Commander: start pulling arming related parts into separate folder

* PreFlightCheck: remove unused reportFailures flag * Commander: pull all pre flight checks together on the PreFlightCheck class * PreFlightCheck: separate checks into their own files
2026-10-22 10:43:34 +08:00 · 2019-11-05 11:25:59 -05:00
parent 08a27492b4
commit 1a79f75f94
32 changed files with 1838 additions and 1281 deletions
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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 PreFlightCheck.hpp
+ *
+ * Check if flight is safely possible
+ * if not prevent it and inform the user.
+ */
+
+#pragma once
+
+#include <uORB/topics/safety.h>
+#include <uORB/topics/vehicle_status_flags.h>
+
+#include <uORB/topics/vehicle_status.h>
+#include <drivers/drv_hrt.h>
+
+class PreFlightCheck
+{
+public:
+	PreFlightCheck() = default;
+	~PreFlightCheck() = default;
+
+	/**
+	* Runs a preflight check on all sensors to see if they are properly calibrated and healthy
+	*
+	* The function won't fail the test if optional sensors are not found, however,
+	* it will fail the test if optional sensors are found but not in working condition.
+	*
+	* @param mavlink_log_pub
+	*   Mavlink output orb handle reference for feedback when a sensor fails
+	* @param checkMag
+	*   true if the magneteometer should be checked
+	* @param checkAcc
+	*   true if the accelerometers should be checked
+	* @param checkGyro
+	*   true if the gyroscopes should be checked
+	* @param checkBaro
+	*   true if the barometer should be checked
+	* @param checkAirspeed
+	*   true if the airspeed sensor should be checked
+	* @param checkRC
+	*   true if the Remote Controller should be checked
+	* @param checkGNSS
+	*   true if the GNSS receiver should be checked
+	* @param checkPower
+	*   true if the system power should be checked
+	**/
+	static bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
+				   vehicle_status_flags_s &status_flags,
+				   const bool checkGNSS, bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot);
+
+	static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
+				const safety_s &safety, const uint8_t arm_requirements);
+
+	typedef enum {
+		ARM_REQ_NONE = 0,
+		ARM_REQ_MISSION_BIT = (1 << 0),
+		ARM_REQ_ARM_AUTH_BIT = (1 << 1),
+		ARM_REQ_GPS_BIT = (1 << 2),
+		ARM_REQ_ESCS_CHECK_BIT = (1 << 3)
+	} arm_requirements_t;
+
+private:
+	static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
+				    const bool optional, int32_t &device_id, const bool report_fail);
+	static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
+	static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
+				       const bool optional, const bool dynamic, int32_t &device_id, const bool report_fail);
+	static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
+			      const bool optional, int32_t &device_id, const bool report_fail);
+	static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
+			      const bool optional, int32_t &device_id, const bool report_fail);
+	static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
+	static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
+				  const bool report_fail, const bool prearm);
+	static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL);
+	static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
+			       const bool prearm);
+	static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
+			      const bool report_fail, const bool enforce_gps_required);
+	static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
+					 const bool prearm);
+	static bool check_calibration(const char *param_template, const int32_t device_id);
+};