PreflightCheck.h

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#include <drivers/drv_hrt.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>

#pragma once

namespace Preflight
{
bool 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);

static constexpr unsigned max_mandatory_gyro_count = 1;
static constexpr unsigned max_optional_gyro_count = 3;

static constexpr unsigned max_mandatory_accel_count = 1;
static constexpr unsigned max_optional_accel_count = 3;

static constexpr unsigned max_mandatory_mag_count = 1;
static constexpr unsigned max_optional_mag_count = 4;

static constexpr unsigned max_mandatory_baro_count = 1;
static constexpr unsigned max_optional_baro_count = 1;

}