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Added MAVLink-transmitted calibration warning about bad sensor calibration as part of preflight check

This commit is contained in:
Lorenz Meier 2013-03-18 11:05:38 +01:00
parent a03a2f9231
commit 9849d22e4f
1 changed files with 8 additions and 0 deletions
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8
apps/systemcmds/preflight_check/preflight_check.c
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@ -54,6 +54,8 @@
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
#include <drivers/drv_baro.h> #include <drivers/drv_baro.h>
#include <mavlink/mavlink_log.h>
__EXPORT int preflight_check_main(int argc, char *argv[]); __EXPORT int preflight_check_main(int argc, char *argv[]);
static int led_toggle(int leds, int led); static int led_toggle(int leds, int led);
static int led_on(int leds, int led); static int led_on(int leds, int led);
@ -75,6 +77,8 @@ int preflight_check_main(int argc, char *argv[])
bool system_ok = true; bool system_ok = true;
int fd; int fd;
/* open text message output path */
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
int ret; int ret;
/* give the system some time to sample the sensors in the background */ /* give the system some time to sample the sensors in the background */
@ -86,6 +90,7 @@ int preflight_check_main(int argc, char *argv[])
fd = open(MAG_DEVICE_PATH, 0); fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) { if (fd < 0) {
warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'"); warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
system_ok = false; system_ok = false;
goto system_eval; goto system_eval;
} }
@ -93,6 +98,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) { if (ret != OK) {
warnx("magnetometer calibration missing or bad - calibrate magnetometer first"); warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CALIBRATION");
system_ok = false; system_ok = false;
goto system_eval; goto system_eval;
} }
@ -105,6 +111,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) { if (ret != OK) {
warnx("accel self test failed"); warnx("accel self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK");
system_ok = false; system_ok = false;
goto system_eval; goto system_eval;
} }
@ -117,6 +124,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) { if (ret != OK) {
warnx("gyro self test failed"); warnx("gyro self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK");
system_ok = false; system_ok = false;
goto system_eval; goto system_eval;
} }