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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-26 12:11:39 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-26 12:11:39 +0200 |
commit | a1132580c55512a56ec7646f757099409ebad781 (patch) | |
tree | 72cf86a9a66e0bf11a2928f824d7e276e66269f8 /src/modules/commander/state_machine_helper.cpp | |
parent | 54f3029ac493cbd2ed6262c8962f2ef04cf1ce6b (diff) | |
download | px4-firmware-a1132580c55512a56ec7646f757099409ebad781.tar.gz px4-firmware-a1132580c55512a56ec7646f757099409ebad781.tar.bz2 px4-firmware-a1132580c55512a56ec7646f757099409ebad781.zip |
commander: Add pre-arm check for main sensors.
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 135 |
1 files changed, 118 insertions, 17 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 1a5a52a02..6816d46ab 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -46,14 +46,18 @@ #include <dirent.h> #include <fcntl.h> #include <string.h> +#include <math.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/differential_pressure.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_accel.h> +#include <drivers/drv_airspeed.h> #include <drivers/drv_device.h> #include <mavlink/mavlink_log.h> @@ -66,6 +70,8 @@ #endif static const int ERROR = -1; +static int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd); + static bool arming_state_changed = true; static bool main_state_changed = true; static bool failsafe_state_changed = true; @@ -108,18 +114,31 @@ arming_state_transition(struct vehicle_status_s *status, /// current ASSERT(ARMING_STATE_INIT == 0); ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1); - /* - * Perform an atomic state update - */ - irqstate_t flags = irqsave(); - transition_result_t ret = TRANSITION_DENIED; + arming_state_t current_arming_state = status->arming_state; + /* only check transition if the new state is actually different from the current one */ - if (new_arming_state == status->arming_state) { + if (new_arming_state == current_arming_state) { ret = TRANSITION_NOT_CHANGED; } else { + + /* + * Get sensing state if necessary + */ + int prearm_ret = OK; + + /* only perform the check if we have to */ + if (new_arming_state == ARMING_STATE_ARMED) { + prearm_ret = prearm_check(status, mavlink_fd); + } + + /* + * Perform an atomic state update + */ + irqstate_t flags = irqsave(); + /* enforce lockdown in HIL */ if (status->hil_state == HIL_STATE_ON) { armed->lockdown = true; @@ -139,12 +158,14 @@ arming_state_transition(struct vehicle_status_s *status, /// current if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF) { + // Fail transition if pre-arm check fails + if (prearm_ret) { + valid_transition = false; + // Fail transition if we need safety switch press - if (safety->safety_switch_available && !safety->safety_off) { + } else if (safety->safety_switch_available && !safety->safety_off) { - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); - } + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!"); valid_transition = false; } @@ -173,17 +194,15 @@ arming_state_transition(struct vehicle_status_s *status, /// current status->arming_state = new_arming_state; arming_state_changed = true; } - } - /* end of atomic state update */ - irqrestore(flags); + /* end of atomic state update */ + irqrestore(flags); + } if (ret == TRANSITION_DENIED) { - static const char *errMsg = "Invalid arming transition from %s to %s"; + static const char *errMsg = "INVAL: %s - %s"; - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); - } + mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]); } @@ -496,6 +515,88 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f return ret; } +int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) +{ + warnx("PREARM"); + + int ret; + + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING"); + ret = fd; + goto system_eval; + } + + ret = ioctl(fd, ACCELIOCSELFTEST, 0); + + if (ret != OK) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION"); + goto system_eval; + } + + /* check measurement result range */ + struct accel_report acc; + ret = read(fd, &acc, sizeof(acc)); + + if (ret == sizeof(acc)) { + /* evaluate values */ + float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); + + if (accel_scale < 9.78f || accel_scale > 9.83f) { + mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended."); + } + + if (accel_scale > 30.0f /* m/s^2 */) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } else { + ret = OK; + } + } else { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } + + if (!status->is_rotary_wing) { + int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING"); + ret = fd; + goto system_eval; + } + + struct differential_pressure_s diff_pres; + + ret = read(fd, &diff_pres, sizeof(diff_pres)); + + if (ret == sizeof(diff_pres)) { + if (fabsf(diff_pres.differential_pressure_filtered_pa > 5.0f)) { + mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING"); + // XXX do not make this fatal yet + ret = OK; + } + } else { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } + } + + warnx("PRE RES: %d", ret); + +system_eval: + close(fd); + return ret; +} + // /* |