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/****************************************************************************
*
* 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.h
*
* Preflight check for main system components
*
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#pragma once
namespace Commander
{
/**
* 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 checkAirspeed, bool checkRC, bool checkDynamic = false);
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;
}
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