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Code Issues Releases Activity

OP-1374 - Add sanitycheck API to detect frame type

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This commit is contained in:
Alessio Morale 2014-06-29 17:22:41 +02:00
parent fdbe58e8e6
commit 52a909185b
2 changed files with 50 additions and 19 deletions
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10
flight/libraries/inc/sanitycheck.h
View File

@ -32,6 +32,14 @@
#include <systemalarms.h>
typedef enum {
FRAME_TYPE_MULTIROTOR,
FRAME_TYPE_HELI,
FRAME_TYPE_FIXED_WING,
FRAME_TYPE_GROUND,
FRAME_TYPE_CUSTOM,
} FrameType_t;
#define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
@ -45,4 +53,6 @@
extern int32_t configuration_check();
FrameType_t GetCurrentFrameType();
#endif /* SANITYCHECK_H */

59
flight/libraries/sanitycheck.c
View File

@ -94,26 +94,8 @@ int32_t configuration_check()
// Classify airframe type
bool multirotor;
uint8_t airframe_type;
bool multirotor = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR);
SystemSettingsAirframeTypeGet(&airframe_type);
switch (airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX:
multirotor = true;
break;
default:
multirotor = false;
}
// For each available flight mode position sanity check the available
// modes
@ -272,3 +254,42 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
return true;
}
FrameType_t GetCurrentFrameType()
{
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch ((SystemSettingsAirframeTypeOptions)airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX:
return FRAME_TYPE_MULTIROTOR;
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING:
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON:
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGVTAIL:
return FRAME_TYPE_FIXED_WING;
case SYSTEMSETTINGS_AIRFRAMETYPE_HELICP:
return FRAME_TYPE_HELI;
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLECAR:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
return FRAME_TYPE_GROUND;
case SYSTEMSETTINGS_AIRFRAMETYPE_VTOL:
case SYSTEMSETTINGS_AIRFRAMETYPE_CUSTOM:
return FRAME_TYPE_CUSTOM;
}
// anyway it should not reach here
return FRAME_TYPE_CUSTOM;
}