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376 lines
14 KiB
C
376 lines
14 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilot System OpenPilot System
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* @{
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* @addtogroup OpenPilot Libraries OpenPilot System Libraries
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* @{
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* @file sanitycheck.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Utilities to validate a flight configuration
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <openpilot.h>
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#include <pios_board_info.h>
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// Private includes
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#include "inc/sanitycheck.h"
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// UAVOs
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#include <manualcontrolsettings.h>
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#include <flightmodesettings.h>
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#include <systemsettings.h>
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#include <stabilizationsettings.h>
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#include <systemalarms.h>
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#include <revosettings.h>
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#include <positionstate.h>
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#include <taskinfo.h>
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// a number of useful macros
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#define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL))
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// private types
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typedef struct SANITYCHECK_CustomHookInstance {
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SANITYCHECK_CustomHook_function *hook;
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struct SANITYCHECK_CustomHookInstance *next;
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bool enabled;
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} SANITYCHECK_CustomHookInstance;
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// ! Check a stabilization mode switch position for safety
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static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol, bool gpsassisted);
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SANITYCHECK_CustomHookInstance *hooks = 0;
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/**
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* Run a preflight check over the hardware configuration
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* and currently active modules
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*/
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int32_t configuration_check()
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{
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int32_t severity = SYSTEMALARMS_ALARM_OK;
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SystemAlarmsExtendedAlarmStatusOptions alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
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uint8_t alarmsubstatus = 0;
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// Get board type
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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bool coptercontrol = bdinfo->board_type == 0x04;
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// Classify navigation capability
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#ifdef REVOLUTION
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RevoSettingsInitialize();
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uint8_t revoFusion;
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RevoSettingsFusionAlgorithmGet(&revoFusion);
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bool navCapableFusion;
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switch (revoFusion) {
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case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAGGPSOUTDOOR:
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case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13:
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navCapableFusion = true;
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break;
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default:
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navCapableFusion = false;
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// check for hitl. hitl allows to feed position and velocity state via
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// telemetry, this makes nav possible even with an unsuited algorithm
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if (PositionStateHandle()) {
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if (PositionStateReadOnly()) {
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navCapableFusion = true;
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}
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}
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}
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#else
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const bool navCapableFusion = false;
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#endif /* ifdef REVOLUTION */
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// Classify airframe type
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bool multirotor = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR);
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// For each available flight mode position sanity check the available
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// modes
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uint8_t num_modes;
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uint8_t modes[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
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uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
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ManualControlSettingsFlightModeNumberGet(&num_modes);
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StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
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FlightModeSettingsFlightModePositionGet(modes);
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for (uint32_t i = 0; i < num_modes; i++) {
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uint8_t gps_assisted = FlightModeAssistMap[i];
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if (gps_assisted) {
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ADDSEVERITY(!coptercontrol);
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ADDSEVERITY(multirotor);
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ADDSEVERITY(navCapableFusion);
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}
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switch (modes[i]) {
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_MANUAL:
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ADDSEVERITY(!gps_assisted);
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ADDSEVERITY(!multirotor);
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
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ADDSEVERITY(check_stabilization_settings(1, multirotor, coptercontrol, gps_assisted));
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
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ADDSEVERITY(check_stabilization_settings(2, multirotor, coptercontrol, gps_assisted));
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
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ADDSEVERITY(check_stabilization_settings(3, multirotor, coptercontrol, gps_assisted));
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED4:
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ADDSEVERITY(check_stabilization_settings(4, multirotor, coptercontrol, gps_assisted));
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED5:
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ADDSEVERITY(check_stabilization_settings(5, multirotor, coptercontrol, gps_assisted));
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED6:
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ADDSEVERITY(check_stabilization_settings(6, multirotor, coptercontrol, gps_assisted));
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER:
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{
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// Revo supports PathPlanner and that must be OK or we are not sane
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// PathPlan alarm is uninitialized if not running
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// PathPlan alarm is warning or error if the flightplan is invalid
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SystemAlarmsAlarmData alarms;
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SystemAlarmsAlarmGet(&alarms);
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ADDSEVERITY(alarms.PathPlan == SYSTEMALARMS_ALARM_OK);
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ADDSEVERITY(!gps_assisted);
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}
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
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ADDSEVERITY(!coptercontrol);
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ADDSEVERITY(navCapableFusion);
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break;
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_COURSELOCK:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONROAM:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_HOMELEASH:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_ABSOLUTEPOSITION:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOCRUISE:
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ADDSEVERITY(!gps_assisted);
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ADDSEVERITY(!coptercontrol);
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ADDSEVERITY(navCapableFusion);
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break;
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default:
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// Uncovered modes are automatically an error
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ADDSEVERITY(false);
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}
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// mark the first encountered erroneous setting in status and substatus
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if ((severity != SYSTEMALARMS_ALARM_OK) && (alarmstatus == SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE)) {
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alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE;
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alarmsubstatus = i;
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}
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}
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uint8_t checks_disabled;
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FlightModeSettingsDisableSanityChecksGet(&checks_disabled);
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if (checks_disabled == FLIGHTMODESETTINGS_DISABLESANITYCHECKS_TRUE) {
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severity = SYSTEMALARMS_ALARM_WARNING;
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}
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// query sanity check hooks
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if (severity == SYSTEMALARMS_ALARM_OK) {
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SANITYCHECK_CustomHookInstance *instance = NULL;
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LL_FOREACH(hooks, instance) {
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if (instance->enabled) {
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alarmstatus = instance->hook();
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if (alarmstatus != SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE) {
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severity = SYSTEMALARMS_ALARM_WARNING;
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break;
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}
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}
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}
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}
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if (severity != SYSTEMALARMS_ALARM_OK) {
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ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
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}
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return 0;
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}
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/**
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* Checks the stabiliation settings for a paritcular mode and makes
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* sure it is appropriate for the airframe
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* @param[in] index Which stabilization mode to check
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* @returns true or false
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*/
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static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol, bool gpsassisted)
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{
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uint8_t modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM];
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// Get the different axis modes for this switch position
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switch (index) {
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case 1:
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FlightModeSettingsStabilization1SettingsArrayGet(modes);
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break;
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case 2:
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FlightModeSettingsStabilization2SettingsArrayGet(modes);
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break;
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case 3:
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FlightModeSettingsStabilization3SettingsArrayGet(modes);
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break;
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case 4:
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FlightModeSettingsStabilization4SettingsArrayGet(modes);
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break;
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case 5:
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FlightModeSettingsStabilization5SettingsArrayGet(modes);
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break;
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case 6:
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FlightModeSettingsStabilization6SettingsArrayGet(modes);
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break;
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default:
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return false;
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}
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// For multirotors verify that roll/pitch/yaw are not set to "none"
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// (why not? might be fun to test ones reactions ;) if you dare, set your frame to "custom"!
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if (multirotor) {
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for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
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if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL) {
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return false;
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}
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}
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}
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if (gpsassisted) {
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// For multirotors verify that roll/pitch are either attitude or rattitude
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for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_YAW; i++) {
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if (!(modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ATTITUDE ||
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modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATTITUDE)) {
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return false;
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}
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}
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}
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// coptercontrol cannot do altitude holding
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if (coptercontrol) {
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if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
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|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
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) {
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return false;
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}
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}
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// check that thrust modes are only set to thrust axis
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for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
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if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
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|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
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) {
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return false;
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}
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}
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if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL
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|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
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|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
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|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL
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)) {
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return false;
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}
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// Warning: This assumes that certain conditions in the XML file are met. That
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// FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL has the same numeric value for each channel
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// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL
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// (this is checked at compile time by static constraint manualcontrol.h)
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return true;
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}
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FrameType_t GetCurrentFrameType()
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{
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uint8_t airframe_type;
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SystemSettingsAirframeTypeGet(&airframe_type);
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switch ((SystemSettingsAirframeTypeOptions)airframe_type) {
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case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
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case SYSTEMSETTINGS_AIRFRAMETYPE_QUADH:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAH:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
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case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
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case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
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case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX:
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return FRAME_TYPE_MULTIROTOR;
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case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING:
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case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON:
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case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGVTAIL:
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return FRAME_TYPE_FIXED_WING;
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case SYSTEMSETTINGS_AIRFRAMETYPE_HELICP:
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return FRAME_TYPE_HELI;
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case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLECAR:
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case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
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case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
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return FRAME_TYPE_GROUND;
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case SYSTEMSETTINGS_AIRFRAMETYPE_VTOL:
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case SYSTEMSETTINGS_AIRFRAMETYPE_CUSTOM:
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return FRAME_TYPE_CUSTOM;
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}
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// anyway it should not reach here
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return FRAME_TYPE_CUSTOM;
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}
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void SANITYCHECK_AttachHook(SANITYCHECK_CustomHook_function *hook)
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{
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PIOS_Assert(hook);
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SANITYCHECK_CustomHookInstance *instance = NULL;
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// Check whether there is an existing instance and enable it
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LL_FOREACH(hooks, instance) {
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if (instance->hook == hook) {
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instance->enabled = true;
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return;
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}
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}
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// No existing instance found, attach this new one
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instance = (SANITYCHECK_CustomHookInstance *)pios_malloc(sizeof(SANITYCHECK_CustomHookInstance));
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PIOS_Assert(instance);
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instance->hook = hook;
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instance->next = NULL;
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instance->enabled = true;
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LL_APPEND(hooks, instance);
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}
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void SANITYCHECK_DetachHook(SANITYCHECK_CustomHook_function *hook)
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{
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if (!hooks) {
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return;
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}
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SANITYCHECK_CustomHookInstance *instance = NULL;
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LL_FOREACH(hooks, instance) {
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if (instance->hook == hook) {
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instance->enabled = false;
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return;
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}
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}
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}
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