magConsistencyCheck.cpp

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#include "../PreFlightCheck.hpp"

#include <HealthFlags.h>

#include <lib/parameters/param.h>
#include <mathlib/mathlib.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/sensor_preflight.h>

// return false if the magnetomer measurements are inconsistent
bool PreFlightCheck::magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
        const bool report_status)
{
    bool pass = false; // flag for result of checks

    // get the sensor preflight data
    uORB::SubscriptionData<sensor_preflight_s> sensors_sub{ORB_ID(sensor_preflight)};
    sensors_sub.update();
    const sensor_preflight_s &sensors = sensors_sub.get();

    if (sensors.timestamp == 0) {
        // can happen if not advertised (yet)
        pass = true;
    }

    // Use the difference between sensors to detect a bad calibration, orientation or magnetic interference.
    // If a single sensor is fitted, the value being checked will be zero so this check will always pass.
    int32_t angle_difference_limit_deg;
    param_get(param_find("COM_ARM_MAG_ANG"), &angle_difference_limit_deg);

    pass = pass || angle_difference_limit_deg < 0; // disabled, pass check
    pass = pass || sensors.mag_inconsistency_angle < math::radians<float>(angle_difference_limit_deg);

    if (!pass && report_status) {
        mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Compasses %d° inconsistent",
                     static_cast<int>(math::degrees<float>(sensors.mag_inconsistency_angle)));
        mavlink_log_critical(mavlink_log_pub, "Please check orientations and recalibrate");
        set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_MAG, false, status);
        set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_MAG2, false, status);
    }

    return pass;
}