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/****************************************************************************
*
* Copyright (c) 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 rc_check.c
*
* RC calibration check
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <fcntl.h>
#include <systemlib/rc_check.h>
#include <systemlib/param/param.h>
#include <mavlink/mavlink_log.h>
#include <drivers/drv_rc_input.h>
int rc_calibration_check(int mavlink_fd) {
char nbuf[20];
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;
/* 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++;
// }
int channel_fail_count = 0;
for (int i = 0; i < RC_INPUT_MAX_CHANNELS; 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 (%d/%d)", i+1, (int)param_trim, (int)param_min);
/* 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 (%d/%d)", i+1, (int)param_trim, (int)param_max);
/* 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++;
}
/* 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));
warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
usleep(100000);
}
channel_fail_count += count;
}
return channel_fail_count;
}
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