Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-09-22 19:46:53 +08:00
Code Issues Actions 33 Packages Projects Releases Wiki Activity

Commander: Preflight check reporting cleanup, add USB breaker

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/PreflightCheck.cpp
+40 -14
View File
@@ -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;
}
}
src/modules/commander/commander.cpp
+10 -3
View File
@@ -390,15 +390,20 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "arm")) {
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(true, mavlink_fd_local, "command line");
warnx("note: not updating home position on commandline arming!");
if (TRANSITION_CHANGED == arm_disarm(true, mavlink_fd_local, "command line")) {
warnx("note: not updating home position on commandline arming!");
} else {
warnx("arming failed");
}
px4_close(mavlink_fd_local);
return 0;
}
if (!strcmp(argv[1], "disarm")) {
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(false, mavlink_fd_local, "command line");
if (TRANSITION_DENIED == arm_disarm(false, mavlink_fd_local, "command line")) {
warnx("rejected disarm");
}
px4_close(mavlink_fd_local);
return 0;
}
@@ -2513,6 +2518,8 @@ get_circuit_breaker_params()
{
status.circuit_breaker_engaged_power_check =
circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
status.cb_usb =
circuit_breaker_enabled("CBRK_USB_CHK", CBRK_USB_CHK_KEY);
status.circuit_breaker_engaged_airspd_check =
circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
status.circuit_breaker_engaged_enginefailure_check =
src/modules/commander/state_machine_helper.cpp
+9 -9
View File
@@ -177,7 +177,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
// Fail transition if we need safety switch press
} else if (safety->safety_switch_available && !safety->safety_off) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
feedback_provided = true;
valid_transition = false;
}
@@ -202,10 +202,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
feedback_provided = true;
valid_transition = false;
} else if (status->avionics_power_rail_voltage < 4.9f) {
mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
mavlink_and_console_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
} else if (status->avionics_power_rail_voltage > 5.4f) {
mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage);
mavlink_and_console_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
}
}
@@ -392,7 +392,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
switch (new_state) {
case vehicle_status_s::HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)");
mavlink_and_console_log_critical(mavlink_fd, "Not switching off HIL (safety)");
ret = TRANSITION_DENIED;
break;
@@ -465,7 +465,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
closedir(d);
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
mavlink_and_console_log_critical(mavlink_fd, "Switched to ON hil state");
} else {
/* failed opening dir */
@@ -502,11 +502,11 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
}
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
mavlink_and_console_log_critical(mavlink_fd, "Switched to ON hil state");
#endif
} else {
mavlink_log_critical(mavlink_fd, "Not switching to HIL when armed");
mavlink_and_console_log_critical(mavlink_fd, "Not switching to HIL when armed");
ret = TRANSITION_DENIED;
}
break;
@@ -759,9 +759,9 @@ int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd,
bool preflight_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
if (status->usb_connected && prearm) {
if (!status->cb_usb && status->usb_connected && prearm) {
preflight_ok = false;
if(reportFailures) mavlink_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
if(reportFailures) mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
}
return !preflight_ok;