airspeedCheck.cpp

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#include "../PreFlightCheck.hpp"

#include <HealthFlags.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/subsystem_info.h>

using namespace time_literals;

bool PreFlightCheck::airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
                   const bool report_fail, const bool prearm)
{
    bool present = true;
    bool success = true;

    uORB::SubscriptionData<airspeed_s> airspeed_sub{ORB_ID(airspeed)};
    airspeed_sub.update();
    const airspeed_s &airspeed = airspeed_sub.get();

    if (hrt_elapsed_time(&airspeed.timestamp) > 1_s) {
        if (report_fail && !optional) {
            mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
        }

        present = false;
        success = false;
        goto out;
    }

    /*
     * Check if voter thinks the confidence is low. High-end sensors might have virtually zero noise
     * on the bench and trigger false positives of the voter. Therefore only fail this
     * for a pre-arm check, as then the cover is off and the natural airflow in the field
     * will ensure there is not zero noise.
     */
    if (prearm && fabsf(airspeed.confidence) < 0.95f) {
        if (report_fail) {
            mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor stuck");
        }

        present = true;
        success = false;
        goto out;
    }

    /**
     * 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.
     */
    if (fabsf(airspeed.indicated_airspeed_m_s) > 4.0f && !prearm) {
        if (report_fail) {
            mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or Pitot");
        }

        present = true;
        success = false;
        goto out;
    }

out:
    set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE, present, !optional, success, status);

    return success;
}