mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 11:10:35 +08:00
Matthias Grob
1a79f75f94
* PreFlightCheck: remove unused reportFailures flag * Commander: pull all pre flight checks together on the PreFlightCheck class * PreFlightCheck: separate checks into their own files
142 lines
4.5 KiB
C++
142 lines
4.5 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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 <ArmAuthorization.h>
|
|
#include <systemlib/mavlink_log.h>
|
|
#include <uORB/topics/vehicle_command_ack.h>
|
|
|
|
bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
|
|
const safety_s &safety, const uint8_t arm_requirements)
|
|
{
|
|
bool prearm_ok = true;
|
|
|
|
// USB not connected
|
|
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe");
|
|
|
|
prearm_ok = false;
|
|
}
|
|
|
|
// battery and system power status
|
|
if (!status_flags.circuit_breaker_engaged_power_check) {
|
|
|
|
// Fail transition if power is not good
|
|
if (!status_flags.condition_power_input_valid) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module");
|
|
|
|
prearm_ok = false;
|
|
}
|
|
|
|
// main battery level
|
|
if (!status_flags.condition_battery_healthy) {
|
|
if (prearm_ok) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery");
|
|
}
|
|
|
|
prearm_ok = false;
|
|
}
|
|
}
|
|
|
|
// Arm Requirements: mission
|
|
if (arm_requirements & ARM_REQ_MISSION_BIT) {
|
|
|
|
if (!status_flags.condition_auto_mission_available) {
|
|
if (prearm_ok) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission");
|
|
}
|
|
|
|
prearm_ok = false;
|
|
}
|
|
|
|
if (!status_flags.condition_global_position_valid) {
|
|
if (prearm_ok) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position");
|
|
}
|
|
|
|
prearm_ok = false;
|
|
}
|
|
}
|
|
|
|
// Arm Requirements: global position
|
|
if (arm_requirements & ARM_REQ_GPS_BIT) {
|
|
|
|
if (!status_flags.condition_global_position_valid) {
|
|
if (prearm_ok) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required");
|
|
}
|
|
|
|
prearm_ok = false;
|
|
}
|
|
}
|
|
|
|
// safety button
|
|
if (safety.safety_switch_available && !safety.safety_off) {
|
|
// Fail transition if we need safety switch press
|
|
if (prearm_ok) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first");
|
|
}
|
|
|
|
prearm_ok = false;
|
|
}
|
|
|
|
if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
|
|
if (prearm_ok) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready");
|
|
}
|
|
|
|
prearm_ok = false;
|
|
|
|
}
|
|
|
|
if (status_flags.condition_escs_error && (arm_requirements & ARM_REQ_ESCS_CHECK_BIT)) {
|
|
if (prearm_ok) {
|
|
mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline");
|
|
prearm_ok = false;
|
|
}
|
|
}
|
|
|
|
// Arm Requirements: authorization
|
|
// check last, and only if everything else has passed
|
|
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
|
|
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
|
|
// feedback provided in arm_auth_check
|
|
prearm_ok = false;
|
|
}
|
|
}
|
|
|
|
|
|
return prearm_ok;
|
|
}
|