accelerometerCheck.cpp
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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.
*
****************************************************************************/
#include "../PreFlightCheck.hpp"
#include <drivers/drv_hrt.h>
#include <HealthFlags.h>
#include <math.h>
#include <px4_defines.h>
#include <lib/sensor_calibration/Utilities.hpp>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel.h>
using namespace time_literals;
bool PreFlightCheck::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)
{
const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
bool calibration_valid = false;
bool valid = true;
if (exists) {
uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};
valid = (accel.get().device_id != 0) && (accel.get().timestamp != 0);
if (!valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Accel %u", instance);
}
}
device_id = accel.get().device_id;
calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);
if (!calibration_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel %u uncalibrated", instance);
}
} else {
const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
+ accel.get().y * accel.get().y
+ accel.get().z * accel.get().z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
}
// this is fatal
valid = false;
}
}
} else {
if (!optional && report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Sensor %u missing", instance);
}
}
const bool success = calibration_valid && valid;
return success;
}