/** ****************************************************************************** * @addtogroup OpenPilot System OpenPilot System * @{ * @addtogroup OpenPilot Libraries OpenPilot System Libraries * @{ * @file sanitycheck.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @brief Utilities to validate a flight configuration * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include #include // Private includes #include "inc/sanitycheck.h" // UAVOs #include #include #include #include #include #include #include // a number of useful macros #define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_ERROR)) /**************************** * Current checks: * 1. If a flight mode switch allows autotune and autotune module not running * 2. If airframe is a multirotor and either manual is available or a stabilization mode uses "none" ****************************/ // ! Check a stabilization mode switch position for safety static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol); /** * Run a preflight check over the hardware configuration * and currently active modules */ int32_t configuration_check() { int32_t severity = SYSTEMALARMS_ALARM_OK; SystemAlarmsExtendedAlarmStatusOptions alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE; uint8_t alarmsubstatus = 0; // Get board type 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; // check for hitl. hitl allows to feed position and velocity state via // telemetry, this makes nav possible even with an unsuited algorithm if (PositionStateHandle()) { if (PositionStateReadOnly()) { navCapableFusion = true; } } } #else const bool navCapableFusion = false; #endif /* ifdef REVOLUTION */ // Classify airframe type bool multirotor; uint8_t airframe_type; 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 uint8_t num_modes; uint8_t modes[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM]; ManualControlSettingsFlightModeNumberGet(&num_modes); FlightModeSettingsFlightModePositionGet(modes); for (uint32_t i = 0; i < num_modes; i++) { switch (modes[i]) { case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_MANUAL: ADDSEVERITY(!multirotor); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1: ADDSEVERITY(check_stabilization_settings(1, multirotor, coptercontrol)); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2: ADDSEVERITY(check_stabilization_settings(2, multirotor, coptercontrol)); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3: ADDSEVERITY(check_stabilization_settings(3, multirotor, coptercontrol)); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED4: ADDSEVERITY(check_stabilization_settings(4, multirotor, coptercontrol)); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED5: ADDSEVERITY(check_stabilization_settings(5, multirotor, coptercontrol)); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED6: ADDSEVERITY(check_stabilization_settings(6, multirotor, coptercontrol)); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE: ADDSEVERITY(PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_AUTOTUNE)); break; case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER: { // Revo supports PathPlanner and that must be OK or we are not sane // PathPlan alarm is uninitialized if not running // PathPlan alarm is warning or error if the flightplan is invalid SystemAlarmsAlarmData alarms; SystemAlarmsAlarmGet(&alarms); ADDSEVERITY(alarms.PathPlan == SYSTEMALARMS_ALARM_OK); } // intentionally no break as this also needs pathfollower case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONVARIOFPV: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONVARIOLOS: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONVARIONSEW: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOCRUISE: ADDSEVERITY(!coptercontrol); ADDSEVERITY(PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)); ADDSEVERITY(navCapableFusion); break; default: // Uncovered modes are automatically an error ADDSEVERITY(false); } // mark the first encountered erroneous setting in status and substatus if ((severity != SYSTEMALARMS_ALARM_OK) && (alarmstatus == SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE)) { alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE; alarmsubstatus = i; } } // TODO: Check on a multirotor no axis supports "None" if (severity != SYSTEMALARMS_ALARM_OK) { ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus); } else { AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION); } return 0; } /** * Checks the stabiliation settings for a paritcular mode and makes * sure it is appropriate for the airframe * @param[in] index Which stabilization mode to check * @returns true or false */ static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol) { uint8_t modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM]; // Get the different axis modes for this switch position switch (index) { case 1: FlightModeSettingsStabilization1SettingsArrayGet(modes); break; case 2: FlightModeSettingsStabilization2SettingsArrayGet(modes); break; case 3: FlightModeSettingsStabilization3SettingsArrayGet(modes); break; case 4: FlightModeSettingsStabilization4SettingsArrayGet(modes); break; case 5: FlightModeSettingsStabilization5SettingsArrayGet(modes); break; case 6: FlightModeSettingsStabilization6SettingsArrayGet(modes); break; default: return false; } // For multirotors verify that roll/pitch/yaw are not set to "none" // (why not? might be fun to test ones reactions ;) if you dare, set your frame to "custom"! if (multirotor) { for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) { if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL) { return false; } } } // coptercontrol cannot do altitude holding if (coptercontrol) { if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO ) { return false; } } // check that thrust modes are only set to thrust axis for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) { if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD || modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO ) { return false; } } if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL )) { return false; } // Warning: This assumes that certain conditions in the XML file are met. That // FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL has the same numeric value for each channel // and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL // (this is checked at compile time by static constraint manualcontrol.h) return true; }