PX4-Autopilot/src/modules/systemlib/rc_check.c

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/**
 * @file rc_check.c
 *
 * RC calibration check
 */

#include <nuttx/config.h>

#include <stdio.h>
#include <fcntl.h>

#include <systemlib/rc_check.h>
#include <systemlib/param/param.h>
#include <mavlink/mavlink_log.h>
#include <uORB/topics/rc_channels.h>

int rc_calibration_check(int mavlink_fd) {

	char nbuf[20];
	param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
	_parameter_handles_rev, _parameter_handles_dz;

	float param_min, param_max, param_trim, param_rev, param_dz;

	/* first check channel mappings */
			/* check which map param applies */
		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
		// 	/* give system time to flush error message in case there are more */
		// 	usleep(100000);
		// 	count++;
		// }

	int channel_fail_count = 0;

	for (int i = 0; i < RC_CHANNELS_MAX; i++) {
		/* should the channel be enabled? */
		uint8_t count = 0;

		/* min values */
		sprintf(nbuf, "RC%d_MIN", i + 1);
		_parameter_handles_min = param_find(nbuf);
		param_get(_parameter_handles_min, &param_min);

		/* trim values */
		sprintf(nbuf, "RC%d_TRIM", i + 1);
		_parameter_handles_trim = param_find(nbuf);
		param_get(_parameter_handles_trim, &param_trim);

		/* max values */
		sprintf(nbuf, "RC%d_MAX", i + 1);
		_parameter_handles_max = param_find(nbuf);
		param_get(_parameter_handles_max, &param_max);

		/* channel reverse */
		sprintf(nbuf, "RC%d_REV", i + 1);
		_parameter_handles_rev = param_find(nbuf);
		param_get(_parameter_handles_rev, &param_rev);

		/* channel deadzone */
		sprintf(nbuf, "RC%d_DZ", i + 1);
		_parameter_handles_dz = param_find(nbuf);
		param_get(_parameter_handles_dz, &param_dz);

		/* assert min..center..max ordering */
		if (param_min < 500) {
			count++;
			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1);
			/* give system time to flush error message in case there are more */
			usleep(100000);
		}
		if (param_max > 2500) {
			count++;
			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1);
			/* give system time to flush error message in case there are more */
			usleep(100000);
		}
		if (param_trim < param_min) {
			count++;
			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min);
			/* give system time to flush error message in case there are more */
			usleep(100000);
		}
		if (param_trim > param_max) {
			count++;
			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max);
			/* give system time to flush error message in case there are more */
			usleep(100000);
		}

		/* assert deadzone is sane */
		if (param_dz > 500) {
			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1);
			/* give system time to flush error message in case there are more */
			usleep(100000);
			count++;
		}

		/* check which map param applies */
		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
		// 	/* give system time to flush error message in case there are more */
		// 	usleep(100000);
		// 	count++;
		// }

		/* sanity checks pass, enable channel */
		if (count) {
			mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
			warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
			usleep(100000);
		}

		channel_fail_count += count;
	}

	return channel_fail_count;
}