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107 Commits

Author SHA1 Message Date
Daniel Agar
184aa2861a PX4_ISFINITE use builtin everywhere 2019-02-21 14:56:08 -05:00
Todd Colten
57dd1b7b45 reduced use of mixed capitalization 
e.g. 
Preflight Fail: Height estimate error
Preflight Fail: Velocity estimate error
Preflight Fail: Position estimate error
Preflight Fail: Yaw estimate error
 2019-02-19 09:44:42 +01:00
Todd Colten
0faba12337 re-word Preflight Fail msg, attempt 2 
My recent PR exceeded the 50 char limit (apparently the last character must be null?).

This new attempt changes: "Preflight Fail: Horizontal position estimate Error"  to: "Preflight Fail: Position estimate Error"

In fact, this newest wording is more easily understood by the average user and is actually more consistent with the other COM_ARM_EKF_xxx related errors:

COM_ARM_EKF_HGT --> "Preflight Fail: Height estimate Error"
COM_ARM_EKF_VEL --> "Preflight Fail: Velocity estimate Error"
COM_ARM_EKF_POS --> "Preflight Fail: Position estimate Error"
 2019-02-19 09:44:42 +01:00
Todd Colten
b23374688b re-word Preflight Fail msg for consistency 
changed: "Preflight Fail: Horizontal estimate Pos Error"
to: "Preflight Fail: Horizontal position estimate Error"
 2019-02-17 23:44:47 +00:00
Paul Riseborough
9692ef1ae9 commander: remove duplicate check 2019-02-04 10:32:19 +01:00
Daniel Agar
248320b328 PreflightCheck trivial astyle fix 2019-02-04 10:32:19 +01:00
Paul Riseborough
6fb7cda9f2 commander: Reduce false positives in pre-flight accel bias check 2019-02-04 10:32:19 +01:00
Daniel Agar
48d9484ceb commander fix and enforce code style 2018-11-28 20:42:03 -05:00
Beat Küng
df9a09ce9d PreflightCheck: rename 'Estimator internal checks' to 'Position unknown' 2018-09-29 09:17:53 -04:00
Beat Küng
30cf287f7b PreflightCheck: update messages & use proper log level 2018-09-29 09:17:53 -04:00
Beat Küng
ee928c20f0 PreflightCheck: improve error message in case there is no sensor data 2018-09-29 09:17:53 -04:00
Beat Küng
7f0f391fe1 GPS PreflightCheck: improve failure reporting 
- previously it was possible to get a Position Control rejected message
  without further advice what was actually wrong. So now we report warnings
  even if gps is not required for arming (which could be annoying too...).
- the GPS failure message was very generic, making it hard to debug the
  cause. Now we check every bit and send an appropriate warning

All strings were checked not to exceed the maximum length of 50 characters.
 2018-09-29 09:17:53 -04:00
Beat Küng
f1966aa3fd PreflightChecks: improve labels by not capitalizing everything 
estimator status init is not required.
 2018-09-29 09:17:53 -04:00
Beat Küng
92bf761bf1 PreflightCheck: do not check for primary mag & inconsistencies if system has no mag 2018-09-24 13:24:38 +02:00
Daniel Agar
c7e572d2c2 commander preflight check sensors via uORB instead of IOCTL 
- remove all platform defines
 2018-09-18 22:24:03 +02:00
mcsauder
3a22ee48db Correct trailing whitespaces. 2018-08-18 15:15:41 -04:00
Bob-F
2ece14bad1 Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule 2018-08-06 13:32:36 +02:00
Daniel Agar
daee7a4e4e commander preflight delete individual sensor selftest 2018-08-02 08:05:52 +02:00
TSC21
ca42483794 update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files 2018-07-30 21:40:28 +02:00
Mark Sauder
d3c169b1e0 Fix whitespaces in PreflightCheck.cpp, tilt_quad.aux.mix, and tilt_quad.main.mix 2018-06-28 20:20:32 -04:00
Daniel Agar
3399ec9e73 move systemlib/rc_check to commander (the only usage) and convert to c++ 2018-06-11 22:53:38 +02:00
Philipp Oettershagen
9f414e82f6 Subsystem_info status flags & checks: Add comment to indicate that the IMU+MAG consistency checks need to be performed AFTER the individual checks are complete 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
e12b470cac Subsystem_info status flags & checks: Small fixes according to @bkueng's review 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
302cb0a285 Subsystem_info status flags & checks: Moved the set_health_flags helper functions out of the /lib/ folder and into the module/commander folder because they are actually only needed there 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
bd2af289f5 Subsystem_info status flags & checks: Code style fixes and cleanup to avoid strcmp() as suggested by @LorenzMeier 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
e4d863b95f Subsystem_info status flags & checks: Separate the functionality to a) set the health flags inside commander and b) to publish them from external modules 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
a807d34a7a Remove distance sensor checks again. These checks should be handled by EKF2 and should thus be added there later 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
075009be2f Subsystem_info status flags & checks: 1) Set health flags in commander directly instead of publishing via uORB 2) move publish_subsystem_info into lib/ folder" 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
f5847a4a7b Subsystem_info status flags & checks: Switch back to uORB for inter-process communication, handle GPS checks completely inside ekf2, add distance_sensor checks 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
6f1f414b49 Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function. 2018-06-06 18:54:24 +02:00
Beat Küng
f2516bbf5f system_params: add SYS_HAS_MAG and SYS_HAS_BARO params 
This allows to use PX4 on systems that do not have a mag or a baro,
such as the Omnibus F4 SD.
 2018-05-20 11:54:17 +02:00
Jake Dahl
92f15283c1 changed int to float 2018-05-04 12:08:55 -04:00
Daniel Agar
ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00
Daniel Agar
64fb4b43b6 commander preflightCheck don't report failures during calibration 2018-04-16 20:43:33 -04:00
Daniel Agar
2271b3f127 commander preflight checks pass status and status_flags messages 2018-04-16 20:43:33 -04:00
Daniel Agar
729c98d9e2 commander move avionics rail voltage check out of state machine 
- add preflight_check helper
 2018-04-16 20:43:33 -04:00
Daniel Agar
c673c9f531 commander preflight sensor failure report one at a time 2018-04-16 20:43:33 -04:00
Daniel Agar
bb13b602e2 commander arming_state_transition cleanup preflight and prearm calls 
- only call prearm if preflight passes
 - prearm always provide feedback
 2018-04-16 20:43:33 -04:00
Daniel Agar
e73317a720 commander preflightCheck fail silently for the 2 seconds (rather than skip checks entirely) 2018-04-16 20:43:33 -04:00
Daniel Agar
4e45d7959c commander remove gps receiver checks 2018-02-19 15:28:47 +01:00
Daniel Agar
3c669a4f30
commander ekf2Check respect reportFailures (#8622) 
- fixes #8621
 2018-01-08 03:07:48 -05:00
Lorenz Meier
074636a8ae Commander: Check for preflight errors in order 2017-12-31 16:37:02 +01:00
Daniel Agar
344cf83549 delete unused SENSORIOCCALTEST 2017-12-31 09:47:51 -05:00
Daniel Agar
294fbc46a9 commander initial class structure 2017-12-27 02:41:10 +08:00
Paul Riseborough
afe857dfe6 commander: rework preflight GPS checks 
Fix the bug allowing arming without GPS checks passed in the first 20 seconds after gaining GPS lock when COM_ARM_WO_GPS is set to 0
Allow 10 seconds after boot for EKF quality checks to pass before reporting failure to allow EKF to stabilise.
Move GPS quality checking and reporting to after all innovation and bias checks.
Make messages more informative.
Add missing GPS speed accuracy check.
 2017-12-04 09:09:54 +00:00
Paul Riseborough
c09eecbab1 commander: prevent ekf checking being bypassed if GPS checking is disabled 2017-12-04 09:09:54 +00:00
Paul Riseborough
ddfe077f7c commander: strengthen pre-flight fail checking 
The commander checks use instantaneous values which are vulnerable to false negatives  or positives with noisy data or transient faults.

This patch checks the estimators published pre flight check status which is based on persistent checks using filtered data.
 2017-12-04 09:09:54 +00:00
Beat Küng
a2fd9ef2d0 PreflightCheck: use correct type for params (int -> int32_t) 2017-10-27 10:43:15 +02:00
Paul Riseborough
2a4336b6ef commander: EKF2 GPS requirement 20 sec after 3D lock 2017-10-06 16:22:53 -07:00
Daniel Agar
2495f8942b preflightcheck EKF2 GPS requirement after 20s 2017-10-06 16:22:53 -07:00