accelerometerCheck.cpp

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#include "../PreFlightCheck.hpp"

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

using namespace time_literals;

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)
{
    const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
    bool calibration_valid = false;
    bool accel_valid = true;

    if (exists) {

        uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};

        accel_valid = (hrt_elapsed_time(&accel.get().timestamp) < 1_s);

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

        device_id = accel.get().device_id;

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

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

        } else {

            if (dynamic) {
                const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
                                    + accel.get().y * accel.get().y
                                    + accel.get().z * accel.get().z);

                if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
                    if (report_fail) {
                        mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
                    }

                    /* this is frickin' fatal */
                    accel_valid = false;
                }
            }
        }

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

    const bool success = calibration_valid && accel_valid;

    if (instance == 0) {
        set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC, exists, !optional, success, status);

    } else if (instance == 1) {
        set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, exists, !optional, success, status);
    }

    return success;
}