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/**
* @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 <uORB/topics/rc_channels.h>
int rc_calibration_check(void) {
char nbuf[20];
param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
_parameter_handles_rev, _parameter_handles_dz;
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
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++;
// }
for (int i = 0; i < RC_CHANNELS_MAX; 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));
usleep(100000);
}
}
}