Commander: Add preflight check for missing GPS module

src/modules/commander/PreflightCheck.cpp

@@ -61,6 +61,7 @@
 #include <drivers/drv_airspeed.h>
 
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_gps_position.h>
 
 #include <mavlink/mavlink_log.h>
 
@@ -269,8 +270,24 @@ out:
 	return success;
 }
 
+static bool gnssCheck(int mavlink_fd)
+{
+	bool success = true;
+	int gpsSub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	struct vehicle_gps_position_s gps;
+
+	if (!orb_copy(ORB_ID(vehicle_gps_position), gpsSub, &gps) ||
+	    (hrt_elapsed_time(&gps.timestamp_position) > 500000)) {
+		mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
+		success = false;
+	}
+
+	close(gpsSub);
+	return success;
+}
+
 bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro,
-		    bool checkBaro, bool checkAirspeed, bool checkRC, bool checkDynamic)
+		    bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic)
 {
 	bool failed = false;
 
@@ -336,6 +353,13 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
 		}
 	}
 
+	/* ---- Global Navigation Satellite System receiver ---- */
+	if(checkGNSS) {
+		if(!gnssCheck(mavlink_fd)) {
+			failed = true;
+		}
+	}
+
 	/* Report status */
 	return !failed;
 }

src/modules/commander/PreflightCheck.h

@@ -59,11 +59,15 @@ namespace Commander
 *   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
 **/
 bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc,
-	bool checkGyro, bool checkBaro, bool checkAirspeed, bool checkRC, bool checkDynamic = false);
+    bool checkGyro, bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic = false);
 
 const unsigned max_mandatory_gyro_count = 1;
 const unsigned max_optional_gyro_count = 3;

src/modules/commander/commander.cpp

@@ -916,6 +916,7 @@ int commander_thread_main(int argc, char *argv[])
 	status.circuit_breaker_engaged_airspd_check = false;
 	status.circuit_breaker_engaged_enginefailure_check = false;
 	status.circuit_breaker_engaged_gpsfailure_check = false;
+	get_circuit_breaker_params();
 
 	/* publish initial state */
 	status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -1117,8 +1118,6 @@ int commander_thread_main(int argc, char *argv[])
 	param_get(_param_sys_type, &(status.system_type)); // get system type
 	status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
 
-	get_circuit_breaker_params();
-
 	bool checkAirspeed = false;
 	/* Perform airspeed check only if circuit breaker is not
 	 * engaged and it's not a rotary wing */
@@ -1127,7 +1126,7 @@ int commander_thread_main(int argc, char *argv[])
 	}
 
 	// Run preflight check
-	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
+	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, status.circuit_breaker_engaged_gpsfailure_check, true);
 	if (!status.condition_system_sensors_initialized) {
 		set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
 	}
@@ -1300,7 +1299,7 @@ int commander_thread_main(int argc, char *argv[])
 					}
 
 					/* provide RC and sensor status feedback to the user */
-					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true);
+					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, status.circuit_breaker_engaged_gpsfailure_check, true);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -2749,7 +2748,7 @@ void *commander_low_prio_loop(void *arg)
 							checkAirspeed = true;
 						}
 
-						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
+						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, status.circuit_breaker_engaged_gpsfailure_check, true);
 
 						arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);