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Commander: Preflight check reporting cleanup, add USB breaker

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This commit is contained in:
Lorenz Meier
2015-11-14 15:02:56 +01:00
parent 9b758e7285
commit ff88fc00c0
3 changed files with 59 additions and 26 deletions
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54
src/modules/commander/PreflightCheck.cpp
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@@ -206,7 +206,9 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
goto out;
}
} else {
if(report_fail) mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL READ");
if (report_fail) {
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL READ");
}
/* this is frickin' fatal */
success = false;
goto out;
@@ -229,8 +231,10 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
if (fd < 0) {
if (!optional) {
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
if (report_fail) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
}
}
return false;
@@ -239,8 +243,10 @@ 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) {
if(report_fail) 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;
}
@@ -248,8 +254,10 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
ret = px4_ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
if(report_fail) 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;
}
@@ -269,8 +277,10 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
if (fd < 0) {
if (!optional) {
if(report_fail) mavlink_and_console_log_critical(mavlink_fd,
if (report_fail) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
}
}
return false;
@@ -304,13 +314,17 @@ static bool airspeedCheck(int mavlink_fd, bool optional, bool report_fail)
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
(hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) {
if(report_fail) 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) {
if(report_fail) 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
}
@@ -341,8 +355,10 @@ static bool gnssCheck(int mavlink_fd, bool report_fail)
}
//Report failure to detect module
if(!success) {
if(report_fail) mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
if (!success) {
if (report_fail) {
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
}
}
px4_close(gpsSub);
@@ -376,7 +392,9 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary compass not found");
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_fd, "Warning: Primary compass not found");
}
failed = true;
}
}
@@ -403,7 +421,9 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary accelerometer not found");
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_fd, "Warning: Primary accelerometer not found");
}
failed = true;
}
}
@@ -430,7 +450,9 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if(reportFailures) mavlink_log_critical(mavlink_fd, "Warning: Primary gyro not found");
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_fd, "Warning: Primary gyro not found");
}
failed = true;
}
}
@@ -458,7 +480,9 @@ 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) {
if(reportFailures) mavlink_log_critical(mavlink_fd, "warning: primary barometer not operational");
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_fd, "warning: primary barometer not operational");
}
failed = true;
}
}
@@ -473,7 +497,9 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (rc_calibration_check(mavlink_fd, reportFailures) != OK) {
if(reportFailures) mavlink_log_critical(mavlink_fd, "RC calibration check failed");
if (reportFailures) {
mavlink_log_critical(mavlink_fd, "RC calibration check failed");
}
failed = true;
}
}