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Commander: Add PreflightCheck to the commander

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Johan Jansen 2015-03-08 14:48:30 +01:00 committed by Lorenz Meier
parent 1da048549a
commit fde244f903
4 changed files with 288 additions and 1 deletions
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222
src/modules/commander/PreflightCheck.cpp Normal file
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/****************************************************************************
*
* Copyright (c) 2012-2015 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.cpp
*
* Preflight check for main system components
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/rc_check.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_baro.h>
#include <mavlink/mavlink_log.h>
#include "PreflightCheck.h"
namespace Commander
{
static bool magnometerCheck(int mavlink_fd)
{
int fd = open(MAG0_DEVICE_PATH, 0);
if (fd < 0) {
warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
return false;
}
int calibration_devid;
int devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("CAL_MAG0_ID"), &(calibration_devid));
if (devid != calibration_devid){
warnx("magnetometer calibration is for a different device - calibrate magnetometer first (dev: %d vs cal: %d)", devid, calibration_devid);
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID");
return false;
}
int ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret != OK) {
warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL");
return false;
}
close(fd);
return true;
}
static bool accelerometerCheck(int mavlink_fd)
{
int fd = open(ACCEL0_DEVICE_PATH, O_RDONLY);
int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
int calibration_devid;
int devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("CAL_ACC0_ID"), &(calibration_devid));
if (devid != calibration_devid){
warnx("accelerometer calibration is for a different device - calibrate accelerometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACC CAL ID");
return false;
}
if (ret != OK) {
warnx("accel self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
return false;
}
// check measurement result range
struct accel_report acc;
ret = read(fd, &acc, sizeof(acc));
if (ret == sizeof(acc)) {
// evaluate values
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
// evaluate values
if (accel_magnitude > 30.0f) { //m/s^2
warnx("accel with spurious values");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: |ACCEL| > 30 m/s^2");
//this is frickin' fatal
return false;
}
} else {
warnx("accel read failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ");
//this is frickin' fatal
return false;
}
close(fd);
return true;
}
static bool gyroCheck(int mavlink_fd)
{
int fd = open(GYRO0_DEVICE_PATH, 0);
int calibration_devid;
int devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("CAL_GYRO0_ID"), &(calibration_devid));
if (devid != calibration_devid){
warnx("gyro calibration is for a different device - calibrate gyro first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CAL ID");
return false;
}
int ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
warnx("gyro self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
return false;
}
close(fd);
return true;
}
static bool baroCheck(int mavlink_fd)
{
int fd = open(BARO0_DEVICE_PATH, 0);
if(fd < 0) {
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: Barometer");
return false;
}
close(fd);
return true;
}
bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC)
{
//give the system some time to sample the sensors in the background
usleep(150000);
//Magnetometer
if(checkMag) {
if(!magnometerCheck(mavlink_fd)) {
return false;
}
}
//Accelerometer
if(checkAcc) {
if(!accelerometerCheck(mavlink_fd)) {
return false;
}
}
// ---- GYRO ----
if(checkGyro) {
if(!gyroCheck(mavlink_fd)) {
return false;
}
}
// ---- BARO ----
if(checkBaro) {
if(!baroCheck(mavlink_fd)) {
return false;
}
}
// ---- RC CALIBRATION ----
if(checkRC) {
if(rc_calibration_check(mavlink_fd) != OK) {
return false;
}
}
//All is good!
return true;
}
}

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src/modules/commander/PreflightCheck.h Normal file
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/****************************************************************************
*
* Copyright (c) 2012-2015 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.h
*
* Preflight check for main system components
*
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#pragma once
namespace Commander
{
/**
* @brief
* Runs a preflight check on all sensors to see if they are properly calibrated and healthy
* @param mavlink_fd
* Mavlink output file descriptor 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 checkRC
* true if the Remote Controller should be checked
**/
bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC);
}

1
src/modules/commander/commander.cpp
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@ -114,6 +114,7 @@
#include "baro_calibration.h"
#include "rc_calibration.h"
#include "airspeed_calibration.h"
#include "PreflightCheck.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR

3
src/modules/commander/module.mk
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@ -46,7 +46,8 @@ SRCS = commander.cpp \
mag_calibration.cpp \
baro_calibration.cpp \
rc_calibration.cpp \
airspeed_calibration.cpp
airspeed_calibration.cpp \
PreflightCheck.cpp
MODULE_STACKSIZE = 5000