int preflight_check_main(int argc, char *argv[])
{
bool fail_on_error = false;
if (argc > 1 && !strcmp(argv[1], "--help")) {
warnx("usage: preflight_check [--fail-on-error]\n\tif fail on error is enabled, will return 1 on error");
exit(1);
}
if (argc > 1 && !strcmp(argv[1], "--fail-on-error")) {
fail_on_error = true;
}
bool system_ok = true;
int fd;
/* open text message output path */
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
int ret;
/* give the system some time to sample the sensors in the background */
usleep(150000);
/* ---- MAG ---- */
close(fd);
fd = open(MAG_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");
system_ok = false;
goto system_eval;
}
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");
system_ok = false;
goto system_eval;
}
/* ---- ACCEL ---- */
close(fd);
fd = open(ACCEL_DEVICE_PATH, 0);
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
warnx("accel self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL");
system_ok = false;
goto system_eval;
}
/* ---- GYRO ---- */
close(fd);
fd = open(GYRO_DEVICE_PATH, 0);
ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
warnx("gyro self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL");
system_ok = false;
goto system_eval;
}
/* ---- BARO ---- */
close(fd);
fd = open(BARO_DEVICE_PATH, 0);
close(fd);
/* ---- RC CALIBRATION ---- */
bool rc_ok = (OK == rc_calibration_check());
/* warn */
if (!rc_ok)
warnx("rc calibration test failed");
/* require RC ok to keep system_ok */
system_ok &= rc_ok;
system_eval:
if (system_ok) {
/* all good, exit silently */
exit(0);
} else {
fflush(stdout);
warnx("PREFLIGHT CHECK ERROR! TRIGGERING ALARM");
fflush(stderr);
int buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
int leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
close(buzzer);
errx(1, "failed to open leds, aborting");
}
/* flip blue led into alternating amber */
led_off(leds, LED_BLUE);
led_off(leds, LED_AMBER);
led_toggle(leds, LED_BLUE);
/* display and sound error */
for (int i = 0; i < 50; i++)
{
led_toggle(leds, LED_BLUE);
led_toggle(leds, LED_AMBER);
if (i % 10 == 0) {
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE);
} else if (i % 5 == 0) {
ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE);
}
usleep(100000);
}
/* stop alarm */
ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
/* switch on leds */
led_on(leds, LED_BLUE);
led_on(leds, LED_AMBER);
if (fail_on_error) {
/* exit with error message */
exit(1);
} else {
/* do not emit an error code to make sure system still boots */
exit(0);
}
}
}
bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
const vehicle_status_flags_s &status_flags, bool checkGNSS, bool reportFailures, bool prearm,
const hrt_abstime &time_since_boot)
{
if (time_since_boot < 2000000) {
// the airspeed driver filter doesn't deliver the actual value yet
reportFailures = false;
}
const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON);
bool checkSensors = !hil_enabled;
const bool checkRC = (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT);
const bool checkDynamic = !hil_enabled;
const bool checkPower = (status_flags.condition_power_input_valid && !status_flags.circuit_breaker_engaged_power_check);
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status_flags.circuit_breaker_engaged_airspd_check && (!status.is_rotary_wing || status.is_vtol)) {
checkAirspeed = true;
}
reportFailures = (reportFailures && status_flags.condition_system_hotplug_timeout && !status_flags.condition_calibration_enabled);
#ifdef __PX4_QURT
// WARNING: Preflight checks are important and should be added back when
// all the sensors are supported
PX4_WARN("Preflight checks always pass on Snapdragon.");
checkSensors = false;
#elif defined(__PX4_POSIX_RPI)
PX4_WARN("Preflight checks for mag, acc, gyro always pass on RPI");
checkSensors = false;
#elif defined(__PX4_POSIX_BEBOP)
PX4_WARN("Preflight checks always pass on Bebop.");
checkSensors = false;
#elif defined(__PX4_POSIX_OCPOC)
PX4_WARN("Preflight checks always pass on OcPoC.");
checkSensors = false;
#endif
bool failed = false;
/* ---- MAG ---- */
if (checkSensors) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_MAG_PRIME"), &prime_id);
int32_t sys_has_mag = 1;
param_get(param_find("SYS_HAS_MAG"), &sys_has_mag);
bool mag_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_mag_count; i++) {
bool required = (i < max_mandatory_mag_count) && sys_has_mag == 1;
int device_id = -1;
if (!magnometerCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !failed && !mag_fail_reported)) && required) {
failed = true;
mag_fail_reported = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if ((reportFailures && !failed)) {
mavlink_log_critical(mavlink_log_pub, "Primary compass not found");
}
failed = true;
}
/* fail if mag sensors are inconsistent */
if (!magConsistencyCheck(mavlink_log_pub, (reportFailures && !failed))) {
failed = true;
}
}
/* ---- ACCEL ---- */
if (checkSensors) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_ACC_PRIME"), &prime_id);
bool accel_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_accel_count; i++) {
bool required = (i < max_mandatory_accel_count);
int device_id = -1;
if (!accelerometerCheck(mavlink_log_pub, i, !required, checkDynamic, device_id, (reportFailures && !failed && !accel_fail_reported)) && required) {
failed = true;
accel_fail_reported = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if ((reportFailures && !failed)) {
mavlink_log_critical(mavlink_log_pub, "Primary accelerometer not found");
}
failed = true;
}
}
/* ---- GYRO ---- */
if (checkSensors) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_GYRO_PRIME"), &prime_id);
bool gyro_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_gyro_count; i++) {
bool required = (i < max_mandatory_gyro_count);
int device_id = -1;
if (!gyroCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !failed && !gyro_fail_reported)) && required) {
failed = true;
gyro_fail_reported = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if ((reportFailures && !failed)) {
mavlink_log_critical(mavlink_log_pub, "Primary gyro not found");
}
failed = true;
}
}
/* ---- BARO ---- */
if (checkSensors) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_BARO_PRIME"), &prime_id);
int32_t sys_has_baro = 1;
param_get(param_find("SYS_HAS_BARO"), &sys_has_baro);
bool baro_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_baro_count; i++) {
bool required = (i < max_mandatory_baro_count) && sys_has_baro == 1;
int device_id = -1;
if (!baroCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !failed && !baro_fail_reported)) && required) {
failed = true;
baro_fail_reported = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
// TODO there is no logic in place to calibrate the primary baro yet
// // check if the primary device is present
if (!prime_found && prime_id != 0) {
if (reportFailures && !failed) {
mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
}
failed = true;
}
}
/* ---- IMU CONSISTENCY ---- */
if (checkSensors) {
if (!imuConsistencyCheck(mavlink_log_pub, (reportFailures && !failed))) {
failed = true;
}
}
/* ---- AIRSPEED ---- */
if (checkAirspeed) {
if (!airspeedCheck(mavlink_log_pub, true, reportFailures && !failed, prearm)) {
failed = true;
}
}
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (rc_calibration_check(mavlink_log_pub, reportFailures && !failed, status.is_vtol) != OK) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
}
failed = true;
}
}
/* ---- SYSTEM POWER ---- */
if (checkPower) {
if (!powerCheck(mavlink_log_pub, (reportFailures && !failed), prearm)) {
failed = true;
}
}
/* ---- Navigation EKF ---- */
// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
int32_t estimator_type;
param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
if (estimator_type == 2) {
// don't report ekf failures for the first 10 seconds to allow time for the filter to start
bool report_ekf_fail = (time_since_boot > 10 * 1000000);
if (!ekf2Check(mavlink_log_pub, true, (reportFailures && report_ekf_fail && !failed), checkGNSS)) {
failed = true;
}
}
/* Report status */
return !failed;
}
bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc, bool checkGyro,
bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic, bool reportFailures)
{
bool failed = false;
/* ---- MAG ---- */
if (checkMag) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_MAG_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_mag_count; i++) {
bool required = (i < max_mandatory_mag_count);
int device_id = -1;
if (!magnometerCheck(mavlink_log_pub, i, !required, device_id, reportFailures) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary compass not found");
}
failed = true;
}
}
/* ---- ACCEL ---- */
if (checkAcc) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_ACC_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_accel_count; i++) {
bool required = (i < max_mandatory_accel_count);
int device_id = -1;
if (!accelerometerCheck(mavlink_log_pub, i, !required, checkDynamic, device_id, reportFailures) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary accelerometer not found");
}
failed = true;
}
}
/* ---- GYRO ---- */
if (checkGyro) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_GYRO_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_gyro_count; i++) {
bool required = (i < max_mandatory_gyro_count);
int device_id = -1;
if (!gyroCheck(mavlink_log_pub, i, !required, device_id, reportFailures) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary gyro not found");
}
failed = true;
}
}
/* ---- BARO ---- */
if (checkBaro) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_BARO_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_baro_count; i++) {
bool required = (i < max_mandatory_baro_count);
int device_id = -1;
if (!baroCheck(mavlink_log_pub, i, !required, device_id, reportFailures) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
// TODO there is no logic in place to calibrate the primary baro yet
// // check if the primary device is present
if (!prime_found && prime_id != 0) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "warning: primary barometer not operational");
}
failed = true;
}
}
/* ---- AIRSPEED ---- */
if (checkAirspeed) {
if (!airspeedCheck(mavlink_log_pub, true, reportFailures)) {
failed = true;
}
}
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (rc_calibration_check(mavlink_log_pub, reportFailures) != OK) {
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "RC calibration check failed");
}
failed = true;
}
}
/* ---- Global Navigation Satellite System receiver ---- */
if (checkGNSS) {
if (!gnssCheck(mavlink_log_pub, reportFailures)) {
failed = true;
}
}
#ifdef __PX4_QURT
// WARNING: Preflight checks are important and should be added back when
// all the sensors are supported
PX4_WARN("WARNING: Preflight checks PASS always.");
failed = false;
#endif
/* Report status */
return !failed;
}
bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro,
bool checkBaro, bool checkAirspeed, bool checkRC, bool checkDynamic)
{
bool failed = false;
/* ---- MAG ---- */
if (checkMag) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_mag_count; i++) {
bool required = (i < max_mandatory_mag_count);
if (!magnometerCheck(mavlink_fd, i, !required) && required) {
failed = true;
}
}
}
/* ---- ACCEL ---- */
if (checkAcc) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_accel_count; i++) {
bool required = (i < max_mandatory_accel_count);
if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic) && required) {
failed = true;
}
}
}
/* ---- GYRO ---- */
if (checkGyro) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_gyro_count; i++) {
bool required = (i < max_mandatory_gyro_count);
if (!gyroCheck(mavlink_fd, i, !required) && required) {
failed = true;
}
}
}
/* ---- BARO ---- */
if (checkBaro) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_baro_count; i++) {
bool required = (i < max_mandatory_baro_count);
if (!baroCheck(mavlink_fd, i, !required) && required) {
failed = true;
}
}
}
/* ---- AIRSPEED ---- */
if (checkAirspeed) {
if (!airspeedCheck(mavlink_fd, true)) {
failed = true;
}
}
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (rc_calibration_check(mavlink_fd) != OK) {
failed = true;
}
}
/* Report status */
return !failed;
}