A lot more on calibration and RC checks. Needs more testing, but no known issues

10 files changed, 246 insertions, 141 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6b624b278..30edf679a 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -182,6 +182,12 @@ fi
 # Try to get an USB console
 nshterm /dev/ttyACM0 &
 
+# Start any custom extensions that might be missing
+if [ -f /fs/microsd/etc/rc.local ]
+then
+	sh /fs/microsd/etc/rc.local
+fi
+
 # If none of the autostart scripts triggered, get a minimal setup
 if [ $MODE == autostart ]
 then
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index c2b2e9258..82df7c37d 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -136,6 +136,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
 int do_accel_calibration(int mavlink_fd) {
 	/* announce change */
 	mavlink_log_info(mavlink_fd, "accel calibration started");
+	mavlink_log_info(mavlink_fd, "accel cal progress <0> percent");
 
 	/* measure and calculate offsets & scales */
 	float accel_offs[3];
@@ -211,17 +212,28 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 	}
 
 	int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
+
+	unsigned done_count = 0;
+
 	while (true) {
 		bool done = true;
-		char str[80];
+		char str[60];
 		int str_ptr;
 		str_ptr = sprintf(str, "keep vehicle still:");
+		unsigned old_done_count = done_count;
+		done_count = 0;
 		for (int i = 0; i < 6; i++) {
 			if (!data_collected[i]) {
 				str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]);
 				done = false;
+			} else {
+				done_count++;
 			}
 		}
+
+		if (old_done_count != done_count)
+			mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count);
+
 		if (done)
 			break;
 		mavlink_log_info(mavlink_fd, str);
@@ -236,8 +248,8 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 			continue;
 		}
 
-		sprintf(str, "meas started: %s", orientation_strs[orient]);
-		mavlink_log_info(mavlink_fd, str);
+		// sprintf(str, 
+		mavlink_log_info(mavlink_fd, "accel meas started: %s", orientation_strs[orient]);
 		read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
 		str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient],
 			(double)accel_ref[orient][0],
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 3654839fb..e3d314881 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -84,6 +84,7 @@
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
 #include <systemlib/cpuload.h>
+#include <systemlib/rc_check.h>
 
 #include "px4_custom_mode.h"
 #include "commander_helper.h"
@@ -617,6 +618,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	bool updated = false;
 
+	bool rc_calibration_ok = (OK == rc_calibration_check());
+
 	/* Subscribe to safety topic */
 	int safety_sub = orb_subscribe(ORB_ID(safety));
 	memset(&safety, 0, sizeof(safety));
@@ -727,6 +730,9 @@ int commander_thread_main(int argc, char *argv[])
 				param_get(_param_system_id, &(status.system_id));
 				param_get(_param_component_id, &(status.component_id));
 				status_changed = true;
+
+				/* Re-check RC calibration */
+				rc_calibration_ok = (OK == rc_calibration_check());
 			}
 		}
 
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 9263c6a15..42f0190c7 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -100,6 +100,8 @@ int do_mag_calibration(int mavlink_fd)
 
 	close(fd);
 
+	mavlink_log_info(mavlink_fd, "mag cal progress <20> percent");
+
 	/* calibrate offsets */
 
 	// uint64_t calibration_start = hrt_absolute_time();
@@ -135,9 +137,8 @@ int do_mag_calibration(int mavlink_fd)
 
 			axis_index++;
 
-			char buf[50];
-			sprintf(buf, "please rotate around %c", axislabels[axis_index]);
-			mavlink_log_info(mavlink_fd, buf);
+			mavlink_log_info(mavlink_fd, "please rotate in a figure 8 or around %c", axislabels[axis_index]);
+			mavlink_log_info(mavlink_fd, "mag cal progress <%u> percent", 20 + (calibration_maxcount * 50) / calibration_counter);
 			tune_neutral();
 
 			axis_deadline += calibration_interval / 3;
@@ -251,6 +252,8 @@ int do_mag_calibration(int mavlink_fd)
 			warnx("Setting Z mag scale failed!\n");
 		}
 
+		mavlink_log_info(mavlink_fd, "mag cal progress <90> percent");
+
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
 
@@ -274,6 +277,7 @@ int do_mag_calibration(int mavlink_fd)
 		mavlink_log_info(mavlink_fd, buf);
 
 		mavlink_log_info(mavlink_fd, "mag calibration done");
+		mavlink_log_info(mavlink_fd, "mag cal progress <100> percent");
 
 		return OK;
 		/* third beep by cal end routine */
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index b45317dbe..fd2a6318e 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -157,7 +157,6 @@ PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
 
-PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */
 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
 PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */
 
@@ -184,10 +183,7 @@ PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
 
 PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);	/**< default function: camera yaw / azimuth */
 PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);	/**< default function: camera pitch / tilt */
-PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);	/**< default function: camera trigger */
-PARAM_DEFINE_INT32(RC_MAP_AUX4, 0);	/**< default function: camera roll */
-PARAM_DEFINE_INT32(RC_MAP_AUX5, 0);	/**< default function: payload drop */
 
-PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f);
-PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f);
-PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f);
+PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
+PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
+PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index ded39c465..e857b1c2f 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -305,8 +305,6 @@ private:
 		int board_rotation;
 		int external_mag_rotation;
 
-		int rc_type;
-
 		int rc_map_roll;
 		int rc_map_pitch;
 		int rc_map_yaw;
@@ -342,9 +340,6 @@ private:
 		param_t max[_rc_max_chan_count];
 		param_t rev[_rc_max_chan_count];
 		param_t dz[_rc_max_chan_count];
-		param_t rc_type;
-
-		param_t rc_demix;
 
 		param_t gyro_offset[3];
 		param_t gyro_scale[3];
@@ -566,8 +561,6 @@ Sensors::Sensors() :
 
 	}
 
-	_parameter_handles.rc_type = param_find("RC_TYPE");
-
 	/* mandatory input switched, mapped to channels 1-4 per default */
 	_parameter_handles.rc_map_roll 	= param_find("RC_MAP_ROLL");
 	_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
@@ -692,11 +685,6 @@ Sensors::parameters_update()
 	if (!rc_valid)
 		warnx("WARNING     WARNING     WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
 
-	/* remote control type */
-	if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
-		warnx("Failed getting remote control type");
-	}
-
 	/* channel mapping */
 	if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
 		warnx("Failed getting roll chan index");
@@ -738,26 +726,11 @@ Sensors::parameters_update()
 //		warnx("Failed getting offboard control mode sw chan index");
 //	}
 
-	if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
-		warnx("Failed getting mode aux 1 index");
-	}
-
-	if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
-		warnx("Failed getting mode aux 2 index");
-	}
-
-	if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
-		warnx("Failed getting mode aux 3 index");
-	}
-
-	if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
-		warnx("Failed getting mode aux 4 index");
-	}
-
-	if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
-		warnx("Failed getting mode aux 5 index");
-	}
-
+	param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
+	param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2));
+	param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
+	param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
+	param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
 	param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
 	param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
 	param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 94c744c03..843cda722 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -48,4 +48,5 @@ SRCS		 = err.c \
 		   systemlib.c \
 		   airspeed.c \
 		   system_params.c \
-		   mavlink_log.c
+		   mavlink_log.c \
+		   rc_check.c
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
new file mode 100644
index 000000000..9d47d8000
--- /dev/null
+++ b/src/modules/systemlib/rc_check.c
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   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 <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, &param_min);
+
+		/* trim values */
+		sprintf(nbuf, "RC%d_TRIM", i + 1);
+		_parameter_handles_trim = param_find(nbuf);
+		param_get(_parameter_handles_trim, &param_trim);
+
+		/* max values */
+		sprintf(nbuf, "RC%d_MAX", i + 1);
+		_parameter_handles_max = param_find(nbuf);
+		param_get(_parameter_handles_max, &param_max);
+
+		/* channel reverse */
+		sprintf(nbuf, "RC%d_REV", i + 1);
+		_parameter_handles_rev = param_find(nbuf);
+		param_get(_parameter_handles_rev, &param_rev);
+
+		/* channel deadzone */
+		sprintf(nbuf, "RC%d_DZ", i + 1);
+		_parameter_handles_dz = param_find(nbuf);
+		param_get(_parameter_handles_dz, &param_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++;
+		}
+
+		/* 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);
+		}
+	}
+}
diff --git a/src/modules/systemlib/rc_check.h b/src/modules/systemlib/rc_check.h
new file mode 100644
index 000000000..e2238d151
--- /dev/null
+++ b/src/modules/systemlib/rc_check.h
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   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.h
+ *
+ * RC calibration check
+ */
+
+#pragma once
+
+ __BEGIN_DECLS
+
+/**
+ * Check the RC calibration
+ *
+ * @return			0 / OK if RC calibration is ok, index + 1 of the first
+ *				channel that failed else (so 1 == first channel failed)
+ */
+__EXPORT int	rc_calibration_check(void);
+
+__END_DECLS
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index e7d9ce85f..4c19dcffb 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);
@@ -139,101 +140,7 @@ int preflight_check_main(int argc, char *argv[])
 
 	/* ---- 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, &param_min);
-
-		/* trim values */
-		sprintf(nbuf, "RC%d_TRIM", i + 1);
-		_parameter_handles_trim = param_find(nbuf);
-		param_get(_parameter_handles_trim, &param_trim);
-
-		/* max values */
-		sprintf(nbuf, "RC%d_MAX", i + 1);
-		_parameter_handles_max = param_find(nbuf);
-		param_get(_parameter_handles_max, &param_max);
-
-		/* channel reverse */
-		sprintf(nbuf, "RC%d_REV", i + 1);
-		_parameter_handles_rev = param_find(nbuf);
-		param_get(_parameter_handles_rev, &param_rev);
-
-		/* channel deadzone */
-		sprintf(nbuf, "RC%d_DZ", i + 1);
-		_parameter_handles_dz = param_find(nbuf);
-		param_get(_parameter_handles_dz, &param_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++;
-		}
-
-		/* 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;
-		}
-	}
+	bool rc_ok = (OK == rc_calibration_check());
 
 	/* require RC ok to keep system_ok */
 	system_ok &= rc_ok;