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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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ad447ab223
- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
128 lines
6.0 KiB
C++
128 lines
6.0 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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/**
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* @file PreFlightCheck.hpp
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*
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* Check if flight is safely possible
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* if not prevent it and inform the user.
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*/
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#pragma once
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#include <uORB/topics/safety.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_status_flags.h>
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#include <uORB/topics/vehicle_status.h>
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#include <drivers/drv_hrt.h>
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class PreFlightCheck
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{
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public:
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PreFlightCheck() = default;
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~PreFlightCheck() = default;
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/**
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* Runs a preflight check on all sensors to see if they are properly calibrated and healthy
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*
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* The function won't fail the test if optional sensors are not found, however,
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* it will fail the test if optional sensors are found but not in working condition.
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*
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* @param mavlink_log_pub
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* Mavlink output orb handle reference for feedback when a sensor fails
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* @param checkMag
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* true if the magneteometer should be checked
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* @param checkAcc
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* true if the accelerometers should be checked
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* @param checkGyro
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* true if the gyroscopes should be checked
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* @param checkBaro
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* true if the barometer should be checked
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* @param checkAirspeed
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* true if the airspeed sensor should be checked
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* @param checkRC
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* true if the Remote Controller should be checked
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* @param checkGNSS
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* true if the GNSS receiver should be checked
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* @param checkPower
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* true if the system power should be checked
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**/
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static bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
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vehicle_status_flags_s &status_flags, const vehicle_control_mode_s &control_mode,
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bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot);
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struct arm_requirements_t {
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bool arm_authorization = false;
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bool esc_check = false;
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bool global_position = false;
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bool mission = false;
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bool geofence = false;
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};
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static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
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const vehicle_control_mode_s &control_mode,
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const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status,
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bool report_fail = true);
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private:
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static bool magnetometerCheck(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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static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
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static bool accelerometerCheck(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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static bool 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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static bool baroCheck(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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static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
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static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
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const bool report_fail, const bool prearm, const bool max_airspeed_check_en, const float arming_max_airspeed_allowed);
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static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail);
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static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
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const bool prearm);
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static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
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const bool report_fail);
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static bool ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bool report_fail);
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static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
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const bool prearm);
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static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
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static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status);
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static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
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static bool sdcardCheck(orb_advert_t *mavlink_log_pub, bool &sd_card_detected_once, const bool report_fail);
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static bool parachuteCheck(orb_advert_t *mavlink_log_pub, const bool report_fail,
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const vehicle_status_flags_s &status_flags);
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};
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