fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-25 08:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

inhibit more sensor checks

Browse Source
This commit is contained in:
Mark Whitehorn
2015-06-06 07:56:48 -06:00
parent ab61ebca2a
commit 05f935cd77
2 changed files with 12 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+10 -3
View File
@@ -1154,7 +1154,7 @@ int commander_thread_main(int argc, char *argv[])
}
} else {
// HIL configuration selected: real sensors will be disabled
warnx("autostart_id: %d", autostart_id);
warnx("HIL configuration; autostart_id: %d, onboard IMU sensors disabled", autostart_id);
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
@@ -1327,8 +1327,15 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
if (autostart_id > 1999) {
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
} else {
/* HIL configuration: check only RC input */
warnx("new telemetry link connected: checking RC status");
(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
}
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;