Commander: Improved preflight check routines. Running checks on all connected sensors. Re-run checks once GCS is connected.

4 files changed, 292 insertions, 214 deletions

diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index 873f2c289..70015cddd 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -1,44 +1,44 @@
 /****************************************************************************
- *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
+*
+*   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+*    used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
 
 /**
- * @file PreflightCheck.cpp
- *
- * Preflight check for main system components
- *
- * @author Lorenz Meier <lorenz@px4.io>
- * @author Johan Jansen <jnsn.johan@gmail.com>
- */
+* @file PreflightCheck.cpp
+*
+* Preflight check for main system components
+*
+* @author Lorenz Meier <lorenz@px4.io>
+* @author Johan Jansen <jnsn.johan@gmail.com>
+*/
 
 #include <nuttx/config.h>
 #include <unistd.h>
@@ -65,158 +65,219 @@
 
 namespace Commander
 {
-    static bool magnometerCheck(int mavlink_fd)
-    {
-        int fd = open(MAG0_DEVICE_PATH, 0);
-        if (fd < 0) {
-            warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
-            return false;
-        }
-
-        int calibration_devid;
-        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
-        param_get(param_find("CAL_MAG0_ID"), &(calibration_devid));
-        if (devid != calibration_devid){
-            warnx("magnetometer calibration is for a different device - calibrate magnetometer first (dev: %d vs cal: %d)", devid, calibration_devid);
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID");
-            return false;
-        }
-
-        int ret = ioctl(fd, MAGIOCSELFTEST, 0);
-        if (ret != OK) {
-            warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL");
-            return false;
-        }
-        close(fd);
-        return true;
-    }
-
-    static bool accelerometerCheck(int mavlink_fd)
-    {
-        int fd = open(ACCEL0_DEVICE_PATH, O_RDONLY);
-        int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
-
-        int calibration_devid;
-        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
-        param_get(param_find("CAL_ACC0_ID"), &(calibration_devid));
-        if (devid != calibration_devid){
-            warnx("accelerometer calibration is for a different device - calibrate accelerometer first");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACC CAL ID");
-            return false;
-        }
-        
-        if (ret != OK) {
-            warnx("accel self test failed");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
-            return false;
-        }
-
-        // check measurement result range
-        struct accel_report acc;
-        ret = read(fd, &acc, sizeof(acc));
-
-        if (ret == sizeof(acc)) {
-            // evaluate values
-            float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
-
-            // evaluate values
-            if (accel_magnitude > 30.0f) { //m/s^2
-                warnx("accel with spurious values");
-                mavlink_log_critical(mavlink_fd, "SENSOR FAIL: |ACCEL| > 30 m/s^2");
-                //this is frickin' fatal
-                return false;
-            }
-        } else {
-            warnx("accel read failed");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ");
-            //this is frickin' fatal
-            return false;
-        }
-
-        close(fd);
-        return true;
-    }
-
-    static bool gyroCheck(int mavlink_fd)
-    {
-        int fd = open(GYRO0_DEVICE_PATH, 0);
-            
-        int calibration_devid;
-        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
-        param_get(param_find("CAL_GYRO0_ID"), &(calibration_devid));
-        if (devid != calibration_devid){
-            warnx("gyro calibration is for a different device - calibrate gyro first");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CAL ID");
-            return false;
-        }        
-
-        int ret = ioctl(fd, GYROIOCSELFTEST, 0);
-
-        if (ret != OK) {
-            warnx("gyro self test failed");
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
-            return false;
-        }
-
-        close(fd);
-        return true;
-    }
-
-    static bool baroCheck(int mavlink_fd)
-    {
-        int fd = open(BARO0_DEVICE_PATH, 0);
-        if(fd < 0) {
-            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: Barometer");
-            return false;        
-        }
-
-        close(fd);
-        return true;
-    }
-
-    bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC)
-    {
-        //give the system some time to sample the sensors in the background
-        usleep(150000);
-
-        //Magnetometer
-        if(checkMag) {
-            if(!magnometerCheck(mavlink_fd)) {
-                return false;
-            }            
-        }
-
-        //Accelerometer
-        if(checkAcc) {
-            if(!accelerometerCheck(mavlink_fd)) {
-                return false;
-            }            
-        }
-
-        // ---- GYRO ----
-        if(checkGyro) {
-            if(!gyroCheck(mavlink_fd)) {
-                return false;
-            }            
-        }
-
-        // ---- BARO ----
-        if(checkBaro) {
-            if(!baroCheck(mavlink_fd)) {
-                return false;
-            }
-        }
-
-        // ---- RC CALIBRATION ----
-        if(checkRC) {
-            if(rc_calibration_check(mavlink_fd) != OK) {
-                return false;
-            }
-        }
-
-        //All is good!
-        return true;
-    }
+static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
+{
+	bool success = true;
+
+	char s[30];
+	sprintf(s, "%s%u", MAG_BASE_DEVICE_PATH, instance);
+	int fd = open(s, 0);
+
+	if (fd < 0) {
+		if (!optional) {
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
+		}
+
+		return false;
+	}
+
+	int calibration_devid;
+	int ret;
+	int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
+	sprintf(s, "CAL_MAG%u_ID", instance);
+	param_get(param_find(s), &(calibration_devid));
+
+	if (devid != calibration_devid) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: MAG #%u UNCALIBRATED (NO ID)", instance);
+		success = false;
+		goto out;
+	}
+
+	ret = ioctl(fd, MAGIOCSELFTEST, 0);
+
+	if (ret != OK) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
+		success = false;
+		goto out;
+	}
+
+out:
+	close(fd);
+	return success;
+}
+
+static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional)
+{
+	bool success = true;
+
+	char s[30];
+	sprintf(s, "%s%u", ACCEL_BASE_DEVICE_PATH, instance);
+	int fd = open(s, O_RDONLY);
+
+	if (fd < 0) {
+		if (!optional) {
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
+		}
+
+		return false;
+	}
+
+	int calibration_devid;
+	int ret;
+	int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
+	sprintf(s, "CAL_ACC%u_ID", instance);
+	param_get(param_find(s), &(calibration_devid));
+
+	if (devid != calibration_devid) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED (NO ID)", instance);
+		success = false;
+		goto out;
+	}
+
+	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
+
+	if (ret != OK) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: ACCEL #%u SELFTEST FAILED", instance);
+		success = false;
+		goto out;
+	}
+
+out:
+	close(fd);
+	return success;
+}
+
+static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
+{
+	bool success = true;
+
+	char s[30];
+	sprintf(s, "%s%u", GYRO_BASE_DEVICE_PATH, instance);
+	int fd = open(s, 0);
+
+	if (fd < 0) {
+		if (!optional) {
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
+		}
+
+		return false;
+	}
+
+	int calibration_devid;
+	int ret;
+	int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
+	sprintf(s, "CAL_GYRO%u_ID", instance);
+	param_get(param_find(s), &(calibration_devid));
+
+	if (devid != calibration_devid) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED (NO ID)", instance);
+		success = false;
+		goto out;
+	}
+
+	ret = ioctl(fd, GYROIOCSELFTEST, 0);
+
+	if (ret != OK) {
+		mavlink_and_console_log_critical(mavlink_fd,
+						 "PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
+		success = false;
+		goto out;
+	}
+
+out:
+	close(fd);
+	return success;
+}
+
+static bool baroCheck(int mavlink_fd, unsigned instance, bool optional)
+{
+	bool success = true;
+
+	char s[30];
+	sprintf(s, "%s%u", BARO_BASE_DEVICE_PATH, instance);
+	int fd = open(s, 0);
+
+	if (fd < 0) {
+		if (!optional) {
+			mavlink_and_console_log_critical(mavlink_fd,
+							 "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
+		}
+
+		return false;
+	}
+
+	close(fd);
+	return success;
+}
+
+bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC)
+{
+	bool failed = false;
+
+//Magnetometer
+	if (checkMag) {
+		/* check all sensors, but fail only for mandatory ones */
+		for (unsigned i = 0; i < max_optional_mag_count; i++) {
+			bool required = (i < max_mandatory_mag_count);
+
+			if (!magnometerCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
+		}
+	}
+
+//Accelerometer
+	if (checkAcc) {
+		/* check all sensors, but fail only for mandatory ones */
+		for (unsigned i = 0; i < max_optional_accel_count; i++) {
+			bool required = (i < max_mandatory_accel_count);
+
+			if (!accelerometerCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
+		}
+	}
+
+// ---- GYRO ----
+	if (checkGyro) {
+		/* check all sensors, but fail only for mandatory ones */
+		for (unsigned i = 0; i < max_optional_gyro_count; i++) {
+			bool required = (i < max_mandatory_gyro_count);
+
+			if (!gyroCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
+		}
+	}
+
+// ---- BARO ----
+	if (checkBaro) {
+		/* check all sensors, but fail only for mandatory ones */
+		for (unsigned i = 0; i < max_optional_baro_count; i++) {
+			bool required = (i < max_mandatory_baro_count);
+
+			if (!baroCheck(mavlink_fd, i, !required) && required) {
+				failed = true;
+			}
+		}
+	}
+
+// ---- RC CALIBRATION ----
+	if (checkRC) {
+		if (rc_calibration_check(mavlink_fd) != OK) {
+			failed = true;
+		}
+	}
+
+// Report status
+	return !failed;
+}
 }
diff --git a/src/modules/commander/PreflightCheck.h b/src/modules/commander/PreflightCheck.h
index e29357ec9..935f69969 100644
--- a/src/modules/commander/PreflightCheck.h
+++ b/src/modules/commander/PreflightCheck.h
@@ -43,21 +43,37 @@
 
 namespace Commander
 {
-    /**
-    * @brief
-    *   Runs a preflight check on all sensors to see if they are properly calibrated and healthy
-    * @param mavlink_fd
-    *   Mavlink output file descriptor 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 checkRC
-    *   true if the Remote Controller should be checked
-    **/
-    bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC);
+/**
+* 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_fd
+*   Mavlink output file descriptor 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 checkRC
+*   true if the Remote Controller should be checked
+**/
+bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC);
+
+const unsigned max_mandatory_gyro_count = 1;
+const unsigned max_optional_gyro_count = 3;
+
+const unsigned max_mandatory_accel_count = 1;
+const unsigned max_optional_accel_count = 3;
+
+const unsigned max_mandatory_mag_count = 1;
+const unsigned max_optional_mag_count = 3;
+
+const unsigned max_mandatory_baro_count = 1;
+const unsigned max_optional_baro_count = 1;
+
 }
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index e2a143f7f..5c512c15c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1302,7 +1302,8 @@ int commander_thread_main(int argc, char *argv[])
 				    telemetry.heartbeat_time > 0 &&
 				    hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) {
 
-					(void)rc_calibration_check(mavlink_fd);
+					/* provide RC and sensor status feedback to the user */
+					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 58a123adf..3be329500 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -77,8 +77,8 @@ static const int ERROR = -1;
 // though the transition is marked as true additional checks must be made. See arming_state_transition
 // code for those checks.
 static const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = {
-	//                                  INIT,  STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
-	{ /* vehicle_status_s::ARMING_STATE_INIT */           true,  true,    false, false,       true,         false,  false },
+	//                                                    INIT,  STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
+	{ /* vehicle_status_s::ARMING_STATE_INIT */           true,  true,    false, false,       true,          false,  false },
 	{ /* vehicle_status_s::ARMING_STATE_STANDBY */        true,  true,    true,  true,        false,         false,  false },
 	{ /* vehicle_status_s::ARMING_STATE_ARMED */          false, true,    true,  false,       false,         false,  true },
 	{ /* vehicle_status_s::ARMING_STATE_ARMED_ERROR */    false, false,   true,  true,        false,         false,  false },
@@ -212,10 +212,10 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 
 		/* Sensors need to be initialized for STANDBY state */
 		if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
-			mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
+			mavlink_log_critical(mavlink_fd, "Not ready to fly: Sensors not operational.");
 			feedback_provided = true;
 			valid_transition = false;
-			new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
+			status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
 		}
 
 		// Finish up the state transition