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 14:53:35 +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 +1,89 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "../PreFlightCheck.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <HealthFlags.h>
+#include <px4_defines.h>
+#include <systemlib/mavlink_log.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/sensor_gyro.h>
+#include <uORB/topics/subsystem_info.h>
+
+using namespace time_literals;
+
+bool PreFlightCheck::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)
+{
+	const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK);
+	bool calibration_valid = false;
+	bool gyro_valid = false;
+
+	if (exists) {
+
+		uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), instance};
+
+		gyro_valid = (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);
+
+		if (!gyro_valid) {
+			if (report_fail) {
+				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Gyro #%u", instance);
+			}
+		}
+
+		device_id = gyro.get().device_id;
+
+		calibration_valid = check_calibration("CAL_GYRO%u_ID", device_id);
+
+		if (!calibration_valid) {
+			if (report_fail) {
+				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro #%u uncalibrated", instance);
+			}
+		}
+
+	} else {
+		if (!optional && report_fail) {
+			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro Sensor #%u missing", instance);
+		}
+	}
+
+	if (instance == 0) {
+		set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, exists, !optional, calibration_valid && gyro_valid, status);
+
+	} else if (instance == 1) {
+		set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, exists, !optional, calibration_valid && gyro_valid, status);
+	}
+
+	return calibration_valid && gyro_valid;
+}