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commander : hotplug sensor support, better failure reporting

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This commit is contained in:
Kabir Mohammed
2015-11-10 19:33:14 +05:30
parent 8ae78ab093
commit 5fcfdb759c
8 changed files with 153 additions and 83 deletions
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68
src/modules/commander/PreflightCheck.cpp
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@@ -114,7 +114,7 @@ int check_calibration(int fd, const char* param_template, int &devid)
return !calibration_found;
}
static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id)
static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id, bool report_fail)
{
bool success = true;
@@ -124,7 +124,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
}
@@ -134,7 +134,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
int ret = check_calibration(fd, "CAL_MAG%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
success = false;
goto out;
@@ -143,7 +143,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
ret = px4_ioctl(fd, MAGIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
success = false;
goto out;
@@ -154,7 +154,7 @@ out:
return success;
}
static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional, bool dynamic, int &device_id)
static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional, bool dynamic, int &device_id, bool report_fail)
{
bool success = true;
@@ -164,7 +164,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
}
@@ -174,7 +174,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
int ret = check_calibration(fd, "CAL_ACC%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
success = false;
goto out;
@@ -183,7 +183,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
ret = px4_ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: ACCEL #%u SELFTEST FAILED", instance);
success = false;
goto out;
@@ -200,13 +200,13 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
/* this is frickin' fatal */
success = false;
goto out;
}
} else {
mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL READ");
if(report_fail) mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL READ");
/* this is frickin' fatal */
success = false;
goto out;
@@ -219,7 +219,7 @@ out:
return success;
}
static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id)
static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id, bool report_fail)
{
bool success = true;
@@ -229,7 +229,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
}
@@ -239,7 +239,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
int ret = check_calibration(fd, "CAL_GYRO%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
success = false;
goto out;
@@ -248,7 +248,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
ret = px4_ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
success = false;
goto out;
@@ -259,7 +259,7 @@ out:
return success;
}
static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id)
static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id, bool report_fail)
{
bool success = true;
@@ -269,7 +269,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
}
@@ -294,7 +294,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
return success;
}
static bool airspeedCheck(int mavlink_fd, bool optional)
static bool airspeedCheck(int mavlink_fd, bool optional, bool report_fail)
{
bool success = true;
int ret;
@@ -304,13 +304,13 @@ static bool airspeedCheck(int mavlink_fd, bool optional)
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
(hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) {
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
success = false;
goto out;
}
if (fabsf(airspeed.indicated_airspeed_m_s) > 6.0f) {
mavlink_and_console_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}
@@ -319,7 +319,7 @@ out:
return success;
}
static bool gnssCheck(int mavlink_fd)
static bool gnssCheck(int mavlink_fd, bool report_fail)
{
bool success = true;
@@ -342,7 +342,7 @@ static bool gnssCheck(int mavlink_fd)
//Report failure to detect module
if(!success) {
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
}
px4_close(gpsSub);
@@ -350,7 +350,7 @@ static bool gnssCheck(int mavlink_fd)
}
bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro,
bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic)
bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic, bool reportFailures)
{
bool failed = false;
@@ -365,7 +365,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
bool required = (i < max_mandatory_mag_count);
int device_id = -1;
if (!magnometerCheck(mavlink_fd, i, !required, device_id) && required) {
if (!magnometerCheck(mavlink_fd, i, !required, device_id, reportFailures) && required) {
failed = true;
}
@@ -376,7 +376,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
mavlink_log_critical(mavlink_fd, "warning: primary compass not operational");
if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary compass not found");
failed = true;
}
}
@@ -392,7 +392,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
bool required = (i < max_mandatory_accel_count);
int device_id = -1;
if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic, device_id) && required) {
if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic, device_id, reportFailures) && required) {
failed = true;
}
@@ -403,7 +403,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
mavlink_log_critical(mavlink_fd, "warning: primary accelerometer not operational");
if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary accelerometer not found");
failed = true;
}
}
@@ -419,7 +419,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
bool required = (i < max_mandatory_gyro_count);
int device_id = -1;
if (!gyroCheck(mavlink_fd, i, !required, device_id) && required) {
if (!gyroCheck(mavlink_fd, i, !required, device_id, reportFailures) && required) {
failed = true;
}
@@ -430,7 +430,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
mavlink_log_critical(mavlink_fd, "warning: primary gyro not operational");
if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary gyro not found");
failed = true;
}
}
@@ -446,7 +446,7 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
bool required = (i < max_mandatory_baro_count);
int device_id = -1;
if (!baroCheck(mavlink_fd, i, !required, device_id) && required) {
if (!baroCheck(mavlink_fd, i, !required, device_id, reportFailures) && required) {
failed = true;
}
@@ -458,29 +458,29 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
// TODO there is no logic in place to calibrate the primary baro yet
// // check if the primary device is present
if (!prime_found && prime_id != 0) {
mavlink_log_critical(mavlink_fd, "warning: primary barometer not operational");
if(reportFailures) mavlink_log_critical(mavlink_fd, "warning: primary barometer not operational");
failed = true;
}
}
/* ---- AIRSPEED ---- */
if (checkAirspeed) {
if (!airspeedCheck(mavlink_fd, true)) {
if (!airspeedCheck(mavlink_fd, true, reportFailures)) {
failed = true;
}
}
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (rc_calibration_check(mavlink_fd) != OK) {
mavlink_log_critical(mavlink_fd, "RC calibration check failed");
if (rc_calibration_check(mavlink_fd, reportFailures) != OK) {
if(reportFailures) mavlink_log_critical(mavlink_fd, "RC calibration check failed");
failed = true;
}
}
/* ---- Global Navigation Satellite System receiver ---- */
if (checkGNSS) {
if(!gnssCheck(mavlink_fd)) {
if(!gnssCheck(mavlink_fd, reportFailures)) {
failed = true;
}
}