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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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bresch
122 lines
4.4 KiB
C++
122 lines
4.4 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 "../PreFlightCheck.hpp"
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#include <drivers/drv_hrt.h>
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#include <HealthFlags.h>
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#include <math.h>
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#include <px4_defines.h>
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#include <lib/sensor_calibration/Utilities.hpp>
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#include <lib/systemlib/mavlink_log.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/sensor_accel.h>
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using namespace time_literals;
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bool PreFlightCheck::isAccelRequired(const uint8_t instance)
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{
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uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};
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const uint32_t device_id = static_cast<uint32_t>(accel.get().device_id);
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bool is_used_by_nav = false;
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for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
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uORB::SubscriptionData<estimator_status_s> estimator_status_sub{ORB_ID(estimator_status), i};
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if (device_id > 0 && estimator_status_sub.get().accel_device_id == device_id) {
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is_used_by_nav = true;
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break;
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}
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}
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return is_used_by_nav;
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}
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bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
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const bool is_mandatory, bool &report_fail)
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{
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const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
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const bool is_required = is_mandatory || isAccelRequired(instance);
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bool is_valid = false;
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bool is_calibration_valid = false;
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bool is_value_valid = false;
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if (exists) {
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uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};
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is_valid = (accel.get().device_id != 0) && (accel.get().timestamp != 0)
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&& (hrt_elapsed_time(&accel.get().timestamp) < 1_s);
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if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
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is_calibration_valid = true;
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} else {
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is_calibration_valid = (calibration::FindCurrentCalibrationIndex("ACC", accel.get().device_id) >= 0);
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}
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const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
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+ accel.get().y * accel.get().y
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+ accel.get().z * accel.get().z);
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if (accel_magnitude > 4.0f && accel_magnitude < 15.0f /* m/s^2 */) {
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is_value_valid = true;
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}
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}
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if (report_fail && is_required) {
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if (!exists) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Sensor %u missing", instance);
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report_fail = false;
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} else if (!is_valid) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Accel %u", instance);
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report_fail = false;
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} else if (!is_calibration_valid) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel %u uncalibrated", instance);
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report_fail = false;
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} else if (!is_value_valid) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
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report_fail = false;
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}
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}
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const bool is_sensor_ok = is_valid && is_calibration_valid && is_value_valid;
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return is_sensor_ok || !is_required;
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}
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