From d67ecc971cfbf172adfaf66a8f526b8d719c1c6f Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 15 Apr 2020 21:20:42 +0200 Subject: [PATCH] commander: add check for VTOL airfame on fmu-v2 (#14633) * commander: add check for VTOL airfame on fmu-v2 This adds a preflight check when a VTOL airframe is configured on a fmu-v2 where VTOL is no longer included. * commander: address code review comments --- .../Arming/PreFlightCheck/CMakeLists.txt | 1 + .../Arming/PreFlightCheck/PreFlightCheck.cpp | 2 + .../Arming/PreFlightCheck/PreFlightCheck.hpp | 1 + .../PreFlightCheck/checks/airframeCheck.cpp | 58 +++++++++++++++++++ 4 files changed, 62 insertions(+) create mode 100644 src/modules/commander/Arming/PreFlightCheck/checks/airframeCheck.cpp diff --git a/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt b/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt index 6fa67e7bdf..3816366bce 100644 --- a/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt +++ b/src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt @@ -43,6 +43,7 @@ px4_add_library(PreFlightCheck checks/airspeedCheck.cpp checks/rcCalibrationCheck.cpp checks/powerCheck.cpp + checks/airframeCheck.cpp checks/ekf2Check.cpp checks/failureDetectorCheck.cpp checks/manualControlCheck.cpp diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp index 3c29f96dcc..9f49f07007 100644 --- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp @@ -80,6 +80,8 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu bool failed = false; + failed = failed || !airframeCheck(mavlink_log_pub, status); + /* ---- MAG ---- */ if (checkSensors) { int32_t sys_has_mag = 1; diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp index 9fe5d15650..2daaae1093 100644 --- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp +++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp @@ -114,4 +114,5 @@ private: const bool prearm); static bool check_calibration(const char *param_template, const int32_t device_id); static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail); + static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status); }; diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/airframeCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/airframeCheck.cpp new file mode 100644 index 0000000000..5c032fe332 --- /dev/null +++ b/src/modules/commander/Arming/PreFlightCheck/checks/airframeCheck.cpp @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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 +#include +#include + +using namespace time_literals; + +bool PreFlightCheck::airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status) +{ + bool success = true; + +#ifdef CONFIG_ARCH_BOARD_PX4_FMU_V2 + + // We no longer support VTOL on fmu-v2, so we need to warn existing users. + if (status.is_vtol) { + mavlink_log_critical(mavlink_log_pub, + "VTOL is not supported with fmu-v2, see docs.px4.io/master/en/config/firmware.html#bootloader"); + success = false; + } + +#endif + + return success; +}