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PreflightChecks: improve labels by not capitalizing everything 

estimator status init is not required.
sbg
Beat Küng 7 years ago committed by Daniel Agar
parent
0784725ad3
commit
f1966aa3fd
1 changed files with 32 additions and 32 deletions
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  1. 64
      src/modules/commander/PreflightCheck.cpp

64
src/modules/commander/PreflightCheck.cpp
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@ -113,7 +113,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta @@ -113,7 +113,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
if (!mag_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u invalid", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Mag #%u invalid", instance);
}
}
@ -123,13 +123,13 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta @@ -123,13 +123,13 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
if (!calibration_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Mag #%u uncalibrated", instance);
}
}
} else {
if (!optional && report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no Mag Sensor #%u", instance);
}
}
@ -164,7 +164,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s @@ -164,7 +164,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
if (sensors.accel_inconsistency_m_s_s > test_limit) {
if (report_status) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCELS INCONSISTENT - CHECK CAL");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accels inconsistent - Check Cal");
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC, false, status);
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, false, status);
}
@ -174,7 +174,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s @@ -174,7 +174,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
} else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.8f) {
if (report_status) {
mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: ACCELS INCONSISTENT - CHECK CAL");
mavlink_log_info(mavlink_log_pub, "Preflight Advice: Accels inconsistent - Check Cal");
}
}
@ -183,7 +183,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s @@ -183,7 +183,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
if (sensors.gyro_inconsistency_rad_s > test_limit) {
if (report_status) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYROS INCONSISTENT - CHECK CAL");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyros inconsistent - Check Cal");
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, false, status);
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, false, status);
}
@ -193,7 +193,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s @@ -193,7 +193,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
} else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
if (report_status) {
mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: GYROS INCONSISTENT - CHECK CAL");
mavlink_log_info(mavlink_log_pub, "Preflight Advice: Gyros inconsistent - Check Cal");
}
}
@ -223,7 +223,7 @@ static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s @@ -223,7 +223,7 @@ static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
if (sensors.mag_inconsistency_ga > test_limit) {
if (report_status) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG SENSORS INCONSISTENT");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Mag Sensors inconsistent");
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_MAG, false, status);
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_MAG2, false, status);
}
@ -249,7 +249,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s & @@ -249,7 +249,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
if (!accel_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u invalid", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel #%u invalid", instance);
}
}
@ -259,7 +259,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s & @@ -259,7 +259,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
if (!calibration_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel #%u uncalibrated", instance);
}
} else {
@ -271,7 +271,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s & @@ -271,7 +271,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
}
/* this is frickin' fatal */
@ -282,7 +282,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s & @@ -282,7 +282,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
} else {
if (!optional && report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: No Accel Sensor #%u", instance);
}
}
@ -313,7 +313,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u @@ -313,7 +313,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
if (!gyro_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u invalid", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro #%u invalid", instance);
}
}
@ -323,13 +323,13 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u @@ -323,13 +323,13 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
if (!calibration_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyro #%u uncalibrated", instance);
}
}
} else {
if (!optional && report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no Gyro Sensor #%u", instance);
}
}
@ -356,14 +356,14 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u @@ -356,14 +356,14 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
if (!baro_valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: BARO #%u invalid", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Baro #%u invalid", instance);
}
}
} else {
if (!optional && report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no Baro Sensor #%u", instance);
}
}
@ -389,7 +389,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu @@ -389,7 +389,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
if ((orb_copy(ORB_ID(differential_pressure), fd_diffpres, &differential_pressure) != PX4_OK) ||
(hrt_elapsed_time(&differential_pressure.timestamp) > 1_s)) {
if (report_fail && !optional) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
}
present = false;
@ -400,7 +400,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu @@ -400,7 +400,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
if ((orb_copy(ORB_ID(airspeed), fd_airspeed, &airspeed) != PX4_OK) ||
(hrt_elapsed_time(&airspeed.timestamp) > 1_s)) {
if (report_fail && !optional) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
}
present = false;
@ -416,7 +416,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu @@ -416,7 +416,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
*/
if (prearm && fabsf(airspeed.confidence) < 0.95f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR STUCK");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor stuck");
}
present = true;
@ -431,7 +431,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu @@ -431,7 +431,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
*/
if (fabsf(differential_pressure.differential_pressure_filtered_pa) > 15.0f && !prearm) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: CHECK AIRSPEED CAL OR PITOT");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or Pitot");
}
present = true;
@ -474,17 +474,17 @@ static bool powerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, @@ -474,17 +474,17 @@ static bool powerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Avionics power low: %6.2f Volt", (double)avionics_power_rail_voltage);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage < 4.9f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt", (double)avionics_power_rail_voltage);
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage > 5.4f) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt", (double)avionics_power_rail_voltage);
mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage);
}
}
}
@ -508,7 +508,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -508,7 +508,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
// Get estimator status data if available and exit with a fail recorded if not
int sub = orb_subscribe(ORB_ID(estimator_status));
estimator_status_s status = {};
estimator_status_s status;
if (orb_copy(ORB_ID(estimator_status), sub, &status) != PX4_OK) {
present = false;
@ -518,7 +518,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -518,7 +518,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
// Check if preflight check performed by estimator has failed
if (status.pre_flt_fail) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF INTERNAL CHECKS");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: EKF internal checks");
}
success = false;
@ -530,7 +530,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -530,7 +530,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
if (status.hgt_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HGT ERROR");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: EKF Height Error");
}
success = false;
@ -542,7 +542,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -542,7 +542,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
if (status.vel_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF VEL ERROR");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: EKF Velocity Error");
}
success = false;
@ -554,7 +554,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -554,7 +554,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
if (status.pos_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HORIZ POS ERROR");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: EKF Horizontal Position Error");
}
success = false;
@ -566,7 +566,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -566,7 +566,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
if (status.mag_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF YAW ERROR");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: EKF Yaw Error");
}
success = false;
@ -579,7 +579,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -579,7 +579,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
if (fabsf(status.states[13]) > test_limit || fabsf(status.states[14]) > test_limit
|| fabsf(status.states[15]) > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: EKF High IMU Accel Bias");
}
success = false;
@ -592,7 +592,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s @@ -592,7 +592,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
if (fabsf(status.states[10]) > test_limit || fabsf(status.states[11]) > test_limit
|| fabsf(status.states[12]) > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU GYRO BIAS");
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: EKF High IMU Gyro Bias");
}
success = false;

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