PX4 Firmware
PX4 Autopilot Software http://px4.io
imuConsistencyCheck.cpp
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33 
34 #include "../PreFlightCheck.hpp"
35 
36 #include <HealthFlags.h>
37 
38 #include <lib/parameters/param.h>
39 #include <systemlib/mavlink_log.h>
40 #include <uORB/Subscription.hpp>
43 
45  const bool report_status)
46 {
47  float test_limit = 1.0f; // pass limit re-used for each test
48 
49  // Get sensor_preflight data if available and exit with a fail recorded if not
50  uORB::SubscriptionData<sensor_preflight_s> sensors_sub{ORB_ID(sensor_preflight)};
51  sensors_sub.update();
52  const sensor_preflight_s &sensors = sensors_sub.get();
53 
54  // Use the difference between IMU's to detect a bad calibration.
55  // If a single IMU is fitted, the value being checked will be zero so this check will always pass.
56  param_get(param_find("COM_ARM_IMU_ACC"), &test_limit);
57 
58  if (sensors.accel_inconsistency_m_s_s > test_limit) {
59  if (report_status) {
60  mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accels inconsistent - Check Cal");
61  set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC, false, status);
62  set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, false, status);
63  }
64 
65  return false;
66 
67  } else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.8f) {
68  if (report_status) {
69  mavlink_log_info(mavlink_log_pub, "Preflight Advice: Accels inconsistent - Check Cal");
70  }
71  }
72 
73  // Fail if gyro difference greater than 5 deg/sec and notify if greater than 2.5 deg/sec
74  param_get(param_find("COM_ARM_IMU_GYR"), &test_limit);
75 
76  if (sensors.gyro_inconsistency_rad_s > test_limit) {
77  if (report_status) {
78  mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyros inconsistent - Check Cal");
79  set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, false, status);
80  set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, false, status);
81  }
82 
83  return false;
84 
85  } else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
86  if (report_status) {
87  mavlink_log_info(mavlink_log_pub, "Preflight Advice: Gyros inconsistent - Check Cal");
88  }
89  }
90 
91  return true;
92 }
static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status)
static orb_advert_t * mavlink_log_pub
static struct vehicle_status_s status
Definition: Commander.cpp:138
__EXPORT int param_get(param_t param, void *val)
Copy the value of a parameter.
Definition: parameters.cpp:589
void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status)
Definition: HealthFlags.cpp:76
Global flash based parameter store.
#define ORB_ID(_name)
Generates a pointer to the uORB metadata structure for a given topic.
Definition: uORB.h:87
__BEGIN_DECLS typedef void * orb_advert_t
ORB topic advertiser handle.
Definition: uORB.h:134
__EXPORT param_t param_find(const char *name)
Look up a parameter by name.
Definition: parameters.cpp:370
Definition: common.h:43
Contains helper functions to efficiently set the system health flags from commander and preflight che...