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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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bresch
107 lines
4.2 KiB
C++
107 lines
4.2 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 "imuConsistencyCheck.hpp"
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void ImuConsistencyChecks::checkAndReport(const Context &context, Report &reporter)
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{
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sensors_status_imu_s imu;
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if (!_sensors_status_imu_sub.copy(&imu) || context.isArmed()) {
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return;
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}
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// Use the difference between IMU's to detect a bad calibration.
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// If a single IMU is fitted, the value being checked will be zero so this check will always pass.
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for (unsigned i = 0; i < (sizeof(imu.accel_inconsistency_m_s_s) / sizeof(imu.accel_inconsistency_m_s_s[0])); i++) {
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if (imu.accel_device_ids[i] != 0) {
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const float accel_inconsistency_m_s_s = imu.accel_inconsistency_m_s_s[i];
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if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get()) {
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/* EVENT
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* @description
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* Check the calibration.
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*
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* Inconsistency value: {2}.
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* Configured Threshold: {3}.
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*
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* <profile name="dev">
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* This check can be configured via <param>COM_ARM_IMU_ACC</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::accel,
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events::ID("check_imu_accel_inconsistent"),
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events::Log::Warning, "Accel {1} inconsistent", i, accel_inconsistency_m_s_s, _param_com_arm_imu_acc.get());
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Accel %u inconsistent - check cal", i);
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}
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break;
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}
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}
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}
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// Fail if gyro difference greater than 5 deg/sec and notify if greater than 2.5 deg/sec
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for (unsigned i = 0; i < (sizeof(imu.gyro_inconsistency_rad_s) / sizeof(imu.gyro_inconsistency_rad_s[0])); i++) {
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if (imu.gyro_device_ids[i] != 0) {
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const float gyro_inconsistency_rad_s = imu.gyro_inconsistency_rad_s[i];
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if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get()) {
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/* EVENT
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* @description
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* Check the calibration.
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*
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* Inconsistency value: {2}.
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* Configured Threshold: {3}.
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*
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* <profile name="dev">
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* This check can be configured via <param>COM_ARM_IMU_GYR</param> parameter.
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* </profile>
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*/
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reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::gyro,
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events::ID("check_imu_gyro_inconsistent"),
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events::Log::Warning, "Gyro {1} inconsistent", i, gyro_inconsistency_rad_s, _param_com_arm_imu_gyr.get());
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Gyro %u inconsistent - check cal", i);
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}
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break;
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}
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}
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}
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}
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