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commander consolidate estimator checks in new method

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Daniel Agar
2018-08-03 17:38:16 -04:00
parent c415477caf
commit 05ca1defee
2 changed files with 117 additions and 112 deletions
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src/modules/commander/Commander.hpp
+10
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@@ -53,6 +53,7 @@
// subscriptions
#include <uORB/Subscription.hpp>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/safety.h>
@@ -118,6 +119,12 @@ private:
hrt_abstime _lpos_probation_time_us = POSVEL_PROBATION_MIN;
hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;
/* class variables used to check for navigation failure after takeoff */
hrt_abstime _time_at_takeoff{0}; /**< last time we were on the ground */
hrt_abstime _time_last_innov_pass{0}; /**< last time velocity innovations passed */
bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd,
actuator_armed_s *armed, home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
@@ -169,7 +176,10 @@ private:
bool high_latency = false;
} _telemetry[ORB_MULTI_MAX_INSTANCES];
void estimator_check(bool *status_changed);
// Subscriptions
Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
Subscription<mission_result_s> _mission_result_sub;
Subscription<vehicle_global_position_s> _global_position_sub;
Subscription<vehicle_local_position_s> _local_position_sub;