forked from Archive/PX4-Autopilot
commander : hotplug sensor support, better failure reporting
This commit is contained in:
Kabir Mohammed
parent
8ae78ab093
commit
5fcfdb759c
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@ -120,6 +120,8 @@ bool in_transition_mode
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bool condition_battery_voltage_valid
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bool condition_system_in_air_restore # true if we can restore in mid air
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bool condition_system_sensors_initialized
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bool condition_system_prearm_error_reported # true if errors have already been reported
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bool condition_system_hotplug_timeout # true if the hotplug sensor search is over
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bool condition_system_returned_to_home
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bool condition_auto_mission_available
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bool condition_global_position_valid # set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
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@ -139,6 +141,7 @@ bool rc_signal_lost_cmd # true if RC lost mode is commanded
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bool rc_input_blocked # set if RC input should be ignored temporarily
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uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
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bool data_link_found_new # new datalink to GCS found
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bool data_link_lost # datalink to GCS lost
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bool data_link_lost_cmd # datalink to GCS lost mode commanded
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uint8 data_link_lost_counter # counts unique data link lost events
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@ -114,7 +114,7 @@ int check_calibration(int fd, const char* param_template, int &devid)
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return !calibration_found;
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}
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static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id)
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static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id, bool report_fail)
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{
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bool success = true;
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@ -124,7 +124,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
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if (fd < 0) {
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if (!optional) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
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}
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@ -134,7 +134,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
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int ret = check_calibration(fd, "CAL_MAG%u_ID", device_id);
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if (ret) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
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success = false;
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goto out;
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@ -143,7 +143,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
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ret = px4_ioctl(fd, MAGIOCSELFTEST, 0);
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if (ret != OK) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
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success = false;
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goto out;
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@ -154,7 +154,7 @@ out:
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return success;
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}
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static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional, bool dynamic, int &device_id)
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static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional, bool dynamic, int &device_id, bool report_fail)
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{
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bool success = true;
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@ -164,7 +164,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
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if (fd < 0) {
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if (!optional) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
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}
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@ -174,7 +174,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
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int ret = check_calibration(fd, "CAL_ACC%u_ID", device_id);
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if (ret) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
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success = false;
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goto out;
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@ -183,7 +183,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
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ret = px4_ioctl(fd, ACCELIOCSELFTEST, 0);
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if (ret != OK) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: ACCEL #%u SELFTEST FAILED", instance);
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success = false;
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goto out;
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@ -200,13 +200,13 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
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float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
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if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
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mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
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/* this is frickin' fatal */
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success = false;
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goto out;
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}
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} else {
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mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL READ");
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if(report_fail) mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL READ");
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/* this is frickin' fatal */
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success = false;
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goto out;
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@ -219,7 +219,7 @@ out:
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return success;
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}
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static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id)
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static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id, bool report_fail)
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{
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bool success = true;
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@ -229,7 +229,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
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if (fd < 0) {
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if (!optional) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
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}
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@ -239,7 +239,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
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int ret = check_calibration(fd, "CAL_GYRO%u_ID", device_id);
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if (ret) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
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success = false;
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goto out;
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@ -248,7 +248,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
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ret = px4_ioctl(fd, GYROIOCSELFTEST, 0);
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if (ret != OK) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
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success = false;
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goto out;
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@ -259,7 +259,7 @@ out:
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return success;
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}
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static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id)
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static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id, bool report_fail)
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{
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bool success = true;
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@ -269,7 +269,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
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if (fd < 0) {
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if (!optional) {
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mavlink_and_console_log_critical(mavlink_fd,
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
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"PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
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}
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@ -294,7 +294,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
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return success;
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}
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static bool airspeedCheck(int mavlink_fd, bool optional)
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static bool airspeedCheck(int mavlink_fd, bool optional, bool report_fail)
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{
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bool success = true;
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int ret;
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@ -304,13 +304,13 @@ static bool airspeedCheck(int mavlink_fd, bool optional)
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if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
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(hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) {
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mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
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success = false;
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goto out;
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}
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if (fabsf(airspeed.indicated_airspeed_m_s) > 6.0f) {
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mavlink_and_console_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
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// XXX do not make this fatal yet
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}
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@ -319,7 +319,7 @@ out:
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return success;
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}
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static bool gnssCheck(int mavlink_fd)
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static bool gnssCheck(int mavlink_fd, bool report_fail)
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{
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bool success = true;
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@ -342,7 +342,7 @@ static bool gnssCheck(int mavlink_fd)
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//Report failure to detect module
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if(!success) {
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mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
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if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
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}
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px4_close(gpsSub);
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@ -350,7 +350,7 @@ static bool gnssCheck(int mavlink_fd)
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}
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bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro,
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bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic)
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bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic, bool reportFailures)
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{
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bool failed = false;
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@ -365,7 +365,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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bool required = (i < max_mandatory_mag_count);
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int device_id = -1;
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if (!magnometerCheck(mavlink_fd, i, !required, device_id) && required) {
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if (!magnometerCheck(mavlink_fd, i, !required, device_id, reportFailures) && required) {
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failed = true;
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}
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@ -376,7 +376,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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/* check if the primary device is present */
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if (!prime_found && prime_id != 0) {
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mavlink_log_critical(mavlink_fd, "warning: primary compass not operational");
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if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary compass not found");
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failed = true;
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}
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}
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@ -392,7 +392,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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bool required = (i < max_mandatory_accel_count);
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int device_id = -1;
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if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic, device_id) && required) {
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if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic, device_id, reportFailures) && required) {
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failed = true;
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}
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@ -403,7 +403,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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/* check if the primary device is present */
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if (!prime_found && prime_id != 0) {
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mavlink_log_critical(mavlink_fd, "warning: primary accelerometer not operational");
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if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary accelerometer not found");
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failed = true;
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}
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}
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@ -419,7 +419,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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bool required = (i < max_mandatory_gyro_count);
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int device_id = -1;
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if (!gyroCheck(mavlink_fd, i, !required, device_id) && required) {
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if (!gyroCheck(mavlink_fd, i, !required, device_id, reportFailures) && required) {
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failed = true;
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}
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@ -430,7 +430,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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/* check if the primary device is present */
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if (!prime_found && prime_id != 0) {
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mavlink_log_critical(mavlink_fd, "warning: primary gyro not operational");
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if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary gyro not found");
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failed = true;
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}
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}
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@ -446,7 +446,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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bool required = (i < max_mandatory_baro_count);
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int device_id = -1;
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if (!baroCheck(mavlink_fd, i, !required, device_id) && required) {
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if (!baroCheck(mavlink_fd, i, !required, device_id, reportFailures) && required) {
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failed = true;
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}
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@ -458,29 +458,29 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
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// TODO there is no logic in place to calibrate the primary baro yet
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// // check if the primary device is present
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if (!prime_found && prime_id != 0) {
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mavlink_log_critical(mavlink_fd, "warning: primary barometer not operational");
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if(reportFailures) mavlink_log_critical(mavlink_fd, "warning: primary barometer not operational");
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failed = true;
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}
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}
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/* ---- AIRSPEED ---- */
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if (checkAirspeed) {
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if (!airspeedCheck(mavlink_fd, true)) {
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if (!airspeedCheck(mavlink_fd, true, reportFailures)) {
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failed = true;
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}
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}
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/* ---- RC CALIBRATION ---- */
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if (checkRC) {
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if (rc_calibration_check(mavlink_fd) != OK) {
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mavlink_log_critical(mavlink_fd, "RC calibration check failed");
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if (rc_calibration_check(mavlink_fd, reportFailures) != OK) {
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if(reportFailures) mavlink_log_critical(mavlink_fd, "RC calibration check failed");
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failed = true;
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}
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}
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/* ---- Global Navigation Satellite System receiver ---- */
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if (checkGNSS) {
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if(!gnssCheck(mavlink_fd)) {
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if(!gnssCheck(mavlink_fd, reportFailures)) {
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failed = true;
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}
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}
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@ -67,7 +67,7 @@ namespace Commander
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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 = false);
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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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@ -148,6 +148,8 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
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#define OFFBOARD_TIMEOUT 500000
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#define DIFFPRESS_TIMEOUT 2000000
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#define HOTPLUG_SENS_TIMEOUT (8 * 1000 * 1000) /**< wait for hotplug sensors to come online for upto 10 seconds */
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#define PRINT_INTERVAL 5000000
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#define PRINT_MODE_REJECT_INTERVAL 10000000
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@ -377,9 +379,12 @@ int commander_main(int argc, char *argv[])
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if (!strcmp(argv[1], "check")) {
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int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
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int checkres = prearm_check(&status, mavlink_fd_local);
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int checkres = 0;
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checkres = preflight_check(&status, mavlink_fd_local, false);
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warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
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checkres = preflight_check(&status, mavlink_fd_local, true);
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warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
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px4_close(mavlink_fd_local);
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warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
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return 0;
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}
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@ -891,6 +896,7 @@ int commander_thread_main(int argc, char *argv[])
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/* not yet initialized */
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commander_initialized = false;
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bool sensor_fail_tune_played = false;
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bool arm_tune_played = false;
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bool was_landed = true;
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bool was_armed = false;
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@ -1020,6 +1026,9 @@ int commander_thread_main(int argc, char *argv[])
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// XXX for now just set sensors as initialized
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status.condition_system_sensors_initialized = true;
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status.condition_system_prearm_error_reported = true;
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status.condition_system_hotplug_timeout = false;
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status.counter++;
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status.timestamp = hrt_absolute_time();
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@ -1101,7 +1110,7 @@ int commander_thread_main(int argc, char *argv[])
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bool updated = false;
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rc_calibration_check(mavlink_fd);
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rc_calibration_check(mavlink_fd, true);
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/* Subscribe to safety topic */
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int safety_sub = orb_subscribe(ORB_ID(safety));
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@ -1243,6 +1252,7 @@ int commander_thread_main(int argc, char *argv[])
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// Run preflight check
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int32_t rc_in_off = 0;
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bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
|
||||
param_get(_param_autostart_id, &autostart_id);
|
||||
param_get(_param_rc_in_off, &rc_in_off);
|
||||
status.rc_input_mode = rc_in_off;
|
||||
|
|
@ -1251,14 +1261,10 @@ int commander_thread_main(int argc, char *argv[])
|
|||
status.condition_system_sensors_initialized = false;
|
||||
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
|
||||
} else {
|
||||
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true,
|
||||
checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status.circuit_breaker_engaged_gpsfailure_check);
|
||||
if (!status.condition_system_sensors_initialized) {
|
||||
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
|
||||
}
|
||||
else {
|
||||
// sensor diagnostics done continiously, not just at boot so don't warn about any issues just yet
|
||||
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true,
|
||||
checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status.circuit_breaker_engaged_gpsfailure_check, false);
|
||||
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
|
||||
}
|
||||
}
|
||||
|
||||
commander_boot_timestamp = hrt_absolute_time();
|
||||
|
|
@ -1354,11 +1360,11 @@ int commander_thread_main(int argc, char *argv[])
|
|||
|
||||
if (map_mode_sw == 0 && map_mode_sw != map_mode_sw_new && map_mode_sw_new < input_rc_s::RC_INPUT_MAX_CHANNELS && map_mode_sw_new > 0) {
|
||||
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
|
||||
}
|
||||
|
||||
/* re-check RC calibration */
|
||||
rc_calibration_check(mavlink_fd);
|
||||
rc_calibration_check(mavlink_fd, true);
|
||||
}
|
||||
|
||||
/* Safety parameters */
|
||||
|
|
@ -1446,6 +1452,8 @@ int commander_thread_main(int argc, char *argv[])
|
|||
!armed.armed) {
|
||||
|
||||
bool chAirspeed = false;
|
||||
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
|
||||
|
||||
/* Perform airspeed check only if circuit breaker is not
|
||||
* engaged and it's not a rotary wing */
|
||||
if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
|
||||
|
|
@ -1456,11 +1464,11 @@ int commander_thread_main(int argc, char *argv[])
|
|||
if (is_hil_setup(autostart_id)) {
|
||||
/* HIL configuration: check only RC input */
|
||||
(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false, true);
|
||||
} else {
|
||||
/* check sensors also */
|
||||
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -2177,9 +2185,14 @@ int commander_thread_main(int argc, char *argv[])
|
|||
if (telemetry_lost[i] &&
|
||||
hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
|
||||
|
||||
/* only report a regain */
|
||||
/* report a regain */
|
||||
if (telemetry_last_dl_loss[i] > 0) {
|
||||
mavlink_and_console_log_info(mavlink_fd, "data link #%i regained", i);
|
||||
} else if (telemetry_last_dl_loss[i] == 0){
|
||||
/* report a new link */
|
||||
mavlink_and_console_log_info(mavlink_fd, "new data link connected : #%i", i);
|
||||
status.data_link_found_new = true;
|
||||
status_changed = true;
|
||||
}
|
||||
|
||||
telemetry_lost[i] = false;
|
||||
|
|
@ -2189,6 +2202,10 @@ int commander_thread_main(int argc, char *argv[])
|
|||
/* telemetry was healthy also in last iteration
|
||||
* we don't have to check a timeout */
|
||||
have_link = true;
|
||||
if(status.data_link_found_new) {
|
||||
status.data_link_found_new = false;
|
||||
status_changed = true;
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
|
|
@ -2414,7 +2431,7 @@ int commander_thread_main(int argc, char *argv[])
|
|||
} else {
|
||||
set_tune(TONE_STOP_TUNE);
|
||||
}
|
||||
|
||||
|
||||
/* reset arm_tune_played when disarmed */
|
||||
if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
|
||||
|
||||
|
|
@ -2425,6 +2442,21 @@ int commander_thread_main(int argc, char *argv[])
|
|||
|
||||
arm_tune_played = false;
|
||||
}
|
||||
|
||||
/* play sensor failure tunes if we already waited for hotplug sensors to come up and failed */
|
||||
hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
|
||||
|
||||
if (!sensor_fail_tune_played && (!status.condition_system_sensors_initialized && hotplug_timeout)) {
|
||||
set_tune_override(TONE_GPS_WARNING_TUNE);
|
||||
sensor_fail_tune_played = true;
|
||||
status_changed = true;
|
||||
}
|
||||
|
||||
/* update timeout flag */
|
||||
if(!(hotplug_timeout == status.condition_system_hotplug_timeout)) {
|
||||
status.condition_system_hotplug_timeout = hotplug_timeout;
|
||||
status_changed = true;
|
||||
}
|
||||
|
||||
counter++;
|
||||
|
||||
|
|
@ -2508,19 +2540,24 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
|
|||
/* driving rgbled */
|
||||
if (changed) {
|
||||
bool set_normal_color = false;
|
||||
|
||||
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
|
||||
|
||||
/* set mode */
|
||||
if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
|
||||
rgbled_set_mode(RGBLED_MODE_ON);
|
||||
set_normal_color = true;
|
||||
|
||||
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR || !status.condition_system_sensors_initialized) {
|
||||
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR || (!status.condition_system_sensors_initialized && hotplug_timeout)) {
|
||||
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
|
||||
rgbled_set_color(RGBLED_COLOR_RED);
|
||||
|
||||
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
|
||||
rgbled_set_mode(RGBLED_MODE_BREATHE);
|
||||
set_normal_color = true;
|
||||
|
||||
} else if (!status.condition_system_sensors_initialized && !hotplug_timeout) {
|
||||
rgbled_set_mode(RGBLED_MODE_BREATHE);
|
||||
set_normal_color = true;
|
||||
|
||||
} else { // STANDBY_ERROR and other states
|
||||
rgbled_set_mode(RGBLED_MODE_BLINK_NORMAL);
|
||||
|
|
@ -3197,6 +3234,7 @@ void *commander_low_prio_loop(void *arg)
|
|||
// so this would be prone to false negatives.
|
||||
|
||||
bool checkAirspeed = false;
|
||||
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
|
||||
/* Perform airspeed check only if circuit breaker is not
|
||||
* engaged and it's not a rotary wing */
|
||||
if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
|
||||
|
|
@ -3204,7 +3242,7 @@ void *commander_low_prio_loop(void *arg)
|
|||
}
|
||||
|
||||
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
|
||||
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
|
||||
|
||||
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
|
||||
|
||||
|
|
|
|||
|
|
@ -93,8 +93,6 @@ static const char * const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
|
|||
"ARMING_STATE_IN_AIR_RESTORE",
|
||||
};
|
||||
|
||||
static bool sensor_feedback_provided = false;
|
||||
|
||||
transition_result_t
|
||||
arming_state_transition(struct vehicle_status_s *status, ///< current vehicle status
|
||||
const struct safety_s *safety, ///< current safety settings
|
||||
|
|
@ -122,10 +120,18 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
|
|||
*/
|
||||
int prearm_ret = OK;
|
||||
|
||||
/* only perform the check if we have to */
|
||||
/* only perform the pre-arm check if we have to */
|
||||
if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|
||||
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
|
||||
prearm_ret = prearm_check(status, mavlink_fd);
|
||||
prearm_ret = preflight_check(status, mavlink_fd, true /* pre-arm */ );
|
||||
}
|
||||
/* re-run the pre-flight check as long as sensors are failing */
|
||||
if (!status->condition_system_sensors_initialized
|
||||
&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED ||
|
||||
new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
|
||||
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
|
||||
prearm_ret = preflight_check(status, mavlink_fd, false /* pre-flight */);
|
||||
status->condition_system_sensors_initialized = !prearm_ret;
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
@ -243,9 +249,11 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
|
|||
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
|
||||
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
|
||||
(!status->condition_system_sensors_initialized)) {
|
||||
if (!sensor_feedback_provided || (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
|
||||
if ((!status->condition_system_prearm_error_reported &&
|
||||
status->condition_system_hotplug_timeout) ||
|
||||
(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
|
||||
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
|
||||
sensor_feedback_provided = true;
|
||||
status->condition_system_prearm_error_reported = true;
|
||||
}
|
||||
feedback_provided = true;
|
||||
valid_transition = false;
|
||||
|
|
@ -262,7 +270,11 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
|
|||
/* reset feedback state */
|
||||
if (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR &&
|
||||
valid_transition) {
|
||||
sensor_feedback_provided = false;
|
||||
status->condition_system_prearm_error_reported = false;
|
||||
}
|
||||
if(status->data_link_found_new == true)
|
||||
{
|
||||
status->condition_system_prearm_error_reported = false;
|
||||
}
|
||||
|
||||
/* end of atomic state update */
|
||||
|
|
@ -731,11 +743,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
|
|||
return status->nav_state != nav_state_old;
|
||||
}
|
||||
|
||||
int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
||||
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm)
|
||||
{
|
||||
/* at this point this equals the preflight check, but might add additional
|
||||
* quantities later.
|
||||
/*
|
||||
*/
|
||||
bool reportFailures = false;
|
||||
reportFailures = !status->condition_system_prearm_error_reported && status->condition_system_hotplug_timeout;
|
||||
|
||||
bool checkAirspeed = false;
|
||||
/* Perform airspeed check only if circuit breaker is not
|
||||
* engaged and it's not a rotary wing */
|
||||
|
|
@ -743,12 +757,12 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
|
|||
checkAirspeed = true;
|
||||
}
|
||||
|
||||
bool prearm_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
|
||||
|
||||
if (status->usb_connected) {
|
||||
prearm_ok = false;
|
||||
mavlink_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
|
||||
bool preflight_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
|
||||
|
||||
if (status->usb_connected && prearm) {
|
||||
preflight_ok = false;
|
||||
if(reportFailures) mavlink_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
|
||||
}
|
||||
|
||||
return !prearm_ok;
|
||||
return !preflight_ok;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -65,6 +65,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
|
|||
|
||||
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);
|
||||
|
||||
int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
|
||||
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm);
|
||||
|
||||
#endif /* STATE_MACHINE_HELPER_H_ */
|
||||
|
|
|
|||
|
|
@ -52,7 +52,7 @@
|
|||
|
||||
#define RC_INPUT_MAP_UNMAPPED 0
|
||||
|
||||
int rc_calibration_check(int mavlink_fd)
|
||||
int rc_calibration_check(int mavlink_fd, bool report_fail)
|
||||
{
|
||||
|
||||
char nbuf[20];
|
||||
|
|
@ -74,7 +74,8 @@ int rc_calibration_check(int mavlink_fd)
|
|||
param_t map_parm = param_find(rc_map_mandatory[j]);
|
||||
|
||||
if (map_parm == PARAM_INVALID) {
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]);
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
map_fail_count++;
|
||||
|
|
@ -86,14 +87,16 @@ int rc_calibration_check(int mavlink_fd)
|
|||
param_get(map_parm, &mapping);
|
||||
|
||||
if (mapping > RC_INPUT_MAX_CHANNELS) {
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]);
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
map_fail_count++;
|
||||
}
|
||||
|
||||
if (mapping == 0) {
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]);
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
map_fail_count++;
|
||||
|
|
@ -144,35 +147,44 @@ int rc_calibration_check(int mavlink_fd)
|
|||
/* assert min..center..max ordering */
|
||||
if (param_min < RC_INPUT_LOWEST_MIN_US) {
|
||||
count++;
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US);
|
||||
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
if (param_max > RC_INPUT_HIGHEST_MAX_US) {
|
||||
count++;
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US);
|
||||
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
if (param_trim < param_min) {
|
||||
count++;
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min);
|
||||
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
if (param_trim > param_max) {
|
||||
count++;
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max);
|
||||
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
/* assert deadzone is sane */
|
||||
if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
|
||||
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US);
|
||||
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US); }
|
||||
|
||||
/* give system time to flush error message in case there are more */
|
||||
usleep(100000);
|
||||
count++;
|
||||
|
|
@ -187,8 +199,11 @@ int rc_calibration_check(int mavlink_fd)
|
|||
|
||||
if (channels_failed) {
|
||||
sleep(2);
|
||||
mavlink_and_console_log_critical(mavlink_fd, "%d config error%s for %d RC channel%s.", total_fail_count,
|
||||
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
|
||||
|
||||
if (report_fail) mavlink_and_console_log_critical(mavlink_fd, "%d config error%s for %d RC channel%s.",
|
||||
total_fail_count,
|
||||
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
|
||||
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -47,6 +47,6 @@ __BEGIN_DECLS
|
|||
* @return 0 / OK if RC calibration is ok, index + 1 of the first
|
||||
* channel that failed else (so 1 == first channel failed)
|
||||
*/
|
||||
__EXPORT int rc_calibration_check(int mavlink_fd);
|
||||
__EXPORT int rc_calibration_check(int mavlink_fd, bool report_fail);
|
||||
|
||||
__END_DECLS
|
||||
|
|
|
|||
Loading…
Reference in New Issue