From 9341cf0b123d55d02050e6f03e2fbba3d21d9f88 Mon Sep 17 00:00:00 2001
From: Freek van Tienen <freek.v.tienen@gmail.com>
Date: Fri, 24 May 2024 15:32:53 +0200
Subject: [PATCH] [pfc] Add ground checklists (#3276)

---
 conf/airframes/airframe.dtd                   |  8 +++++++-
 conf/airframes/tudelft/rot_wing_25kg.xml      | 19 +++++++++++++++++--
 conf/airframes/tudelft/rot_wing_v3b.xml       | 17 +++++++++++++++++
 conf/airframes/tudelft/rot_wing_v3d.xml       | 17 +++++++++++++++++
 conf/airframes/tudelft/rot_wing_v3e.xml       | 19 ++++++++++++++++++-
 conf/airframes/tudelft/rot_wing_v3f.xml       | 19 ++++++++++++++++++-
 conf/airframes/tudelft/rot_wing_v3g.xml       | 19 ++++++++++++++++++-
 conf/airframes/tudelft/rot_wing_v3h.xml       | 19 ++++++++++++++++++-
 conf/modules/preflight_checks.xml             |  5 ++++-
 sw/airborne/modules/checks/pfc_actuators.c    |  8 ++++----
 sw/airborne/modules/checks/preflight_checks.c | 18 +++++++++++++++++-
 sw/airborne/modules/checks/preflight_checks.h |  1 +
 12 files changed, 156 insertions(+), 13 deletions(-)

diff --git a/conf/airframes/airframe.dtd b/conf/airframes/airframe.dtd
index c2f9db70d4..4b8847b629 100644
--- a/conf/airframes/airframe.dtd
+++ b/conf/airframes/airframe.dtd
@@ -1,6 +1,6 @@
 <!-- Paparazzi airframe DTD -->
 
-<!ELEMENT airframe (include|servos|commands|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|modules|firmware|autopilot|heli_curves|description)*>
+<!ELEMENT airframe (include|servos|commands|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|modules|firmware|autopilot|heli_curves|description|checklist)*>
 <!ELEMENT include EMPTY>
 <!ELEMENT servos (servo)*>
 <!ELEMENT commands (axis)*>
@@ -28,6 +28,8 @@
 <!ELEMENT autopilot EMPTY>
 <!ELEMENT comment (#PCDATA)>
 <!ELEMENT description (#PCDATA)>
+<!ELEMENT item EMPTY>
+<!ELEMENT checklist (item)*>
 
 <!ATTLIST include
 href CDATA #REQUIRED>
@@ -125,3 +127,7 @@ target CDATA #IMPLIED>
 name CDATA #REQUIRED
 type CDATA #IMPLIED
 dir CDATA #IMPLIED>
+
+<!ATTLIST item
+name CDATA #REQUIRED
+type CDATA #IMPLIED>
diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
index bca40f5bd8..e8820e0909 100644
--- a/conf/airframes/tudelft/rot_wing_25kg.xml
+++ b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -1,6 +1,6 @@
 <!-- This is a Rotating Wing 25kg
-     * Airframe:    TUD00???
-     * Autopilot:   Cube Orange Plus
+     * Airframe:    TUD00455
+     * Autopilot:   Pixhawk 6X
      * Datalink:    Herelink
      * GPS:         UBlox F9P (2x)
      * RC:          SBUS Crossfire (diversity)
@@ -498,4 +498,19 @@
         <define name="NO_MOTOR_MIXING"  value="TRUE"/>
         <define name="JS_AXIS_MODE"     value="4"/>
     </section>
+
+    <checklist>
+        <item name="pic" type="text">Enter the PIC</item>
+        <item name="pac" type="text">Enter the PAC</item>
+        <item name="gcs" type="text">Enter the GCS op</item>
+        <item name="goal" type="text">Goal of the flight</item>
+        <item name="basic law">Location, airspace and weather</item>
+        <item name="RC Battery">Check the RC battery</item>
+        <item name="attitude">Check attitude and heading</item>
+        <item name="takeoff location">Put UAV on take-off location</item>
+        <item name="flight plan">Check flight plan</item>
+        <item name="flight block">Switch to correct flight block</item>
+        <item name="camera">Switch on camera</item>
+        <item name="announce">Announce flight to other airspace users</item>
+    </checklist>
 </airframe>
diff --git a/conf/airframes/tudelft/rot_wing_v3b.xml b/conf/airframes/tudelft/rot_wing_v3b.xml
index 84383bff38..a942efa208 100644
--- a/conf/airframes/tudelft/rot_wing_v3b.xml
+++ b/conf/airframes/tudelft/rot_wing_v3b.xml
@@ -548,4 +548,21 @@
         <define name="NO_MOTOR_MIXING" value="TRUE"/>
         <define name="JS_AXIS_MODE" value="4"/>
     </section>
+
+    <checklist>
+        <item name="pic" type="text">Enter the PIC</item>
+        <item name="pac" type="text">Enter the PAC</item>
+        <item name="gcs" type="text">Enter the GCS op</item>
+        <item name="goal" type="text">Goal of the flight</item>
+        <item name="basic law">Location, airspace and weather</item>
+        <item name="RC Battery">Check the RC battery</item>
+        <item name="tail connection">Check tail connection</item>
+        <item name="wing tape">Check wings taped and secured</item>
+        <item name="attitude">Check attitude and heading</item>
+        <item name="takeoff location">Put UAV on take-off location</item>
+        <item name="flight plan">Check flight plan</item>
+        <item name="flight block">Switch to correct flight block</item>
+        <item name="camera">Switch on camera</item>
+        <item name="announce">Announce flight to other airspace users</item>
+    </checklist>
 </airframe>
diff --git a/conf/airframes/tudelft/rot_wing_v3d.xml b/conf/airframes/tudelft/rot_wing_v3d.xml
index e525d6a5bf..56106b0440 100644
--- a/conf/airframes/tudelft/rot_wing_v3d.xml
+++ b/conf/airframes/tudelft/rot_wing_v3d.xml
@@ -535,4 +535,21 @@
         <define name="NO_MOTOR_MIXING" value="TRUE"/>
         <define name="JS_AXIS_MODE" value="4"/>
     </section>
+
+    <checklist>
+        <item name="pic" type="text">Enter the PIC</item>
+        <item name="pac" type="text">Enter the PAC</item>
+        <item name="gcs" type="text">Enter the GCS op</item>
+        <item name="goal" type="text">Goal of the flight</item>
+        <item name="basic law">Location, airspace and weather</item>
+        <item name="RC Battery">Check the RC battery</item>
+        <item name="tail connection">Check tail connection</item>
+        <item name="wing tape">Check wings taped and secured</item>
+        <item name="attitude">Check attitude and heading</item>
+        <item name="takeoff location">Put UAV on take-off location</item>
+        <item name="flight plan">Check flight plan</item>
+        <item name="flight block">Switch to correct flight block</item>
+        <item name="camera">Switch on camera</item>
+        <item name="announce">Announce flight to other airspace users</item>
+    </checklist>
 </airframe>
diff --git a/conf/airframes/tudelft/rot_wing_v3e.xml b/conf/airframes/tudelft/rot_wing_v3e.xml
index 1499cab034..5c14ae0c35 100644
--- a/conf/airframes/tudelft/rot_wing_v3e.xml
+++ b/conf/airframes/tudelft/rot_wing_v3e.xml
@@ -1,5 +1,5 @@
 <!-- This is a 7kg rotating wing drone
-     * Airframe:    TUD00359
+     * Airframe:    TUD00360
      * Autopilot:   Cube orange+
      * Datalink:    Herelink
      * GPS:         UBlox F9P
@@ -535,4 +535,21 @@
         <define name="NO_MOTOR_MIXING" value="TRUE"/>
         <define name="JS_AXIS_MODE" value="4"/>
     </section>
+
+    <checklist>
+        <item name="pic" type="text">Enter the PIC</item>
+        <item name="pac" type="text">Enter the PAC</item>
+        <item name="gcs" type="text">Enter the GCS op</item>
+        <item name="goal" type="text">Goal of the flight</item>
+        <item name="basic law">Location, airspace and weather</item>
+        <item name="RC Battery">Check the RC battery</item>
+        <item name="tail connection">Check tail connection</item>
+        <item name="wing tape">Check wings taped and secured</item>
+        <item name="attitude">Check attitude and heading</item>
+        <item name="takeoff location">Put UAV on take-off location</item>
+        <item name="flight plan">Check flight plan</item>
+        <item name="flight block">Switch to correct flight block</item>
+        <item name="camera">Switch on camera</item>
+        <item name="announce">Announce flight to other airspace users</item>
+    </checklist>
 </airframe>
diff --git a/conf/airframes/tudelft/rot_wing_v3f.xml b/conf/airframes/tudelft/rot_wing_v3f.xml
index dc84eac2fa..10e897bdec 100644
--- a/conf/airframes/tudelft/rot_wing_v3f.xml
+++ b/conf/airframes/tudelft/rot_wing_v3f.xml
@@ -1,5 +1,5 @@
 <!-- This is a 7kg rotating wing drone
-     * Airframe:    TUD00360
+     * Airframe:    TUD00361
      * Autopilot:   Cube orange+
      * Datalink:    Herelink
      * GPS:         UBlox F9P
@@ -535,4 +535,21 @@
         <define name="NO_MOTOR_MIXING" value="TRUE"/>
         <define name="JS_AXIS_MODE" value="4"/>
     </section>
+
+    <checklist>
+        <item name="pic" type="text">Enter the PIC</item>
+        <item name="pac" type="text">Enter the PAC</item>
+        <item name="gcs" type="text">Enter the GCS op</item>
+        <item name="goal" type="text">Goal of the flight</item>
+        <item name="basic law">Location, airspace and weather</item>
+        <item name="RC Battery">Check the RC battery</item>
+        <item name="tail connection">Check tail connection</item>
+        <item name="wing tape">Check wings taped and secured</item>
+        <item name="attitude">Check attitude and heading</item>
+        <item name="takeoff location">Put UAV on take-off location</item>
+        <item name="flight plan">Check flight plan</item>
+        <item name="flight block">Switch to correct flight block</item>
+        <item name="camera">Switch on camera</item>
+        <item name="announce">Announce flight to other airspace users</item>
+    </checklist>
 </airframe>
diff --git a/conf/airframes/tudelft/rot_wing_v3g.xml b/conf/airframes/tudelft/rot_wing_v3g.xml
index 3a56d48581..4f6c9566b4 100644
--- a/conf/airframes/tudelft/rot_wing_v3g.xml
+++ b/conf/airframes/tudelft/rot_wing_v3g.xml
@@ -1,5 +1,5 @@
 <!-- This is a 7kg rotating wing drone
-     * Airframe:    TUD00361
+     * Airframe:    TUD00362
      * Autopilot:   Cube orange+
      * Datalink:    Herelink
      * GPS:         UBlox F9P
@@ -542,4 +542,21 @@
         <define name="NO_MOTOR_MIXING" value="TRUE"/>
         <define name="JS_AXIS_MODE" value="4"/>
     </section>
+
+    <checklist>
+        <item name="pic" type="text">Enter the PIC</item>
+        <item name="pac" type="text">Enter the PAC</item>
+        <item name="gcs" type="text">Enter the GCS op</item>
+        <item name="goal" type="text">Goal of the flight</item>
+        <item name="basic law">Location, airspace and weather</item>
+        <item name="RC Battery">Check the RC battery</item>
+        <item name="tail connection">Check tail connection</item>
+        <item name="wing tape">Check wings taped and secured</item>
+        <item name="attitude">Check attitude and heading</item>
+        <item name="takeoff location">Put UAV on take-off location</item>
+        <item name="flight plan">Check flight plan</item>
+        <item name="flight block">Switch to correct flight block</item>
+        <item name="camera">Switch on camera</item>
+        <item name="announce">Announce flight to other airspace users</item>
+    </checklist>
 </airframe>
diff --git a/conf/airframes/tudelft/rot_wing_v3h.xml b/conf/airframes/tudelft/rot_wing_v3h.xml
index 1a9fd79923..06312f154a 100644
--- a/conf/airframes/tudelft/rot_wing_v3h.xml
+++ b/conf/airframes/tudelft/rot_wing_v3h.xml
@@ -1,5 +1,5 @@
 <!-- This is a 7kg rotating wing drone
-     * Airframe:    TUD00359
+     * Airframe:    TUD00363
      * Autopilot:   Cube orange+
      * Datalink:    Herelink
      * GPS:         UBlox F9P
@@ -542,4 +542,21 @@
         <define name="NO_MOTOR_MIXING" value="TRUE"/>
         <define name="JS_AXIS_MODE" value="4"/>
     </section>
+
+    <checklist>
+        <item name="pic" type="text">Enter the PIC</item>
+        <item name="pac" type="text">Enter the PAC</item>
+        <item name="gcs" type="text">Enter the GCS op</item>
+        <item name="goal" type="text">Goal of the flight</item>
+        <item name="basic law">Location, airspace and weather</item>
+        <item name="RC Battery">Check the RC battery</item>
+        <item name="tail connection">Check tail connection</item>
+        <item name="wing tape">Check wings taped and secured</item>
+        <item name="attitude">Check attitude and heading</item>
+        <item name="takeoff location">Put UAV on take-off location</item>
+        <item name="flight plan">Check flight plan</item>
+        <item name="flight block">Switch to correct flight block</item>
+        <item name="camera">Switch on camera</item>
+        <item name="announce">Announce flight to other airspace users</item>
+    </checklist>
 </airframe>
diff --git a/conf/modules/preflight_checks.xml b/conf/modules/preflight_checks.xml
index 7658ddd207..2c5b74bf15 100644
--- a/conf/modules/preflight_checks.xml
+++ b/conf/modules/preflight_checks.xml
@@ -9,12 +9,15 @@
       <define name="MAX_MSGBUF" value="512" description="Maximum combined message size for storing the errors"/>
       <define name="SEPERATOR" value=";" description="Seperating character for storing the errors"/>
       <define name="INFO_TIMEOUT" value="5" description="Only send messages down every xx amount of seconds"/>
+      <define name="GROUND" value="TRUE" description="Enable groundstation checklist"/>
+      <define name="BYPASS" value="FALSE" description="Bypass all checks for arming"/>
     </section>
   </doc>
   <settings>
     <dl_settings>
       <dl_settings name="Checks">
-        <dl_setting var="preflight_bypass" min="0" max="1" step="1" values="FALSE|TRUE"/>
+        <dl_setting var="preflight_bypass" shortname="bypass" min="0" max="1" step="1" values="FALSE|TRUE"/>
+        <dl_setting var="preflight_ground_done" shortname="ground_done" min="0" max="1" step="1" values="FALSE|TRUE"/>
       </dl_settings>
     </dl_settings>
   </settings>
diff --git a/sw/airborne/modules/checks/pfc_actuators.c b/sw/airborne/modules/checks/pfc_actuators.c
index 333e7f4465..6b88dde5ec 100644
--- a/sw/airborne/modules/checks/pfc_actuators.c
+++ b/sw/airborne/modules/checks/pfc_actuators.c
@@ -269,16 +269,16 @@ static void pfc_actuators_cb(struct preflight_result_t *result)
 {
   switch(pfc_actuators.state) {
     case PFC_ACTUATORS_STATE_INIT:
-      preflight_error(result, "Actuators not checked perform checks first[%d]", pfc_actuators.act_nb);
+      preflight_error(result, "Actuators not checked [act: %d]", pfc_actuators.act_nb);
       break;
     case PFC_ACTUATORS_STATE_RUNNING:
-      preflight_error(result, "Actuators are currently being checked[%d/%d]",pfc_actuators.act_idx, pfc_actuators.act_nb);
+      preflight_error(result, "Actuators are currently being checked [act: %d/%d]",pfc_actuators.act_idx, pfc_actuators.act_nb);
       break;
     case PFC_ACTUATORS_STATE_SUCCESS:
-      preflight_success(result, "Actuators checked and moved succesfully[%d]", pfc_actuators.act_nb);
+      preflight_success(result, "Actuators checked and succesfull [act: %d]", pfc_actuators.act_nb);
       break;
     case PFC_ACTUATORS_STATE_ERROR:
-      preflight_error(result, "Actuators not responding correctly[%d/%d]",pfc_actuators.act_idx, pfc_actuators.act_nb);
+      preflight_error(result, "Actuators not responding correctly [act: %d/%d]",pfc_actuators.act_idx, pfc_actuators.act_nb);
       break;
   }
 }
diff --git a/sw/airborne/modules/checks/preflight_checks.c b/sw/airborne/modules/checks/preflight_checks.c
index 8c0f12e834..a4e31e9d78 100644
--- a/sw/airborne/modules/checks/preflight_checks.c
+++ b/sw/airborne/modules/checks/preflight_checks.c
@@ -43,11 +43,18 @@
 #define PREFLIGHT_CHECK_INFO_TIMEOUT 5
 #endif
 
+/** Enable ground based checklist */
+#ifndef PREFLIGHT_CHECK_GROUND
+#define PREFLIGHT_CHECK_GROUND TRUE
+#endif
+
+/** Bypass the preflight checks */
 #ifndef PREFLIGHT_CHECK_BYPASS
 #define PREFLIGHT_CHECK_BYPASS FALSE
 #endif
 
 bool preflight_bypass = PREFLIGHT_CHECK_BYPASS;
+bool preflight_ground_done = false;
 
 static struct preflight_check_t *preflight_head = NULL;
 
@@ -92,6 +99,15 @@ bool preflight_check(void)
     check = check->next;
   }
 
+  // Add the ground check
+#if PREFLIGHT_CHECK_GROUND
+  if (!preflight_ground_done) {
+    preflight_error(&result, "Ground checks not done");
+  } else {
+    preflight_success(&result, "Ground checks done");
+  }
+#endif
+
   // We failed a check or have a warning
   if (result.fail_cnt > 0 || result.warning_cnt > 0) {
     // Only send every xx amount of seconds
@@ -183,7 +199,7 @@ void preflight_error(struct preflight_result_t *result, const char *fmt, ...)
 }
 
 /**
- * @brief Register a preflight error used inside the preflight checking functions
+ * @brief Register a preflight warning used inside the preflight checking functions
  *
  * @param result Where the error gets registered
  * @param fmt A formatted string describing the error used in a vsnprintf
diff --git a/sw/airborne/modules/checks/preflight_checks.h b/sw/airborne/modules/checks/preflight_checks.h
index bd40cf8edc..e015843124 100644
--- a/sw/airborne/modules/checks/preflight_checks.h
+++ b/sw/airborne/modules/checks/preflight_checks.h
@@ -46,6 +46,7 @@ struct preflight_check_t {
 };
 
 extern bool preflight_bypass;
+extern bool preflight_ground_done;
 extern void preflight_check_register(struct preflight_check_t *check, preflight_check_f func);
 extern bool preflight_check(void);
 extern void preflight_error(struct preflight_result_t *result, const char *fmt, ...);