PreFlightCheck.hpp

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/**
 * @file PreFlightCheck.hpp
 *
 * Check if flight is safely possible
 * if not prevent it and inform the user.
 */

#pragma once

#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_status_flags.h>

#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>

class PreFlightCheck
{
public:
    PreFlightCheck() = default;
    ~PreFlightCheck() = default;

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

    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);

    typedef enum {
        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)
    } arm_requirements_t;

private:
    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);
};