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Code Issues Releases Activity

OP-1764 added flight side sanity checks

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This commit is contained in:
abeck70 2015-03-09 21:31:42 +11:00
parent d22cb21022
commit 993481c11e
2 changed files with 23 additions and 0 deletions
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22
flight/libraries/sanitycheck.c
View File

@ -44,6 +44,7 @@
// a number of useful macros
#define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL))
#define ADDEXTENDEDALARMSTATUS(error_code, error_substatus) if ((severity != SYSTEMALARMS_ALARM_OK) && (alarmstatus == SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE)) { alarmstatus = (error_code); alarmsubstatus = (error_substatus); }
// private types
typedef struct SANITYCHECK_CustomHookInstance {
@ -178,6 +179,27 @@ int32_t configuration_check()
}
}
// Check throttle/collective channel range for valid configuration of input for critical control
SystemSettingsThrustControlOptions thrustType;
SystemSettingsThrustControlGet(&thrustType);
ManualControlSettingsChannelMinData channelMin;
ManualControlSettingsChannelMaxData channelMax;
ManualControlSettingsChannelMinGet(&channelMin);
ManualControlSettingsChannelMaxGet(&channelMax);
switch (thrustType) {
case SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE:
ADDSEVERITY( fabsf(channelMax.Throttle - channelMin.Throttle) > 300.0f) ;
ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
break;
case SYSTEMSETTINGS_THRUSTCONTROL_COLLECTIVE:
ADDSEVERITY( fabsf(channelMax.Collective - channelMin.Collective) > 300.0f);
ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
break;
default:
break;
}
// query sanity check hooks
if (severity < SYSTEMALARMS_ALARM_CRITICAL) {
SANITYCHECK_CustomHookInstance *instance = NULL;

1
shared/uavobjectdefinition/systemalarms.xml
View File

@ -36,6 +36,7 @@
<option>RebootRequired</option>
<option>FlightMode</option>
<option>UnsupportedConfig_OneShot</option>
<option>BadThrottleOrCollectiveInputRange</option>
</options>
</field>
<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">