PreFlightCheck Class Reference

#include <PreFlightCheck.hpp>

Collaboration diagram for PreFlightCheck:

Public Types
enum	arm_requirements_t {   ARM_REQ_NONE = 0, ARM_REQ_MISSION_BIT = (1 << 0), ARM_REQ_ARM_AUTH_BIT = (1 << 1), ARM_REQ_GPS_BIT = (1 << 2),   ARM_REQ_ESCS_CHECK_BIT = (1 << 3) }

Public Member Functions
	PreFlightCheck ()=default
	~PreFlightCheck ()=default

Static Public Member Functions
static bool	preflightCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, vehicle_status_flags_s &status_flags, const bool checkGNSS, bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot)
	Runs a preflight check on all sensors to see if they are properly calibrated and healthy. More...
static bool	preArmCheck (orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags, const safety_s &safety, const uint8_t arm_requirements)

Static Private Member Functions
static bool	magnometerCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, const bool optional, int32_t &device_id, const bool report_fail)
static bool	magConsistencyCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status)
static bool	accelerometerCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, const bool optional, const bool dynamic, int32_t &device_id, const bool report_fail)
static bool	gyroCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, const bool optional, int32_t &device_id, const bool report_fail)
static bool	baroCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, const bool optional, int32_t &device_id, const bool report_fail)
static bool	imuConsistencyCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status)
static bool	airspeedCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional, const bool report_fail, const bool prearm)
static int	rcCalibrationCheck (orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL)
static bool	powerCheck (orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail, const bool prearm)
static bool	ekf2Check (orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional, const bool report_fail, const bool enforce_gps_required)
static bool	failureDetectorCheck (orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail, const bool prearm)
static bool	check_calibration (const char *param_template, const int32_t device_id)

Detailed Description

Definition at line 49 of file PreFlightCheck.hpp.

Member Enumeration Documentation

arm_requirements_t

enum PreFlightCheck::arm_requirements_t

Enumerator
ARM_REQ_NONE
ARM_REQ_MISSION_BIT
ARM_REQ_ARM_AUTH_BIT
ARM_REQ_GPS_BIT
ARM_REQ_ESCS_CHECK_BIT

Definition at line 87 of file PreFlightCheck.hpp.

Constructor & Destructor Documentation

PreFlightCheck()

PreFlightCheck::PreFlightCheck ( )

default

~PreFlightCheck()

PreFlightCheck::~PreFlightCheck ( )

default

Member Function Documentation

accelerometerCheck()

bool PreFlightCheck::accelerometerCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, const uint8_t  instance, const bool  optional, const bool  dynamic, int32_t &  device_id, const bool  report_fail  )

staticprivate

Definition at line 47 of file accelerometerCheck.cpp.

References f(), hrt_elapsed_time(), mavlink_log_critical, orb_exists(), ORB_ID, and set_health_flags().

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airspeedCheck()

bool PreFlightCheck::airspeedCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, const bool  optional, const bool  report_fail, const bool  prearm  )

staticprivate

Check if airspeed is higher than 4m/s (accepted max) 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.

Definition at line 46 of file airspeedCheck.cpp.

References airspeed_s::confidence, hrt_elapsed_time(), airspeed_s::indicated_airspeed_m_s, mavlink_log_critical, ORB_ID, set_health_flags(), and airspeed_s::timestamp.

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baroCheck()

bool PreFlightCheck::baroCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, const uint8_t  instance, const bool  optional, int32_t &  device_id, const bool  report_fail  )

staticprivate

Definition at line 46 of file baroCheck.cpp.

References hrt_elapsed_time(), mavlink_log_critical, orb_exists(), ORB_ID, and set_health_flags().

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check_calibration()

bool PreFlightCheck::check_calibration ( const char *  param_template, const int32_t  device_id  )

staticprivate

Definition at line 341 of file PreFlightCheck.cpp.

References ll40ls::instance, param_find_no_notification(), param_get(), and PARAM_INVALID.

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ekf2Check()

bool PreFlightCheck::ekf2Check ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  vehicle_status, const bool  optional, const bool  report_fail, const bool  enforce_gps_required  )

staticprivate

Definition at line 44 of file ekf2Check.cpp.

References estimator_status_s::control_mode_flags, estimator_status_s::covariances, estimator_status_s::gps_check_fail_flags, estimator_status_s::hgt_test_ratio, estimator_status_s::mag_test_ratio, mavlink_log_critical, mavlink_log_warning, ORB_ID, param_find(), param_get(), estimator_status_s::pos_test_ratio, estimator_status_s::pre_flt_fail_innov_heading, estimator_status_s::pre_flt_fail_innov_height, estimator_status_s::pre_flt_fail_innov_vel_horiz, estimator_status_s::pre_flt_fail_innov_vel_vert, estimator_status_s::pre_flt_fail_mag_field_disturbed, set_health_flags(), estimator_status_s::states, status, estimator_status_s::timestamp, and estimator_status_s::vel_test_ratio.

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failureDetectorCheck()

bool PreFlightCheck::failureDetectorCheck ( orb_advert_t *  mavlink_log_pub, const vehicle_status_s &  status, const bool  report_fail, const bool  prearm  )

staticprivate

Definition at line 38 of file failureDetectorCheck.cpp.

References FAILURE_ALT, vehicle_status_s::failure_detector_status, FAILURE_NONE, FAILURE_PITCH, FAILURE_ROLL, and mavlink_log_critical.

gyroCheck()

bool PreFlightCheck::gyroCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, const uint8_t  instance, const bool  optional, int32_t &  device_id, const bool  report_fail  )

staticprivate

Definition at line 46 of file gyroCheck.cpp.

References hrt_elapsed_time(), mavlink_log_critical, orb_exists(), ORB_ID, and set_health_flags().

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imuConsistencyCheck()

bool PreFlightCheck::imuConsistencyCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, const bool  report_status  )

staticprivate

Definition at line 44 of file imuConsistencyCheck.cpp.

References sensor_preflight_s::accel_inconsistency_m_s_s, sensor_preflight_s::gyro_inconsistency_rad_s, mavlink_log_critical, mavlink_log_info, ORB_ID, param_find(), param_get(), and set_health_flags_healthy().

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magConsistencyCheck()

bool PreFlightCheck::magConsistencyCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, const bool  report_status  )

staticprivate

Definition at line 46 of file magConsistencyCheck.cpp.

References sensor_preflight_s::mag_inconsistency_angle, mavlink_log_critical, ORB_ID, param_find(), param_get(), set_health_flags_healthy(), and sensor_preflight_s::timestamp.

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magnometerCheck()

bool PreFlightCheck::magnometerCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, const uint8_t  instance, const bool  optional, int32_t &  device_id, const bool  report_fail  )

staticprivate

Definition at line 46 of file magnetometerCheck.cpp.

References hrt_elapsed_time(), mavlink_log_critical, orb_exists(), ORB_ID, and set_health_flags().

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powerCheck()

bool PreFlightCheck::powerCheck ( orb_advert_t *  mavlink_log_pub, const vehicle_status_s &  status, const bool  report_fail, const bool  prearm  )

staticprivate

Definition at line 43 of file powerCheck.cpp.

References f(), hrt_elapsed_time(), mavlink_log_critical, ORB_ID, system_power_s::timestamp, and system_power_s::voltage5v_v.

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preArmCheck()

bool PreFlightCheck::preArmCheck ( orb_advert_t *  mavlink_log_pub, const vehicle_status_flags_s &  status_flags, const safety_s &  safety, const uint8_t  arm_requirements  )

static

Definition at line 40 of file preArmCheck.cpp.

References arm_auth_check(), ARM_REQ_ARM_AUTH_BIT, ARM_REQ_ESCS_CHECK_BIT, ARM_REQ_GPS_BIT, ARM_REQ_MISSION_BIT, vehicle_status_flags_s::avoidance_system_required, vehicle_status_flags_s::avoidance_system_valid, vehicle_status_flags_s::circuit_breaker_engaged_power_check, vehicle_status_flags_s::circuit_breaker_engaged_usb_check, vehicle_status_flags_s::condition_auto_mission_available, vehicle_status_flags_s::condition_battery_healthy, vehicle_status_flags_s::condition_escs_error, vehicle_status_flags_s::condition_global_position_valid, vehicle_status_flags_s::condition_power_input_valid, mavlink_log_critical, safety_s::safety_off, safety_s::safety_switch_available, and vehicle_status_flags_s::usb_connected.

Referenced by arming_state_transition(), and commander_main().

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preflightCheck()

bool PreFlightCheck::preflightCheck ( orb_advert_t *  mavlink_log_pub, vehicle_status_s &  status, vehicle_status_flags_s &  status_flags, const bool  checkGNSS, bool  reportFailures, const bool  prearm, const hrt_abstime &  time_since_boot  )

static

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.

Parameters

mavlink_log_pub	Mavlink output orb handle reference for feedback when a sensor fails
checkMag	true if the magneteometer should be checked
checkAcc	true if the accelerometers should be checked
checkGyro	true if the gyroscopes should be checked
checkBaro	true if the barometer should be checked
checkAirspeed	true if the airspeed sensor should be checked
checkRC	true if the Remote Controller should be checked
checkGNSS	true if the GNSS receiver should be checked
checkPower	true if the system power should be checked

Definition at line 58 of file PreFlightCheck.cpp.

References vehicle_status_flags_s::circuit_breaker_engaged_airspd_check, vehicle_status_flags_s::circuit_breaker_engaged_power_check, vehicle_status_flags_s::condition_calibration_enabled, vehicle_status_flags_s::condition_power_input_valid, vehicle_status_flags_s::condition_system_hotplug_timeout, device_id, vehicle_status_s::hil_state, vehicle_status_s::is_vtol, mavlink_log_critical, max_mandatory_accel_count, max_mandatory_baro_count, max_mandatory_gyro_count, max_mandatory_mag_count, max_optional_accel_count, max_optional_baro_count, max_optional_gyro_count, max_optional_mag_count, OK, param_find(), param_get(), vehicle_status_flags_s::rc_calibration_valid, vehicle_status_s::rc_input_mode, vehicle_status_flags_s::rc_signal_found_once, vehicle_status_s::rc_signal_lost, set_health_flags(), vehicle_status_s::vehicle_type, and VEHICLE_TYPE_FIXED_WING.

Referenced by arming_state_transition(), and Commander::preflight_check().

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rcCalibrationCheck()

int PreFlightCheck::rcCalibrationCheck ( orb_advert_t *  mavlink_log_pub, bool  report_fail, bool  isVTOL  )

staticprivate

Definition at line 55 of file rcCalibrationCheck.cpp.

References mavlink_log_critical, param_find(), param_get(), PARAM_INVALID, RC_INPUT_HIGHEST_MAX_US, RC_INPUT_LOWEST_MIN_US, and RC_INPUT_MAX_DEADZONE_US.

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The documentation for this class was generated from the following files:

• src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
• src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/airspeedCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/failureDetectorCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/imuConsistencyCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/magConsistencyCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/checks/rcCalibrationCheck.cpp
• src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp