Commander: Add PreflightCheck to the commander

10 years ago · fde244f903
4 changed files with 288 additions and 1 deletions
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@ -0,0 +1,222 @@
				@@ -0,0 +1,222 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file PreflightCheck.cpp
+ *
+ * Preflight check for main system components
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Johan Jansen <jnsn.johan@gmail.com>
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/rc_check.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_baro.h>
+
+#include <mavlink/mavlink_log.h>
+
+#include "PreflightCheck.h"
+
+namespace Commander
+{
+    static bool magnometerCheck(int mavlink_fd)
+    {
+        int fd = open(MAG0_DEVICE_PATH, 0);
+        if (fd < 0) {
+            warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
+            return false;
+        }
+
+        int calibration_devid;
+        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
+        param_get(param_find("CAL_MAG0_ID"), &(calibration_devid));
+        if (devid != calibration_devid){
+            warnx("magnetometer calibration is for a different device - calibrate magnetometer first (dev: %d vs cal: %d)", devid, calibration_devid);
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID");
+            return false;
+        }
+
+        int ret = ioctl(fd, MAGIOCSELFTEST, 0);
+        if (ret != OK) {
+            warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL");
+            return false;
+        }
+        close(fd);
+        return true;
+    }
+
+    static bool accelerometerCheck(int mavlink_fd)
+    {
+        int fd = open(ACCEL0_DEVICE_PATH, O_RDONLY);
+        int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
+
+        int calibration_devid;
+        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
+        param_get(param_find("CAL_ACC0_ID"), &(calibration_devid));
+        if (devid != calibration_devid){
+            warnx("accelerometer calibration is for a different device - calibrate accelerometer first");
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACC CAL ID");
+            return false;
+        }
+        
+        if (ret != OK) {
+            warnx("accel self test failed");
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
+            return false;
+        }
+
+        // check measurement result range
+        struct accel_report acc;
+        ret = read(fd, &acc, sizeof(acc));
+
+        if (ret == sizeof(acc)) {
+            // evaluate values
+            float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
+
+            // evaluate values
+            if (accel_magnitude > 30.0f) { //m/s^2
+                warnx("accel with spurious values");
+                mavlink_log_critical(mavlink_fd, "SENSOR FAIL: |ACCEL| > 30 m/s^2");
+                //this is frickin' fatal
+                return false;
+            }
+        } else {
+            warnx("accel read failed");
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ");
+            //this is frickin' fatal
+            return false;
+        }
+
+        close(fd);
+        return true;
+    }
+
+    static bool gyroCheck(int mavlink_fd)
+    {
+        int fd = open(GYRO0_DEVICE_PATH, 0);
+            
+        int calibration_devid;
+        int devid = ioctl(fd, DEVIOCGDEVICEID,0);
+        param_get(param_find("CAL_GYRO0_ID"), &(calibration_devid));
+        if (devid != calibration_devid){
+            warnx("gyro calibration is for a different device - calibrate gyro first");
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CAL ID");
+            return false;
+        }        
+
+        int ret = ioctl(fd, GYROIOCSELFTEST, 0);
+
+        if (ret != OK) {
+            warnx("gyro self test failed");
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
+            return false;
+        }
+
+        close(fd);
+        return true;
+    }
+
+    static bool baroCheck(int mavlink_fd)
+    {
+        int fd = open(BARO0_DEVICE_PATH, 0);
+        if(fd < 0) {
+            mavlink_log_critical(mavlink_fd, "SENSOR FAIL: Barometer");
+            return false;        
+        }
+
+        close(fd);
+        return true;
+    }
+
+    bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC)
+    {
+        //give the system some time to sample the sensors in the background
+        usleep(150000);
+
+        //Magnetometer
+        if(checkMag) {
+            if(!magnometerCheck(mavlink_fd)) {
+                return false;
+            }            
+        }
+
+        //Accelerometer
+        if(checkAcc) {
+            if(!accelerometerCheck(mavlink_fd)) {
+                return false;
+            }            
+        }
+
+        // ---- GYRO ----
+        if(checkGyro) {
+            if(!gyroCheck(mavlink_fd)) {
+                return false;
+            }            
+        }
+
+        // ---- BARO ----
+        if(checkBaro) {
+            if(!baroCheck(mavlink_fd)) {
+                return false;
+            }
+        }
+
+        // ---- RC CALIBRATION ----
+        if(checkRC) {
+            if(rc_calibration_check(mavlink_fd) != OK) {
+                return false;
+            }
+        }
+
+        //All is good!
+        return true;
+    }
+}
--- a/src/modules/commander/PreflightCheck.h
+++ b/src/modules/commander/PreflightCheck.h
@ -0,0 +1,63 @@
				@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file PreflightCheck.h
+ *
+ * Preflight check for main system components
+ *
+ * @author Johan Jansen <jnsn.johan@gmail.com>
+ */
+
+#pragma once
+
+namespace Commander
+{
+    /**
+    * @brief
+    *   Runs a preflight check on all sensors to see if they are properly calibrated and healthy
+    * @param mavlink_fd
+    *   Mavlink output file descriptor for feedback when a sensor fails
+    * @param checkMag
+    *   true if the magneteometer should be checked
+    * @param checkAcc
+    *   true if the accelerometers should be checked
+    * @param checkGyro
+    *   true if the gyroscopes should be checked
+    * @param checkBaro
+    *   true if the barometer should be checked
+    * @param checkRC
+    *   true if the Remote Controller should be checked
+    **/
+    bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro, bool checkBaro, bool checkRC);
+}
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@ -114,6 +114,7 @@
				@@ -114,6 +114,7 @@
 #include "baro_calibration.h"
 #include "rc_calibration.h"
 #include "airspeed_calibration.h"
+#include "PreflightCheck.h"

 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@ -46,7 +46,8 @@ SRCS		 	= commander.cpp \
				@@ -46,7 +46,8 @@ SRCS		 	= commander.cpp \
 			mag_calibration.cpp \
 			baro_calibration.cpp \
 			rc_calibration.cpp \
-			airspeed_calibration.cpp
+			airspeed_calibration.cpp \
+			PreflightCheck.cpp

 MODULE_STACKSIZE = 5000