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[pfc] Add ground checklists (#3276)

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This commit is contained in:
Freek van Tienen
2024-05-24 15:32:53 +02:00
committed by GitHub
parent 58caa662cd
commit 9341cf0b12
12 changed files with 156 additions and 13 deletions
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conf/airframes/airframe.dtd
+7 -1
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@@ -1,6 +1,6 @@
<!-- Paparazzi airframe DTD --> <!-- 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 include EMPTY>
<!ELEMENT servos (servo)*> <!ELEMENT servos (servo)*>
<!ELEMENT commands (axis)*> <!ELEMENT commands (axis)*>
@@ -28,6 +28,8 @@
<!ELEMENT autopilot EMPTY> <!ELEMENT autopilot EMPTY>
<!ELEMENT comment (#PCDATA)> <!ELEMENT comment (#PCDATA)>
<!ELEMENT description (#PCDATA)> <!ELEMENT description (#PCDATA)>
<!ELEMENT item EMPTY>
<!ELEMENT checklist (item)*>
<!ATTLIST include <!ATTLIST include
href CDATA #REQUIRED> href CDATA #REQUIRED>
@@ -125,3 +127,7 @@ target CDATA #IMPLIED>
name CDATA #REQUIRED name CDATA #REQUIRED
type CDATA #IMPLIED type CDATA #IMPLIED
dir CDATA #IMPLIED> dir CDATA #IMPLIED>
<!ATTLIST item
name CDATA #REQUIRED
type CDATA #IMPLIED>
conf/airframes/tudelft/rot_wing_25kg.xml
+17 -2
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@@ -1,6 +1,6 @@
<!-- This is a Rotating Wing 25kg <!-- This is a Rotating Wing 25kg
* Airframe: TUD00??? * Airframe: TUD00455
* Autopilot: Cube Orange Plus * Autopilot: Pixhawk 6X
* Datalink: Herelink * Datalink: Herelink
* GPS: UBlox F9P (2x) * GPS: UBlox F9P (2x)
* RC: SBUS Crossfire (diversity) * RC: SBUS Crossfire (diversity)
@@ -498,4 +498,19 @@
<define name="NO_MOTOR_MIXING" value="TRUE"/> <define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </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> </airframe>
conf/airframes/tudelft/rot_wing_v3b.xml
+17
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@@ -548,4 +548,21 @@
<define name="NO_MOTOR_MIXING" value="TRUE"/> <define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </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> </airframe>
conf/airframes/tudelft/rot_wing_v3d.xml
+17
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@@ -535,4 +535,21 @@
<define name="NO_MOTOR_MIXING" value="TRUE"/> <define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </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> </airframe>
conf/airframes/tudelft/rot_wing_v3e.xml
+18 -1
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@@ -1,5 +1,5 @@
<!-- This is a 7kg rotating wing drone <!-- This is a 7kg rotating wing drone
* Airframe: TUD00359 * Airframe: TUD00360
* Autopilot: Cube orange+ * Autopilot: Cube orange+
* Datalink: Herelink * Datalink: Herelink
* GPS: UBlox F9P * GPS: UBlox F9P
@@ -535,4 +535,21 @@
<define name="NO_MOTOR_MIXING" value="TRUE"/> <define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </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> </airframe>
conf/airframes/tudelft/rot_wing_v3f.xml
+18 -1
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@@ -1,5 +1,5 @@
<!-- This is a 7kg rotating wing drone <!-- This is a 7kg rotating wing drone
* Airframe: TUD00360 * Airframe: TUD00361
* Autopilot: Cube orange+ * Autopilot: Cube orange+
* Datalink: Herelink * Datalink: Herelink
* GPS: UBlox F9P * GPS: UBlox F9P
@@ -535,4 +535,21 @@
<define name="NO_MOTOR_MIXING" value="TRUE"/> <define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </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> </airframe>
conf/airframes/tudelft/rot_wing_v3g.xml
+18 -1
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@@ -1,5 +1,5 @@
<!-- This is a 7kg rotating wing drone <!-- This is a 7kg rotating wing drone
* Airframe: TUD00361 * Airframe: TUD00362
* Autopilot: Cube orange+ * Autopilot: Cube orange+
* Datalink: Herelink * Datalink: Herelink
* GPS: UBlox F9P * GPS: UBlox F9P
@@ -542,4 +542,21 @@
<define name="NO_MOTOR_MIXING" value="TRUE"/> <define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </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> </airframe>
conf/airframes/tudelft/rot_wing_v3h.xml
+18 -1
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@@ -1,5 +1,5 @@
<!-- This is a 7kg rotating wing drone <!-- This is a 7kg rotating wing drone
* Airframe: TUD00359 * Airframe: TUD00363
* Autopilot: Cube orange+ * Autopilot: Cube orange+
* Datalink: Herelink * Datalink: Herelink
* GPS: UBlox F9P * GPS: UBlox F9P
@@ -542,4 +542,21 @@
<define name="NO_MOTOR_MIXING" value="TRUE"/> <define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </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> </airframe>
conf/modules/preflight_checks.xml
+4 -1
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@@ -9,12 +9,15 @@
<define name="MAX_MSGBUF" value="512" description="Maximum combined message size for storing the errors"/> <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="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="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> </section>
</doc> </doc>
<settings> <settings>
<dl_settings> <dl_settings>
<dl_settings name="Checks"> <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>
</dl_settings> </dl_settings>
</settings> </settings>
sw/airborne/modules/checks/pfc_actuators.c
+4 -4
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@@ -269,16 +269,16 @@ static void pfc_actuators_cb(struct preflight_result_t *result)
{ {
switch(pfc_actuators.state) { switch(pfc_actuators.state) {
case PFC_ACTUATORS_STATE_INIT: 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; break;
case PFC_ACTUATORS_STATE_RUNNING: 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; break;
case PFC_ACTUATORS_STATE_SUCCESS: 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; break;
case PFC_ACTUATORS_STATE_ERROR: 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; break;
} }
} }
sw/airborne/modules/checks/preflight_checks.c
+17 -1
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@@ -43,11 +43,18 @@
#define PREFLIGHT_CHECK_INFO_TIMEOUT 5 #define PREFLIGHT_CHECK_INFO_TIMEOUT 5
#endif #endif
/** Enable ground based checklist */
#ifndef PREFLIGHT_CHECK_GROUND
#define PREFLIGHT_CHECK_GROUND TRUE
#endif
/** Bypass the preflight checks */
#ifndef PREFLIGHT_CHECK_BYPASS #ifndef PREFLIGHT_CHECK_BYPASS
#define PREFLIGHT_CHECK_BYPASS FALSE #define PREFLIGHT_CHECK_BYPASS FALSE
#endif #endif
bool preflight_bypass = PREFLIGHT_CHECK_BYPASS; bool preflight_bypass = PREFLIGHT_CHECK_BYPASS;
bool preflight_ground_done = false;
static struct preflight_check_t *preflight_head = NULL; static struct preflight_check_t *preflight_head = NULL;
@@ -92,6 +99,15 @@ bool preflight_check(void)
check = check->next; 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 // We failed a check or have a warning
if (result.fail_cnt > 0 || result.warning_cnt > 0) { if (result.fail_cnt > 0 || result.warning_cnt > 0) {
// Only send every xx amount of seconds // 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 result Where the error gets registered
* @param fmt A formatted string describing the error used in a vsnprintf * @param fmt A formatted string describing the error used in a vsnprintf
sw/airborne/modules/checks/preflight_checks.h
+1
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@@ -46,6 +46,7 @@ struct preflight_check_t {
}; };
extern bool preflight_bypass; extern bool preflight_bypass;
extern bool preflight_ground_done;
extern void preflight_check_register(struct preflight_check_t *check, preflight_check_f func); extern void preflight_check_register(struct preflight_check_t *check, preflight_check_f func);
extern bool preflight_check(void); extern bool preflight_check(void);
extern void preflight_error(struct preflight_result_t *result, const char *fmt, ...); extern void preflight_error(struct preflight_result_t *result, const char *fmt, ...);