airspeedCheck.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 <HealthFlags.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed_validated.h>
using namespace time_literals;
bool PreFlightCheck::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)
{
bool present = true;
bool success = true;
uORB::SubscriptionData<airspeed_validated_s> airspeed_validated_sub{ORB_ID(airspeed_validated)};
airspeed_validated_sub.update();
const airspeed_validated_s &airspeed_validated = airspeed_validated_sub.get();
/*
* Check if Airspeed Selector is up and running.
*/
if (hrt_elapsed_time(&airspeed_validated.timestamp) > 1_s) {
if (report_fail && !optional) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Selector module down.");
}
present = false;
success = false;
goto out;
}
/*
* Check if airspeed is declared valid or not by airspeed selector.
*/
if (!PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed invalid.");
}
present = true;
success = false;
goto out;
}
/*
* Check if airspeed is higher than maximally accepted while the vehicle is landed / not flying
* Negative and positive offsets are considered. Do not check anymore while arming because pitot cover
* might have been removed.
*/
if (max_airspeed_check_en && fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed
&& prearm) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or pitot");
}
present = true;
success = false;
goto out;
}
out:
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE, present, !optional, success, status);
return success;
}