PR: add optical flow arming check (#24375)

* add optical flow arming check

* removed deprecated mavlink_log_critical

* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.

* restructure if/else blocks

src/lib/systemlib/system_params.c

@@ -240,6 +240,18 @@ PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0);
  */
 PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0);
 
+/**
+ * Number of optical flow sensors required to be available
+ *
+ * The preflight check will fail if fewer than this number of optical flow sensors with valid data are present.
+ *
+ * @group System
+ * @min 0
+ * @max 1
+ */
+
+PARAM_DEFINE_INT32(SYS_HAS_NUM_OF, 0);
+
 /**
  * Enable factory calibration mode
  *

src/modules/commander/HealthAndArmingChecks/CMakeLists.txt

@@ -42,6 +42,7 @@ px4_add_library(health_and_arming_checks
 	checks/batteryCheck.cpp
 	checks/cpuResourceCheck.cpp
 	checks/distanceSensorChecks.cpp
+	checks/opticalFlowCheck.cpp
 	checks/escCheck.cpp
 	checks/estimatorCheck.cpp
 	checks/failureDetectorCheck.cpp

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -46,6 +46,7 @@
 #include "checks/baroCheck.hpp"
 #include "checks/cpuResourceCheck.hpp"
 #include "checks/distanceSensorChecks.hpp"
+#include "checks/opticalFlowCheck.hpp"
 #include "checks/escCheck.hpp"
 #include "checks/estimatorCheck.hpp"
 #include "checks/failureDetectorCheck.hpp"
@@ -130,6 +131,7 @@ private:
 	BaroChecks _baro_checks;
 	CpuResourceChecks _cpu_resource_checks;
 	DistanceSensorChecks _distance_sensor_checks;
+	OpticalFlowCheck _optical_flow_check;
 	EscChecks _esc_checks;
 	EstimatorChecks _estimator_checks;
 	FailureDetectorChecks _failure_detector_checks;
@@ -169,6 +171,7 @@ private:
 		&_baro_checks,
 		&_cpu_resource_checks,
 		&_distance_sensor_checks,
+		&_optical_flow_check,
 		&_esc_checks,
 		&_estimator_checks,
 		&_failure_detector_checks,

src/modules/commander/HealthAndArmingChecks/checks/opticalFlowCheck.cpp

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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 "opticalFlowCheck.hpp"
+
+void OpticalFlowCheck::checkAndReport(const Context &context, Report &reporter)
+{
+	if (!_param_sys_has_num_of.get()) {
+		return;
+	}
+
+	const bool exists = _vehicle_optical_flow_sub.advertised();
+	bool valid = false;
+
+	if (exists) {
+		vehicle_optical_flow_s flow_sens;
+		valid = _vehicle_optical_flow_sub.copy(&flow_sens) && (hrt_elapsed_time(&flow_sens.timestamp) < 1_s);
+		reporter.setIsPresent(health_component_t::optical_flow);
+
+		if (!valid) {
+			/* EVENT
+			 */
+			reporter.healthFailure(NavModes::All, health_component_t::optical_flow,
+					       events::ID("check_optical_flow_sensor_invalid"),
+					       events::Log::Error, "No valid data from optical flow sensor");
+		}
+
+	} else {
+		/* EVENT
+		 * @description
+		 * <profile name="dev">
+		 * This check can be configured via <param>SYS_HAS_NUM_OF</param> parameter.
+		 * </profile>
+		 */
+		reporter.healthFailure(NavModes::All, health_component_t::optical_flow,
+				       events::ID("check_optical_sensor_missing"),
+				       events::Log::Error, "Optical flow sensor missing");
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/opticalFlowCheck.hpp

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "../Common.hpp"
+
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/vehicle_optical_flow.h>
+
+class OpticalFlowCheck : public HealthAndArmingCheckBase
+{
+public:
+	OpticalFlowCheck() = default;
+	~OpticalFlowCheck() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _vehicle_optical_flow_sub{ORB_ID::vehicle_optical_flow};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::SYS_HAS_NUM_OF>) _param_sys_has_num_of
+				       )
+};