diff options
Diffstat (limited to 'src/systemcmds/preflight_check/preflight_check.c')
| -rw-r--r-- | src/systemcmds/preflight_check/preflight_check.c | 148 |
1 files changed, 46 insertions, 102 deletions
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index 7752ffe67..982b03782 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -57,6 +57,7 @@ #include <drivers/drv_baro.h> #include <mavlink/mavlink_log.h> +#include <systemlib/rc_check.h> __EXPORT int preflight_check_main(int argc, char *argv[]); static int led_toggle(int leds, int led); @@ -108,7 +109,7 @@ int preflight_check_main(int argc, char *argv[]) /* ---- ACCEL ---- */ close(fd); - fd = open(ACCEL_DEVICE_PATH, 0); + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); ret = ioctl(fd, ACCELIOCSELFTEST, 0); if (ret != OK) { @@ -118,6 +119,29 @@ int preflight_check_main(int argc, char *argv[]) goto system_eval; } + /* check measurement result range */ + struct accel_report acc; + ret = read(fd, &acc, sizeof(acc)); + + if (ret == sizeof(acc)) { + /* evaluate values */ + if (sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z) > 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 */ + fail_on_error = true; + system_ok = false; + goto system_eval; + } + } else { + warnx("accel read failed"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ"); + /* this is frickin' fatal */ + fail_on_error = true; + system_ok = false; + goto system_eval; + } + /* ---- GYRO ---- */ close(fd); @@ -135,104 +159,15 @@ int preflight_check_main(int argc, char *argv[]) close(fd); fd = open(BARO_DEVICE_PATH, 0); + close(fd); /* ---- RC CALIBRATION ---- */ - param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max, - _parameter_handles_rev, _parameter_handles_dz; - - float param_min, param_max, param_trim, param_rev, param_dz; - - bool rc_ok = true; - char nbuf[20]; - - /* first check channel mappings */ - /* check which map param applies */ - // if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) { - // mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1); - // /* give system time to flush error message in case there are more */ - // usleep(100000); - // count++; - // } - - for (int i = 0; i < 12; i++) { - /* should the channel be enabled? */ - uint8_t count = 0; - - /* min values */ - sprintf(nbuf, "RC%d_MIN", i + 1); - _parameter_handles_min = param_find(nbuf); - param_get(_parameter_handles_min, ¶m_min); - - /* trim values */ - sprintf(nbuf, "RC%d_TRIM", i + 1); - _parameter_handles_trim = param_find(nbuf); - param_get(_parameter_handles_trim, ¶m_trim); - - /* max values */ - sprintf(nbuf, "RC%d_MAX", i + 1); - _parameter_handles_max = param_find(nbuf); - param_get(_parameter_handles_max, ¶m_max); - - /* channel reverse */ - sprintf(nbuf, "RC%d_REV", i + 1); - _parameter_handles_rev = param_find(nbuf); - param_get(_parameter_handles_rev, ¶m_rev); - - /* channel deadzone */ - sprintf(nbuf, "RC%d_DZ", i + 1); - _parameter_handles_dz = param_find(nbuf); - param_get(_parameter_handles_dz, ¶m_dz); - - /* assert min..center..max ordering */ - if (param_min < 500) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - if (param_max > 2500) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - if (param_trim < param_min) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - if (param_trim > param_max) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - - /* assert deadzone is sane */ - if (param_dz > 500) { - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - count++; - } + bool rc_ok = (OK == rc_calibration_check(mavlink_fd)); - /* check which map param applies */ - // if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) { - // mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1); - // /* give system time to flush error message in case there are more */ - // usleep(100000); - // count++; - // } - - /* sanity checks pass, enable channel */ - if (count) { - mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); - usleep(100000); - rc_ok = false; - } - } + /* warn */ + if (!rc_ok) + warnx("rc calibration test failed"); /* require RC ok to keep system_ok */ system_ok &= rc_ok; @@ -248,34 +183,43 @@ system_eval: } else { fflush(stdout); - int buzzer = open("/dev/tone_alarm", O_WRONLY); + warnx("PREFLIGHT CHECK ERROR! TRIGGERING ALARM"); + fflush(stderr); + + int buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY); int leds = open(LED_DEVICE_PATH, 0); + if (leds < 0) { + close(buzzer); + errx(1, "failed to open leds, aborting"); + } + /* flip blue led into alternating amber */ led_off(leds, LED_BLUE); led_off(leds, LED_AMBER); led_toggle(leds, LED_BLUE); /* display and sound error */ - for (int i = 0; i < 150; i++) + for (int i = 0; i < 14; i++) { led_toggle(leds, LED_BLUE); led_toggle(leds, LED_AMBER); if (i % 10 == 0) { - ioctl(buzzer, TONE_SET_ALARM, 4); + ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE); } else if (i % 5 == 0) { - ioctl(buzzer, TONE_SET_ALARM, 2); + ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE); } usleep(100000); } /* stop alarm */ - ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE); - /* switch on leds */ + /* switch off leds */ led_on(leds, LED_BLUE); led_on(leds, LED_AMBER); + close(leds); if (fail_on_error) { /* exit with error message */ @@ -307,4 +251,4 @@ static int led_off(int leds, int led) static int led_on(int leds, int led) { return ioctl(leds, LED_ON, led); -}
\ No newline at end of file +} |