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 07:03:34 +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 +1,86 @@
+/****************************************************************************
+ *
+ *   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 <systemlib/mavlink_log.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/system_power.h>
+
+using namespace time_literals;
+
+bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
+				const bool prearm)
+{
+	bool success = true;
+
+	if (!prearm) {
+		// Ignore power check after arming.
+		return true;
+
+	} else {
+		uORB::SubscriptionData<system_power_s> system_power_sub{ORB_ID(system_power)};
+		system_power_sub.update();
+		const system_power_s &system_power = system_power_sub.get();
+
+		if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) {
+
+			/* copy avionics voltage */
+			float avionics_power_rail_voltage = system_power.voltage5v_v;
+
+			// avionics rail
+			// Check avionics rail voltages
+			if (avionics_power_rail_voltage < 4.5f) {
+				success = false;
+
+				if (report_fail) {
+					mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt",
+							     (double)avionics_power_rail_voltage);
+				}
+
+			} else if (avionics_power_rail_voltage < 4.9f) {
+				if (report_fail) {
+					mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
+				}
+
+			} else if (avionics_power_rail_voltage > 5.4f) {
+				if (report_fail) {
+					mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage);
+				}
+			}
+		}
+	}
+
+	return success;
+}