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85 lines
3.2 KiB
C++
85 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2015 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.h
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*
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* Preflight check for main system components
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*
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* @author Johan Jansen <jnsn.johan@gmail.com>
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*/
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#pragma once
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namespace Commander
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{
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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_fd
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* Mavlink output file descriptor 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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**/
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bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc,
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bool checkGyro, bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic, bool reportFailures = false);
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const unsigned max_mandatory_gyro_count = 1;
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const unsigned max_optional_gyro_count = 3;
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const unsigned max_mandatory_accel_count = 1;
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const unsigned max_optional_accel_count = 3;
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const unsigned max_mandatory_mag_count = 1;
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const unsigned max_optional_mag_count = 3;
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const unsigned max_mandatory_baro_count = 1;
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const unsigned max_optional_baro_count = 1;
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}
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