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91 lines
3.4 KiB
C++
91 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "../PreFlightCheck.hpp"
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#include <drivers/drv_hrt.h>
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#include <HealthFlags.h>
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#include <px4_defines.h>
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#include <lib/sensor_calibration/Utilities.hpp>
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#include <lib/systemlib/mavlink_log.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/subsystem_info.h>
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using namespace time_literals;
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bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
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const bool optional, int32_t &device_id, const bool report_fail)
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{
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const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK);
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bool calibration_valid = false;
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bool valid = false;
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if (exists) {
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uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), instance};
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valid = (gyro.get().device_id != 0) && (gyro.get().timestamp != 0);
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if (!valid) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Gyro #%u", instance);
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}
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}
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device_id = gyro.get().device_id;
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calibration_valid = (calibration::FindCalibrationIndex("GYRO", device_id) >= 0);
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if (!calibration_valid) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro #%u uncalibrated", instance);
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}
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}
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} else {
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if (!optional && report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro Sensor #%u missing", instance);
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}
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}
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if (instance == 0) {
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set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, exists, !optional, calibration_valid && valid, status);
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} else if (instance == 1) {
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set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, exists, !optional, calibration_valid && valid, status);
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}
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return calibration_valid && valid;
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}
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