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preflight checks: add check for distance sensor (via parameter)

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This commit is contained in:
KonradRudin
2022-03-09 08:26:57 +01:00
committed by Beat Küng
parent 0d31aadcc3
commit 5f43be9d60
5 changed files with 141 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/systemlib/system_params.c
+15
View File
@@ -218,6 +218,21 @@ PARAM_DEFINE_INT32(SYS_HAS_MAG, 1);
*/
PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);
/**
* Control the number of distance sensors on the vehicle
*
* If set to the number of distance sensors, the preflight check will check
* for their presence and valid data publication. Disable with 0 if no distance
* sensor present or to disbale the preflight check.
*
* @reboot_required true
*
* @group System
* @min 0
* @max 4
*/
PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0);
/**
* Enable factory calibration mode
*
src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt
+1
View File
@@ -41,6 +41,7 @@ px4_add_library(PreFlightCheck
checks/baroCheck.cpp
checks/imuConsistencyCheck.cpp
checks/airspeedCheck.cpp
checks/distanceSensorChecks.cpp
checks/rcCalibrationCheck.cpp
checks/powerCheck.cpp
checks/airframeCheck.cpp
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+45 -62
View File
@@ -72,22 +72,8 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
param_get(param_find("SYS_HAS_MAG"), &sys_has_mag);
if (sys_has_mag == 1) {
/* check all sensors individually, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_mag_count; i++) {
const bool required = (i < max_mandatory_mag_count) && (sys_has_mag == 1);
bool report_fail = report_failures;
int32_t device_id = -1;
if (!magnetometerCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (required) {
failed = true;
}
report_fail = false; // only report the first failure
}
}
failed |= !sensorAvailabilityCheck(report_failures, max_mandatory_mag_count, max_optional_mag_count,
mavlink_log_pub, status, magnetometerCheck);
// TODO: highest priority mag
@@ -100,42 +86,16 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
/* ---- ACCEL ---- */
{
/* check all sensors individually, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_accel_count; i++) {
const bool required = (i < max_mandatory_accel_count);
bool report_fail = report_failures;
int32_t device_id = -1;
if (!accelerometerCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (required) {
failed = true;
}
report_fail = false; // only report the first failure
}
}
failed |= !sensorAvailabilityCheck(report_failures, max_mandatory_accel_count, max_optional_accel_count,
mavlink_log_pub, status, accelerometerCheck);
// TODO: highest priority (from params)
}
/* ---- GYRO ---- */
{
/* check all sensors individually, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_gyro_count; i++) {
const bool required = (i < max_mandatory_gyro_count);
bool report_fail = report_failures;
int32_t device_id = -1;
if (!gyroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (required) {
failed = true;
}
report_fail = false; // only report the first failure
}
}
failed |= !sensorAvailabilityCheck(report_failures, max_mandatory_gyro_count, max_optional_gyro_count,
mavlink_log_pub, status, gyroCheck);
// TODO: highest priority (from params)
}
@@ -145,22 +105,9 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
int32_t sys_has_baro = 1;
param_get(param_find("SYS_HAS_BARO"), &sys_has_baro);
bool baro_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_baro_count; i++) {
const bool required = (i < max_mandatory_baro_count) && (sys_has_baro == 1);
bool report_fail = (required && report_failures && !baro_fail_reported);
int32_t device_id = -1;
if (!baroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (required) {
baro_fail_reported = true;
}
report_fail = false; // only report the first failure
}
if (sys_has_baro == 1) {
static_cast<void>(sensorAvailabilityCheck(report_failures, max_mandatory_baro_count, max_optional_baro_count,
mavlink_log_pub, status, baroCheck));
}
}
@@ -172,6 +119,18 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
}
}
/* ---- Distance Sensor ---- */
{
int32_t sys_has_num_dist_sens = 0;
param_get(param_find("SYS_HAS_NUM_DIST"), &sys_has_num_dist_sens);
if (sys_has_num_dist_sens > 0) {
static_cast<void>(sensorAvailabilityCheck(report_failures, sys_has_num_dist_sens, sys_has_num_dist_sens,
mavlink_log_pub, status, distSensCheck));
}
}
/* ---- AIRSPEED ---- */
/* Perform airspeed check only if circuit breaker is not engaged and it's not a rotary wing */
if (!status_flags.circuit_breaker_engaged_airspd_check &&
@@ -278,3 +237,27 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
/* Report status */
return !failed;
}
bool PreFlightCheck::sensorAvailabilityCheck(const bool report_failure, const uint8_t max_mandatory_count,
const uint8_t max_optional_count, orb_advert_t *mavlink_log_pub,
vehicle_status_s &status, sens_check_func_t sens_check)
{
bool pass_check = true;
bool report_fail = report_failure;
/* check all sensors, but fail only for mandatory ones */
for (uint8_t i = 0u; i < max_optional_count; i++) {
const bool required = (i < max_mandatory_count);
int32_t device_id = -1;
if (!sens_check(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (required) {
pass_check = false;
}
report_fail = false; // only report the first failure
}
}
return pass_check;
}
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+9
View File
@@ -40,12 +40,16 @@
#pragma once
#include <uORB/uORB.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
typedef bool (*sens_check_func_t)(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);
class PreFlightCheck
{
public:
@@ -95,6 +99,9 @@ public:
bool report_fail = true);
private:
static bool sensorAvailabilityCheck(const bool report_failure, const uint8_t max_mandatory_count,
const uint8_t max_optional_count, orb_advert_t *mavlink_log_pub,
vehicle_status_s &status, sens_check_func_t sens_check);
static bool magnetometerCheck(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);
@@ -104,6 +111,8 @@ private:
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 distSensCheck(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, const bool max_airspeed_check_en, const float arming_max_airspeed_allowed);
src/modules/commander/Arming/PreFlightCheck/checks/distanceSensorChecks.cpp
+71
View File
@@ -0,0 +1,71 @@
/****************************************************************************
*
* Copyright (c) 2022 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 <px4_defines.h>
#include <systemlib/mavlink_log.h>
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/distance_sensor.h>
using namespace time_literals;
bool PreFlightCheck::distSensCheck(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(distance_sensor), instance) == PX4_OK);
bool check_valid = false;
if (exists) {
uORB::SubscriptionData<distance_sensor_s> dist_sens_sub{ORB_ID(distance_sensor), instance};
dist_sens_sub.update();
const distance_sensor_s &dist_sens_data = dist_sens_sub.get();
check_valid = (hrt_elapsed_time(&dist_sens_data.timestamp) < 1_s);
if (!check_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from distance sensor %u", instance);
}
}
} else {
if (!optional && report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: distance sensor %u missing", instance);
}
}
return check_valid;
}