PX4-Autopilot/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

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#include "../PreFlightCheck.hpp"

#include <ArmAuthorization.h>
#include <HealthFlags.h>
#include <lib/parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/vehicle_command_ack.h>

bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
				 const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
				 vehicle_status_s &status, const bool report_fail, const bool is_arm_attempt)
{
	bool prearm_ok = true;

	// rate control mode require valid angular velocity
	if (control_mode.flag_control_rates_enabled && !status_flags.angular_velocity_valid) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Angular velocity invalid"); }

		prearm_ok = false;
	}

	// attitude control mode require valid attitude
	if (control_mode.flag_control_attitude_enabled && !status_flags.attitude_valid) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Attitude invalid"); }

		prearm_ok = false;
	}

	// velocity control mode require valid velocity
	if (control_mode.flag_control_velocity_enabled && !status_flags.local_velocity_valid) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Velocity invalid"); }

		prearm_ok = false;
	}

	// position control mode require valid position
	if (control_mode.flag_control_position_enabled && !status_flags.local_position_valid) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Position invalid"); }

		prearm_ok = false;
	}

	// manual control mode require valid manual control (rc)
	if (control_mode.flag_control_manual_enabled && status.rc_signal_lost) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Manual control unavailable"); }

		prearm_ok = false;
	}

	if (status_flags.flight_terminated) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Flight termination active"); }

		prearm_ok = false;
	}

	// USB not connected
	if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Flying with USB is not safe"); }

		prearm_ok = false;
	}

	// battery and system power status
	if (!status_flags.circuit_breaker_engaged_power_check) {

		// Fail transition if power is not good
		if (!status_flags.power_input_valid) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Connect power module"); }

			prearm_ok = false;
		}

		// main battery level
		set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_SENSORBATTERY, true, true,
				 status_flags.battery_healthy, status);

		// Only arm if healthy
		if (!status_flags.battery_healthy) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Check battery"); }
			}

			prearm_ok = false;
		}
	}

	// Arm Requirements: mission
	int32_t _param_com_arm_mis_req = 0;
	param_get(param_find("COM_ARM_MIS_REQ"), &_param_com_arm_mis_req);
	const bool mission_required = (_param_com_arm_mis_req == 1);

	if (mission_required) {
		if (!status_flags.auto_mission_available) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "No valid mission"); }
			}

			prearm_ok = false;
		}

		if (!status_flags.global_position_valid) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Missions require a global position"); }
			}

			prearm_ok = false;
		}
	}

	int32_t _param_com_arm_wo_gps = 1;
	param_get(param_find("COM_ARM_WO_GPS"), &_param_com_arm_wo_gps);
	const bool global_position_required = (_param_com_arm_wo_gps == 0);

	if (global_position_required) {
		if (!status_flags.global_position_valid) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Global position required"); }
			}

			prearm_ok = false;
		}

		if (!status_flags.home_position_valid) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Home position invalid"); }
			}

			prearm_ok = false;
		}
	}

	// safety button
	if (safety_button_available && !safety_off) {
		// Fail transition if we need safety button press
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Press safety button first"); }
		}

		prearm_ok = false;
	}

	if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Avoidance system not ready"); }
		}

		prearm_ok = false;

	}

	int32_t _param_com_arm_chk_escs = 1;
	param_get(param_find("COM_ARM_CHK_ESCS"), &_param_com_arm_chk_escs);
	const bool esc_checks_required = (_param_com_arm_chk_escs == 0);

	if (esc_checks_required && status_flags.escs_error) {
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "One or more ESCs are offline"); }

			prearm_ok = false;
		}
	}

	if (esc_checks_required && status_flags.escs_failure) {
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "One or more ESCs have a failure"); }

			prearm_ok = false;
		}
	}

	if (status.is_vtol) {
		if (status.in_transition_mode) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Vehicle is in transition state"); }

				prearm_ok = false;
			}
		}

		if (!status_flags.circuit_breaker_vtol_fw_arming_check
		    && status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Vehicle is not in multicopter mode"); }

				prearm_ok = false;
			}
		}
	}

	int32_t _param_gf_action = 0;
	param_get(param_find("GF_ACTION"), &_param_gf_action);
	const bool gefence_action_configured = (_param_gf_action != 0);

	if (gefence_action_configured && status.geofence_violated) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Vehicle outside geofence");
		}

		prearm_ok = false;
	}

	int32_t _param_com_arm_auth_req = 0;
	param_get(param_find("COM_ARM_AUTH_REQ"), &_param_com_arm_auth_req);
	const bool arm_authorization_configured = (_param_com_arm_auth_req != 0);

	// Arm Requirements: authorization
	// check last, and only if everything else has passed
	// skip arm authorization check until actual arming attempt
	if (arm_authorization_configured && prearm_ok && is_arm_attempt) {
		if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
			// feedback provided in arm_auth_check
			prearm_ok = false;
		}
	}

	return prearm_ok;
}