1 files changed, 0 insertions, 286 deletions
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
deleted file mode 100644
index 361ca6754..000000000
--- a/src/systemcmds/preflight_check/preflight_check.c
+++ /dev/null
@@ -1,286 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 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 preflight_check.c
- *
- * Preflight check for main system components
- *
- * @author Lorenz Meier <lorenz@px4.io>
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-
-#include <systemlib/err.h>
-#include <systemlib/param/param.h>
-
-#include <drivers/drv_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_tone_alarm.h>
-#include <drivers/drv_mag.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_accel.h>
-#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);
-static int led_on(int leds, int led);
-static int led_off(int leds, int led);
-
-int preflight_check_main(int argc, char *argv[])
-{
-	bool fail_on_error = false;
-
-	if (argc > 1 && !strcmp(argv[1], "--help")) {
-		warnx("usage: preflight_check [--fail-on-error]\n\tif fail on error is enabled, will return 1 on error");
-		exit(1);
-	}
-
-	if (argc > 1 && !strcmp(argv[1], "--fail-on-error")) {
-		fail_on_error = true;
-	}
-
-	bool system_ok = true;
-
-	int fd;
-	/* open text message output path */
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	int ret;
-	int32_t devid, calibration_devid;
-
-	/* give the system some time to sample the sensors in the background */
-	usleep(150000);
-
-	/* ---- MAG ---- */
-	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");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	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");
-		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	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");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	/* ---- ACCEL ---- */
-
-	close(fd);
-	fd = open(ACCEL0_DEVICE_PATH, O_RDONLY);
-
-	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");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
-
-	if (ret != OK) {
-		warnx("accel self test failed");
-		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
-		system_ok = false;
-		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);
-	fd = open(GYRO0_DEVICE_PATH, 0);
-
-	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");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	ret = ioctl(fd, GYROIOCSELFTEST, 0);
-
-	if (ret != OK) {
-		warnx("gyro self test failed");
-		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	/* ---- BARO ---- */
-
-	close(fd);
-	fd = open(BARO0_DEVICE_PATH, 0);
-	close(fd);
-
-	/* ---- RC CALIBRATION ---- */
-
-	bool rc_ok = (OK == rc_calibration_check(mavlink_fd));
-
-	/* warn */
-	if (!rc_ok)
-		warnx("rc calibration test failed");
-
-	/* require RC ok to keep system_ok */
-	system_ok &= rc_ok;
-
-
-
-
-system_eval:
-
-	if (system_ok) {
-		/* all good, exit silently */
-		exit(0);
-	} else {
-		fflush(stdout);
-
-		warnx("PREFLIGHT CHECK ERROR! TRIGGERING ALARM");
-		fflush(stderr);
-
-		int buzzer = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
-		int leds = open(LED0_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 < 14; i++)
-		{
-			led_toggle(leds, LED_BLUE);
-			led_toggle(leds, LED_AMBER);
-
-			if (i % 10 == 0) {
-				ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE);
-			} else if (i % 5 == 0) {
-				ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE);
-			}
-			usleep(100000);
-		}
-
-		/* stop alarm */
-		ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
-
-		/* switch off leds */
-		led_on(leds, LED_BLUE);
-		led_on(leds, LED_AMBER);
-		close(leds);
-
-		if (fail_on_error) {
-			/* exit with error message */
-			exit(1);
-		} else {
-			/* do not emit an error code to make sure system still boots */
-			exit(0);
-		}
-	}
-}
-
-static int led_toggle(int leds, int led)
-{
-	static int last_blue = LED_ON;
-	static int last_amber = LED_ON;
-
-	if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
-
-	if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
-
-	return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
-}
-
-static int led_off(int leds, int led)
-{
-	return ioctl(leds, LED_OFF, led);
-}
-
-static int led_on(int leds, int led)
-{
-	return ioctl(leds, LED_ON, led);
-}