Commander: Improved preflight check routines. Running checks on all connected sensors. Re-run checks once GCS is connected.

src/modules/commander/PreflightCheck.cpp

@@ -65,158 +65,219 @@
 
 namespace Commander
 {
-    static bool magnometerCheck(int mavlink_fd)
+static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
 {
-        int fd = open(MAG0_DEVICE_PATH, 0);
+	bool success = true;
+
+	char s[30];
+	sprintf(s, "%s%u", MAG_BASE_DEVICE_PATH, instance);
+	int fd = open(s, 0);
+
 	if (fd < 0) {
-            warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
+		if (!optional) {
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
+		}
+
 		return false;
 	}
 
 	int calibration_devid;
+	int ret;
 	int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
-        param_get(param_find("CAL_MAG0_ID"), &(calibration_devid));
+	sprintf(s, "CAL_MAG%u_ID", instance);
+	param_get(param_find(s), &(calibration_devid));
+
 	if (devid != calibration_devid) {
-            warnx("magnetometer calibration is for a different device - calibrate magnetometer first (dev: %d vs cal: %d)", devid, calibration_devid);
+		mavlink_and_console_log_critical(mavlink_fd,
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID");
+						 "PREFLIGHT FAIL: MAG #%u UNCALIBRATED (NO ID)", instance);
-            return false;
+		success = false;
+		goto out;
 	}
 
-        int ret = ioctl(fd, MAGIOCSELFTEST, 0);
+	ret = ioctl(fd, MAGIOCSELFTEST, 0);
-        if (ret != OK) {
-            warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL");
-            return false;
-        }
-        close(fd);
-        return true;
-    }
-
-    static bool accelerometerCheck(int mavlink_fd)
-    {
-        int fd = open(ACCEL0_DEVICE_PATH, O_RDONLY);
-        int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
-
-        int calibration_devid;
-        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
-        param_get(param_find("CAL_ACC0_ID"), &(calibration_devid));
-        if (devid != calibration_devid){
-            warnx("accelerometer calibration is for a different device - calibrate accelerometer first");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACC CAL ID");
-            return false;
-        }
 
 	if (ret != OK) {
-            warnx("accel self test failed");
+		mavlink_and_console_log_critical(mavlink_fd,
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
+						 "PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
-            return false;
+		success = false;
-        }
+		goto out;
-
-        // check measurement result range
-        struct accel_report acc;
-        ret = read(fd, &acc, sizeof(acc));
-
-        if (ret == sizeof(acc)) {
-            // evaluate values
-            float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
-
-            // evaluate values
-            if (accel_magnitude > 30.0f) { //m/s^2
-                warnx("accel with spurious values");
-                mavlink_log_critical(mavlink_fd, "SENSOR FAIL: |ACCEL| > 30 m/s^2");
-                //this is frickin' fatal
-                return false;
-            }
-        } else {
-            warnx("accel read failed");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ");
-            //this is frickin' fatal
-            return false;
 	}
 
+out:
 	close(fd);
-        return true;
+	return success;
 }
 
-    static bool gyroCheck(int mavlink_fd)
+static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional)
 {
-        int fd = open(GYRO0_DEVICE_PATH, 0);
+	bool success = true;
 
-        int calibration_devid;
+	char s[30];
-        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
+	sprintf(s, "%s%u", ACCEL_BASE_DEVICE_PATH, instance);
-        param_get(param_find("CAL_GYRO0_ID"), &(calibration_devid));
+	int fd = open(s, O_RDONLY);
-        if (devid != calibration_devid){
-            warnx("gyro calibration is for a different device - calibrate gyro first");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CAL ID");
-            return false;
-        }        
 
-        int ret = ioctl(fd, GYROIOCSELFTEST, 0);
-
-        if (ret != OK) {
-            warnx("gyro self test failed");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
-            return false;
-        }
-
-        close(fd);
-        return true;
-    }
-
-    static bool baroCheck(int mavlink_fd)
-    {
-        int fd = open(BARO0_DEVICE_PATH, 0);
 	if (fd < 0) {
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: Barometer");
+		if (!optional) {
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
+		}
+
+		return false;
+	}
+
+	int calibration_devid;
+	int ret;
+	int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
+	sprintf(s, "CAL_ACC%u_ID", instance);
+	param_get(param_find(s), &(calibration_devid));
+
+	if (devid != calibration_devid) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED (NO ID)", instance);
+		success = false;
+		goto out;
+	}
+
+	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
+
+	if (ret != OK) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: ACCEL #%u SELFTEST FAILED", instance);
+		success = false;
+		goto out;
+	}
+
+out:
+	close(fd);
+	return success;
+}
+
+static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
+{
+	bool success = true;
+
+	char s[30];
+	sprintf(s, "%s%u", GYRO_BASE_DEVICE_PATH, instance);
+	int fd = open(s, 0);
+
+	if (fd < 0) {
+		if (!optional) {
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
+		}
+
+		return false;
+	}
+
+	int calibration_devid;
+	int ret;
+	int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
+	sprintf(s, "CAL_GYRO%u_ID", instance);
+	param_get(param_find(s), &(calibration_devid));
+
+	if (devid != calibration_devid) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED (NO ID)", instance);
+		success = false;
+		goto out;
+	}
+
+	ret = ioctl(fd, GYROIOCSELFTEST, 0);
+
+	if (ret != OK) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
+		success = false;
+		goto out;
+	}
+
+out:
+	close(fd);
+	return success;
+}
+
+static bool baroCheck(int mavlink_fd, unsigned instance, bool optional)
+{
+	bool success = true;
+
+	char s[30];
+	sprintf(s, "%s%u", BARO_BASE_DEVICE_PATH, instance);
+	int fd = open(s, 0);
+
+	if (fd < 0) {
+		if (!optional) {
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
+		}
+
 		return false;
 	}
 
 	close(fd);
-        return true;
+	return success;
 }
 
 bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC)
 {
-        //give the system some time to sample the sensors in the background
+	bool failed = false;
-        usleep(150000);
 
 //Magnetometer
 	if (checkMag) {
-            if(!magnometerCheck(mavlink_fd)) {
+		/* check all sensors, but fail only for mandatory ones */
-                return false;
+		for (unsigned i = 0; i < max_optional_mag_count; i++) {
+			bool required = (i < max_mandatory_mag_count);
+
+			if (!magnometerCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
 		}
 	}
 
 //Accelerometer
 	if (checkAcc) {
-            if(!accelerometerCheck(mavlink_fd)) {
+		/* check all sensors, but fail only for mandatory ones */
-                return false;
+		for (unsigned i = 0; i < max_optional_accel_count; i++) {
+			bool required = (i < max_mandatory_accel_count);
+
+			if (!accelerometerCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
 		}
 	}
 
 // ---- GYRO ----
 	if (checkGyro) {
-            if(!gyroCheck(mavlink_fd)) {
+		/* check all sensors, but fail only for mandatory ones */
-                return false;
+		for (unsigned i = 0; i < max_optional_gyro_count; i++) {
+			bool required = (i < max_mandatory_gyro_count);
+
+			if (!gyroCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
 		}
 	}
 
 // ---- BARO ----
 	if (checkBaro) {
-            if(!baroCheck(mavlink_fd)) {
+		/* check all sensors, but fail only for mandatory ones */
-                return false;
+		for (unsigned i = 0; i < max_optional_baro_count; i++) {
+			bool required = (i < max_mandatory_baro_count);
+
+			if (!baroCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
 		}
 	}
 
 // ---- RC CALIBRATION ----
 	if (checkRC) {
 		if (rc_calibration_check(mavlink_fd) != OK) {
-                return false;
+			failed = true;
 		}
 	}
 
-        //All is good!
+// Report status
-        return true;
+	return !failed;
 }
 }

src/modules/commander/PreflightCheck.h

@@ -44,8 +44,11 @@
 namespace Commander
 {
 /**
-    * @brief
 * 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_fd
 *   Mavlink output file descriptor for feedback when a sensor fails
 * @param checkMag
@@ -60,4 +63,17 @@ namespace Commander
 *   true if the Remote Controller should be checked
 **/
 bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC);
+
+const unsigned max_mandatory_gyro_count = 1;
+const unsigned max_optional_gyro_count = 3;
+
+const unsigned max_mandatory_accel_count = 1;
+const unsigned max_optional_accel_count = 3;
+
+const unsigned max_mandatory_mag_count = 1;
+const unsigned max_optional_mag_count = 3;
+
+const unsigned max_mandatory_baro_count = 1;
+const unsigned max_optional_baro_count = 1;
+
 }

src/modules/commander/commander.cpp

@@ -1302,7 +1302,8 @@ int commander_thread_main(int argc, char *argv[])
 				    telemetry.heartbeat_time > 0 &&
 				    hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) {
 
-					(void)rc_calibration_check(mavlink_fd);
+					/* provide RC and sensor status feedback to the user */
+					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;

src/modules/commander/state_machine_helper.cpp

@@ -212,10 +212,10 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 
 		/* Sensors need to be initialized for STANDBY state */
 		if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
-			mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
+			mavlink_log_critical(mavlink_fd, "Not ready to fly: Sensors not operational.");
 			feedback_provided = true;
 			valid_transition = false;
-			new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
+			status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
 		}
 
 		// Finish up the state transition