mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
1a79f75f94
* PreFlightCheck: remove unused reportFailures flag * Commander: pull all pre flight checks together on the PreFlightCheck class * PreFlightCheck: separate checks into their own files
102 lines
3.6 KiB
C++
102 lines
3.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2019 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include "../PreFlightCheck.hpp"
|
|
|
|
#include <HealthFlags.h>
|
|
#include <drivers/drv_hrt.h>
|
|
#include <math.h>
|
|
#include <systemlib/mavlink_log.h>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/topics/airspeed.h>
|
|
#include <uORB/topics/subsystem_info.h>
|
|
|
|
using namespace time_literals;
|
|
|
|
bool PreFlightCheck::airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
|
|
const bool report_fail, const bool prearm)
|
|
{
|
|
bool present = true;
|
|
bool success = true;
|
|
|
|
uORB::SubscriptionData<airspeed_s> airspeed_sub{ORB_ID(airspeed)};
|
|
airspeed_sub.update();
|
|
const airspeed_s &airspeed = airspeed_sub.get();
|
|
|
|
if (hrt_elapsed_time(&airspeed.timestamp) > 1_s) {
|
|
if (report_fail && !optional) {
|
|
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
|
|
}
|
|
|
|
present = false;
|
|
success = false;
|
|
goto out;
|
|
}
|
|
|
|
/*
|
|
* Check if voter thinks the confidence is low. High-end sensors might have virtually zero noise
|
|
* on the bench and trigger false positives of the voter. Therefore only fail this
|
|
* for a pre-arm check, as then the cover is off and the natural airflow in the field
|
|
* will ensure there is not zero noise.
|
|
*/
|
|
if (prearm && fabsf(airspeed.confidence) < 0.95f) {
|
|
if (report_fail) {
|
|
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor stuck");
|
|
}
|
|
|
|
present = true;
|
|
success = false;
|
|
goto out;
|
|
}
|
|
|
|
/**
|
|
* Check if airspeed is higher than 4m/s (accepted max) while the vehicle is landed / not flying
|
|
* Negative and positive offsets are considered. Do not check anymore while arming because pitot cover
|
|
* might have been removed.
|
|
*/
|
|
if (fabsf(airspeed.indicated_airspeed_m_s) > 4.0f && !prearm) {
|
|
if (report_fail) {
|
|
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or Pitot");
|
|
}
|
|
|
|
present = true;
|
|
success = false;
|
|
goto out;
|
|
}
|
|
|
|
out:
|
|
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE, present, !optional, success, status);
|
|
|
|
return success;
|
|
}
|