mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-19 00:40:36 +08:00
Beat Küng
186 lines
6.4 KiB
C++
186 lines
6.4 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 "rcCalibrationCheck.hpp"
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/**
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* Maximum deadzone value
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*/
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#define RC_INPUT_MAX_DEADZONE_US 500
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/**
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* Minimum value
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*/
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#define RC_INPUT_LOWEST_MIN_US 0
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/**
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* Maximum value
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*/
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#define RC_INPUT_HIGHEST_MAX_US 2500
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RcCalibrationChecks::RcCalibrationChecks()
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{
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char nbuf[20];
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for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
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sprintf(nbuf, "RC%d_MIN", i + 1);
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_param_handles[i].min = param_find(nbuf);
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sprintf(nbuf, "RC%d_TRIM", i + 1);
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_param_handles[i].trim = param_find(nbuf);
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sprintf(nbuf, "RC%d_MAX", i + 1);
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_param_handles[i].max = param_find(nbuf);
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sprintf(nbuf, "RC%d_DZ", i + 1);
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_param_handles[i].dz = param_find(nbuf);
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}
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updateParams();
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}
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void RcCalibrationChecks::checkAndReport(const Context &context, Report &reporter)
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{
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if (context.isArmed()) {
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return;
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}
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if (_param_com_rc_in_mode.get() != 0 && _param_com_rc_in_mode.get() != 2 && _param_com_rc_in_mode.get() != 3) {
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return;
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}
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for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
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float param_min = _param_values[i].min;
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float param_max = _param_values[i].max;
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float param_trim = _param_values[i].trim;
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float param_dz = _param_values[i].dz;
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/* assert min..center..max ordering */
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if (param_min < RC_INPUT_LOWEST_MIN_US) {
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/* EVENT
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* @description
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* Recalibrate the RC.
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*/
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reporter.armingCheckFailure<uint8_t, uint16_t>(NavModes::All, health_component_t::remote_control,
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events::ID("check_rc_min_too_small"),
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events::Log::Error, "RC calibration for channel {1} invalid: MIN less than {2}", i + 1, RC_INPUT_LOWEST_MIN_US);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RC ERROR: RC%d_MIN < %u", i + 1,
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RC_INPUT_LOWEST_MIN_US);
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}
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}
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if (param_max > RC_INPUT_HIGHEST_MAX_US) {
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/* EVENT
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* @description
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* Recalibrate the RC.
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*/
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reporter.armingCheckFailure<uint8_t, uint16_t>(NavModes::All, health_component_t::remote_control,
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events::ID("check_rc_max_too_high"),
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events::Log::Error, "RC calibration for channel {1} invalid: MAX greater than {2}", i + 1, RC_INPUT_HIGHEST_MAX_US);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RC ERROR: RC%d_MAX > %u", i + 1,
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RC_INPUT_HIGHEST_MAX_US);
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}
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}
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if (param_trim < param_min) {
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/* EVENT
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* @description
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* Recalibrate the RC.
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*/
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reporter.armingCheckFailure<uint8_t, int16_t, int16_t>(NavModes::All, health_component_t::remote_control,
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events::ID("check_rc_trim_too_small"),
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events::Log::Error, "RC calibration for channel {1} invalid: TRIM less than MIN ({2} less than {3})", i + 1,
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(int16_t)param_trim, (int16_t)param_min);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RC ERROR: RC%d_TRIM < MIN (%d/%d)", i + 1,
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(int)param_trim, (int)param_min);
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}
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}
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if (param_trim > param_max) {
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/* EVENT
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* @description
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* Recalibrate the RC.
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*/
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reporter.armingCheckFailure<uint8_t, int16_t, int16_t>(NavModes::All, health_component_t::remote_control,
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events::ID("check_rc_trim_too_high"),
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events::Log::Error, "RC calibration for channel {1} invalid: TRIM greater than MAX ({2} greater than {3})", i + 1,
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(int16_t)param_trim, (int16_t)param_max);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RC ERROR: RC%d_TRIM > MAX (%d/%d)", i + 1,
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(int)param_trim, (int)param_max);
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}
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}
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/* assert deadzone is sane */
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if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
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/* EVENT
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* @description
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* Recalibrate the RC.
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*/
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reporter.armingCheckFailure<uint8_t, uint16_t>(NavModes::All, health_component_t::remote_control,
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events::ID("check_rc_dz_too_high"),
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events::Log::Error, "RC calibration for channel {1} invalid: DZ greater than {2}", i + 1, RC_INPUT_MAX_DEADZONE_US);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RC ERROR: RC%d_DZ > %u", i + 1,
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RC_INPUT_MAX_DEADZONE_US);
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}
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}
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}
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}
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void RcCalibrationChecks::updateParams()
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{
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HealthAndArmingCheckBase::updateParams();
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for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
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/* initialize values to values failing the check */
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_param_values[i].min = 0.0f;
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_param_values[i].max = 0.0f;
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_param_values[i].trim = 0.0f;
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_param_values[i].dz = RC_INPUT_MAX_DEADZONE_US * 2.0f;
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param_get(_param_handles[i].min, &_param_values[i].min);
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param_get(_param_handles[i].trim, &_param_values[i].trim);
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param_get(_param_handles[i].max, &_param_values[i].max);
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param_get(_param_handles[i].dz, &_param_values[i].dz);
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}
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}
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