PreflightCheck.cpp File Reference

Preflight check for main system components. More...

#include "PreflightCheck.h"
#include "health_flag_helper.h"
#include "rc_check.h"
#include <math.h>
#include <parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/sensor_preflight.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/system_power.h>

Functions
bool	Preflight::preflightCheck (orb_advert_t *mavlink_log_pub, vehicle_status_s &status, vehicle_status_flags_s &status_flags, bool checkGNSS, bool reportFailures, bool prearm, const hrt_abstime &time_since_boot)
	Runs a preflight check on all sensors to see if they are properly calibrated and healthy. More...

Detailed Description

Preflight check for main system components.

Author

Lorenz Meier loren.nosp@m.z@px.nosp@m.4.io

Johan Jansen jnsn..nosp@m.joha.nosp@m.n@gma.nosp@m.il.c.nosp@m.om

Function Documentation

preflightCheck()

bool Preflight::preflightCheck	(	orb_advert_t *	mavlink_log_pub,
		vehicle_status_s &	status,
		vehicle_status_flags_s &	status_flags,
		bool	checkGNSS,
		bool	reportFailures,
		bool	prearm,
		const hrt_abstime &	time_since_boot
	)

Runs a preflight check on all sensors to see if they are properly calibrated and healthy.

The function won't fail the test if optional sensors are not found, however, it will fail the test if optional sensors are found but not in working condition.

Parameters

mavlink_log_pub	Mavlink output orb handle reference for feedback when a sensor fails
checkMag	true if the magneteometer should be checked
checkAcc	true if the accelerometers should be checked
checkGyro	true if the gyroscopes should be checked
checkBaro	true if the barometer should be checked
checkAirspeed	true if the airspeed sensor should be checked
checkRC	true if the Remote Controller should be checked
checkGNSS	true if the GNSS receiver should be checked
checkPower	true if the system power should be checked