The Pre-Flight Checker (PFC) tool provides the following features in both autonomous vehicle mode and bench mode.

• Validates the following sensors:
  • Camera sensors with data-validation based on histogram
  • CAN steering, brake, throttle, and gear
  • IMU Sensor with timestamp-based data validation (Xsense only)
  • GPS sensor with timestamp- and DOP-based data validation (Xsense only)
  • Ethernet Radar sensor
• Displays version information for:
  • AURIX MCU firmware
  • PDK versions
  • DriveWorks and NVIDIA DRIVE^™ AV
• Provides status of the disk storage space, including whether it is critically low.

PFC performs sensor validation by calculating the frequencies at which sensors provide data. Additionally, PFC performs data validations specific for the type of sensor:

• Camera validation: Ensures the captured data is good and contains valid frames. During camera validation, PFC checks the captured data by examining histograms for RAW frames. It divides the histogram into low, medium, and high percentiles and then compares the high and low percentiles to ensure they exceed a threshold value and the mid-percentiles lie within a lower and upper boundary.
• IMU data validation: Uses timestamps and IMU frame flag correctness to validate IMU data correctness.
• CAN data validation: Uses timely receipt of CAN messages to verify functional steering, brake, throttle, and gear.
• GPS data validation: Determines the GPS data correctness based on timestamps, GPS frame flag correctness, and dilution of precision. If multiple GPS sensors are defined, PFC also performs cross validation.