gyroCheck.cpp

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#include "../PreFlightCheck.hpp"

#include <drivers/drv_hrt.h>
#include <HealthFlags.h>
#include <px4_defines.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/subsystem_info.h>

using namespace time_literals;

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)
{
    const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK);
    bool calibration_valid = false;
    bool gyro_valid = false;

    if (exists) {

        uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), instance};

        gyro_valid = (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);

        if (!gyro_valid) {
            if (report_fail) {
                mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Gyro #%u", instance);
            }
        }

        device_id = gyro.get().device_id;

        calibration_valid = check_calibration("CAL_GYRO%u_ID", device_id);

        if (!calibration_valid) {
            if (report_fail) {
                mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro #%u uncalibrated", instance);
            }
        }

    } else {
        if (!optional && report_fail) {
            mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro Sensor #%u missing", instance);
        }
    }

    if (instance == 0) {
        set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, exists, !optional, calibration_valid && gyro_valid, status);

    } else if (instance == 1) {
        set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, exists, !optional, calibration_valid && gyro_valid, status);
    }

    return calibration_valid && gyro_valid;
}