diff options
Diffstat (limited to 'src/modules/systemlib/rc_check.c')
-rw-r--r-- | src/modules/systemlib/rc_check.c | 153 |
1 files changed, 153 insertions, 0 deletions
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c new file mode 100644 index 000000000..60d6473b8 --- /dev/null +++ b/src/modules/systemlib/rc_check.c @@ -0,0 +1,153 @@ +/**************************************************************************** + * + * 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++; + // } + + int channel_fail_count = 0; + + 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)); + 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; +} |