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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
67 lines
2.8 KiB
C++
67 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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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#pragma once
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#include "../Common.hpp"
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionMultiArray.hpp>
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#include <uORB/topics/sensor_preflight_mag.h>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/estimator_status.h>
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#include <lib/sensor_calibration/Magnetometer.hpp>
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class MagnetometerChecks : public HealthAndArmingCheckBase
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{
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public:
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MagnetometerChecks() = default;
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~MagnetometerChecks() = default;
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void checkAndReport(const Context &context, Report &reporter) override;
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private:
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bool isMagRequired(int instance, bool &mag_fault);
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void consistencyCheck(const Context &context, Report &reporter);
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uORB::SubscriptionMultiArray<sensor_mag_s, calibration::Magnetometer::MAX_SENSOR_COUNT> _sensor_mag_sub{ORB_ID::sensor_mag};
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uORB::SubscriptionMultiArray<estimator_status_s> _estimator_status_sub{ORB_ID::estimator_status};
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uORB::Subscription _sensor_preflight_mag_sub{ORB_ID(sensor_preflight_mag)};
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DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
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(ParamInt<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
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(ParamInt<px4::params::COM_ARM_MAG_ANG>) _param_com_arm_mag_ang
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)
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};
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