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LibrePilot/flight/libraries/sanitycheck.c

266 lines
11 KiB
C

/**
******************************************************************************
* @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 <openpilot.h>
#include <pios_board_info.h>
// Private includes
#include "inc/sanitycheck.h"
// UAVOs
#include <manualcontrolsettings.h>
#include <flightmodesettings.h>
#include <systemsettings.h>
#include <systemalarms.h>
#include <taskinfo.h>
/****************************
* 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 int32_t 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 airframe type
bool multirotor = true;
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:
if (multirotor) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED4:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(4, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED5:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(5, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED6:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(6, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_AUTOTUNE)) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports Position Hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports AutoLand Mode
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports POI Mode
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER:
if (coptercontrol) {
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
// PathPlan alarm is warning or error if the flightplan is invalid
SystemAlarmsAlarmData alarms;
SystemAlarmsAlarmGet(&alarms);
if (alarms.PathPlan != SYSTEMALARMS_ALARM_OK) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) {
// Revo supports ReturnToBase
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
default:
// Uncovered modes are automatically an error
severity = SYSTEMALARMS_ALARM_ERROR;
}
// 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 SYSTEMALARMS_ALARM_OK or SYSTEMALARMS_ALARM_ERROR
*/
static int32_t 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 SYSTEMALARMS_ALARM_ERROR;
}
// 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 SYSTEMALARMS_ALARM_ERROR;
}
}
}
// coptercontrol cannot do altitude holding
if (coptercontrol) {
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
) {
return SYSTEMALARMS_ALARM_ERROR;
}
}
// 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_VERTICALVELOCITY
) {
return SYSTEMALARMS_ALARM_ERROR;
}
}
if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL
)) {
return SYSTEMALARMS_ALARM_ERROR;
}
// 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 SYSTEMALARMS_ALARM_OK;
}