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Added obstacle avoidance healthiness topic in vehicle status msg.

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This allows to perform pre-arm checks and prevent arming if obstacle avoidance is enabled but not yet running.
Added a print once flag to prevent excessive message spamming in QGC.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-02-13 16:04:22 +01:00
committed by Julian Oes
parent 7be05396ba
commit 107746ded5
3 changed files with 18 additions and 0 deletions
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src/modules/commander/Commander.cpp
+5
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@@ -580,6 +580,7 @@ Commander::Commander() :
status_flags.condition_power_input_valid = true;
status_flags.rc_calibration_valid = true;
status_flags.avoidance_system_valid = false;
}
Commander::~Commander()
@@ -3918,6 +3919,7 @@ void Commander::data_link_check(bool &status_changed)
mavlink_log_info(&mavlink_log_pub, "Avoidance system regained");
status_changed = true;
_avoidance_system_lost = false;
status_flags.avoidance_system_valid = true;
}
}
@@ -3965,6 +3967,7 @@ void Commander::data_link_check(bool &status_changed)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > 5_s)) {
_avoidance_system_lost = true;
mavlink_log_critical(&mavlink_log_pub, "Avoidance system lost");
status_flags.avoidance_system_valid = false;
}
//if status changed
@@ -3975,6 +3978,7 @@ void Commander::data_link_check(bool &status_changed)
if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_ACTIVE) {
mavlink_log_info(&mavlink_log_pub, "Avoidance system healthy");
status_flags.avoidance_system_valid = true;
}
if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_CRITICAL) {
@@ -3983,6 +3987,7 @@ void Commander::data_link_check(bool &status_changed)
if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_FLIGHT_TERMINATION) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system abort");
status_flags.avoidance_system_valid = false;
}
_avoidance_system_status_change = false;