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11 @page pfc_features Pre-Flight Checker Features
13 The Pre-Flight Checker (PFC) tool provides the following features in both
14 autonomous vehicle mode and bench mode.
16 - Validates the following sensors:
17 - Camera sensors with data-validation based on histogram
18 - CAN steering, brake, throttle, and gear
19 - IMU Sensor with timestamp-based data validation (Xsense only)
20 - GPS sensor with timestamp- and DOP-based data validation (Xsense only)
21 - Ethernet Radar sensor
22 - Displays version information for:
25 - DriveWorks and NVIDIA DRIVE<sup>™</sup> AV
26 - Provides status of the disk storage space,
27 including whether it is critically low.
29 PFC performs sensor validation by calculating the frequencies at which sensors provide data.
30 Additionally, PFC performs data validations specific for the type of sensor:
32 - Camera validation: Ensures the
33 captured data is good and contains valid frames. During camera validation, PFC
34 checks the captured data by examining histograms for RAW frames. It divides the
35 histogram into low, medium, and high percentiles and then compares the high and
36 low percentiles to ensure they exceed a threshold value and the mid-percentiles
37 lie within a lower and upper boundary.
38 - IMU data validation: Uses timestamps and IMU frame flag correctness to
39 validate IMU data correctness.
40 - CAN data validation: Uses timely receipt of CAN messages to verify functional
41 steering, brake, throttle, and gear.
42 - GPS data validation: Determines the GPS data correctness based on timestamps, GPS
43 frame flag correctness, and dilution of precision. If multiple GPS sensors are
44 defined, PFC also performs cross validation.