PreFlightCheck.hpp
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file PreFlightCheck.hpp
*
* Check if flight is safely possible
* if not prevent it and inform the user.
*/
#pragma once
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
class PreFlightCheck
{
public:
PreFlightCheck() = default;
~PreFlightCheck() = default;
/**
* Runs a preflight check on all sensors to see if they are properly calibrated and healthy
*
* The function won't fail the test if optional sensors are not found, however,
* it will fail the test if optional sensors are found but not in working condition.
*
* @param mavlink_log_pub
* Mavlink output orb handle reference for feedback when a sensor fails
* @param checkMag
* true if the magneteometer should be checked
* @param checkAcc
* true if the accelerometers should be checked
* @param checkGyro
* true if the gyroscopes should be checked
* @param checkBaro
* true if the barometer should be checked
* @param checkAirspeed
* true if the airspeed sensor should be checked
* @param checkRC
* true if the Remote Controller should be checked
* @param checkGNSS
* true if the GNSS receiver should be checked
* @param checkPower
* true if the system power should be checked
**/
static bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
vehicle_status_flags_s &status_flags, bool reportFailures, const bool prearm,
const hrt_abstime &time_since_boot);
struct arm_requirements_t {
bool arm_authorization = false;
bool esc_check = false;
bool global_position = false;
bool mission = false;
};
static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status,
bool report_fail = true);
private:
static bool magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
const bool report_fail, const bool prearm, const bool max_airspeed_check_en, const float arming_max_airspeed_allowed);
static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL);
static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
const bool prearm);
static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
const bool report_fail);
static bool ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
const bool prearm);
static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status);
static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool sdcardCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
};