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sensors: move baro aggregation to new sensors/vehicle_air_data

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This commit is contained in:
Daniel Agar
2020-03-12 19:06:34 -04:00
parent 093e9ba1ce
commit 0eca583ecf
25 changed files with 479 additions and 276 deletions
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src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+1 -22
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@@ -221,11 +221,6 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
/* ---- BARO ---- */
if (checkSensors) {
//bool prime_found = false;
int32_t prime_id = -1;
param_get(param_find("CAL_BARO_PRIME"), &prime_id);
int32_t sys_has_baro = 1;
param_get(param_find("SYS_HAS_BARO"), &sys_has_baro);
@@ -238,29 +233,13 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
int32_t device_id = -1;
if (baroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if ((prime_id > 0) && (device_id == prime_id)) {
//prime_found = true;
}
} else {
if (!baroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (required) {
failed = true;
baro_fail_reported = true;
}
}
}
// TODO there is no logic in place to calibrate the primary baro yet
// // check if the primary device is present
// if (false) {
// if (reportFailures && !failed) {
// mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
// }
// set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, false, true, false, status);
// failed = true;
// }
}
/* ---- IMU CONSISTENCY ---- */