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Code Issues Releases Activity

OP-1363 check for navigation enabled (outdoor) fusion algorithm if any flightmode is configured to use a path follower

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This commit is contained in:
Corvus Corax 2014-06-01 12:17:42 +02:00
parent 6bdcdba335
commit 63b08ec129
1 changed files with 39 additions and 1 deletions
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40
flight/libraries/sanitycheck.c
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@ -37,6 +37,7 @@
#include <flightmodesettings.h>
#include <systemsettings.h>
#include <systemalarms.h>
#include <revosettings.h>
#include <taskinfo.h>
/****************************
@ -61,8 +62,27 @@ int32_t configuration_check()
const struct pios_board_info *bdinfo = &pios_board_info_blob;
bool coptercontrol = bdinfo->board_type == 0x04;
// Classify navigation capability
#ifdef REVOLUTION
RevoSettingsInitialize();
uint8_t revoFusion;
RevoSettingsFusionAlgorithmGet(&revoFusion);
bool navCapableFusion;
switch (revoFusion) {
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAGGPSOUTDOOR:
case REVOSETTINGS_FUSIONALGORITHM_INS13GPSOUTDOOR:
navCapableFusion = true;
break;
default:
navCapableFusion = false;
}
#else
const bool navCapableFusion = false;
#endif
// Classify airframe type
bool multirotor = true;
bool multirotor;
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
@ -126,6 +146,9 @@ int32_t configuration_check()
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports Position Hold
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!navCapableFusion) {
// we need nav capable fusion algorithm
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
@ -134,6 +157,9 @@ int32_t configuration_check()
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports AutoLand Mode
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!navCapableFusion) {
// we need nav capable fusion algorithm
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI:
@ -142,11 +168,20 @@ int32_t configuration_check()
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports POI Mode
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!navCapableFusion) {
// we need nav capable fusion algorithm
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports PathPlanner
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!navCapableFusion) {
// we need nav capable fusion algorithm
severity = SYSTEMALARMS_ALARM_ERROR;
} else {
// Revo supports PathPlanner and that must be OK or we are not sane
// PathPlan alarm is uninitialized if not running
@ -164,6 +199,9 @@ int32_t configuration_check()
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports ReturnToBase
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!navCapableFusion) {
// we need nav capable fusion algorithm
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
default: