduCopter
ArduRover
ArduSub
Unknown
}
class Mavlink2Rest {
+ get_updated_mavlink_message(message_name) async dict
}
AutopilotManager --> VehicleManager : uses
VehicleManager --> Mavlink2Rest : uses
VehicleManager --> MavlinkVehicleType : returns
VehicleManager --> MavlinkFirmwareType : returns
MavlinkVehicleType --> MavlinkFirmwareType : maps
AutopilotManager --> MavlinkFirmwareType : caches
File-Level Changes
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patrickelectric
requested review from
Williangalvani,
joaoantoniocardoso and
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Hey - I've found 1 issue, and left some high level feedback:
- The cached
_firmware_vehicle_typeis only populated lazily on heartbeat failure and never reset on (re)start, which could make the restart logic stale if the vehicle type changes; consider refreshing or clearing this cache whenever Ardupilot is (re)started. - In
auto_restart_ardupilot, the broadexcept Exception: passaroundget_vehicle_type()failures fully swallows errors and hides why a restart didn’t occur; consider at least debug-level logging or narrowing the exception to avoid silently ignoring unexpected issues.
Prompt for AI Agents
Please address the comments from this code review:
## Overall Comments
- The cached `_firmware_vehicle_type` is only populated lazily on heartbeat failure and never reset on (re)start, which could make the restart logic stale if the vehicle type changes; consider refreshing or clearing this cache whenever Ardupilot is (re)started.
- In `auto_restart_ardupilot`, the broad `except Exception: pass` around `get_vehicle_type()` failures fully swallows errors and hides why a restart didn’t occur; consider at least debug-level logging or narrowing the exception to avoid silently ignoring unexpected issues.
## Individual Comments
### Comment 1
<location> `core/services/ardupilot_manager/autopilot_manager.py:228-231` </location>
<code_context>
logger.warning("Consecutive heartbeat failures threshold reached — restarting Ardupilot.")
try:
- await self.restart_ardupilot()
+ if self._firmware_vehicle_type is None:
+ try:
+ vehicle_type = await self.vehicle_manager.get_vehicle_type()
+ self._firmware_vehicle_type = vehicle_type.mavlink_firmware_type()
+ except Exception:
+ pass
</code_context>
<issue_to_address>
**suggestion:** Reuse VehicleManager.get_firmware_vehicle_type instead of duplicating logic.
Calling `vehicle_manager.get_firmware_vehicle_type()` here would centralize firmware-type resolution in one place and avoid this mapping logic drifting from the shared implementation.
</issue_to_address>Help me be more useful! Please click 👍 or 👎 on each comment and I'll use the feedback to improve your reviews.
Comment on lines
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to
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| if self._firmware_vehicle_type is None: | ||
| try: | ||
| vehicle_type = await self.vehicle_manager.get_vehicle_type() | ||
| self._firmware_vehicle_type = vehicle_type.mavlink_firmware_type() |
There was a problem hiding this comment.
suggestion: Reuse VehicleManager.get_firmware_vehicle_type instead of duplicating logic.
Calling vehicle_manager.get_firmware_vehicle_type() here would centralize firmware-type resolution in one place and avoid this mapping logic drifting from the shared implementation.
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
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Feb 23, 2026
| if self._heartbeat_fail_count < self._max_heartbeat_failures: | ||
| return | ||
|
|
||
| logger.warning("Consecutive heartbeat failures threshold reached — restarting Ardupilot.") |
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shouldnt this line be before the retart call? as is, this is tell users we are restarting even if running plane/copter
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Summary by Sourcery
Limit automatic Ardupilot restarts on heartbeat loss to ROV (ArduSub) vehicles and introduce a typed MAVLink firmware classification.
New Features:
Bug Fixes:
Enhancements: