[pfc] Add ground checklists (#3276)

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;
   }
 }

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

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, ...);