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commander: use circuit breaker params directly in arming checks

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This commit is contained in:
Beat Küng
2022-08-08 13:47:07 +02:00
committed by Daniel Agar
parent 4230eee24f
commit 13c93db11a
11 changed files with 20 additions and 29 deletions
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src/modules/commander/Commander.cpp
+3 -13
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@@ -2607,7 +2607,7 @@ Commander::run()
/* Check for mission flight termination */
if (_arm_state_machine.isArmed() && _mission_result_sub.get().flight_termination &&
!_vehicle_status.circuit_breaker_flight_termination_disabled) {
!_circuit_breaker_flight_termination_disabled) {
if (!_flight_termination_triggered && !_lockdown_triggered) {
@@ -2717,7 +2717,7 @@ Commander::run()
events::send(events::ID("commander_fd_lockdown"), {events::Log::Emergency, events::LogInternal::Warning},
"Critical failure detected: lockdown");
} else if (!_vehicle_status.circuit_breaker_flight_termination_disabled &&
} else if (!_circuit_breaker_flight_termination_disabled &&
!_flight_termination_triggered && !_lockdown_triggered) {
_actuator_armed.force_failsafe = true;
@@ -3086,19 +3086,9 @@ Commander::run()
void
Commander::get_circuit_breaker_params()
{
_vehicle_status.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(),
CBRK_SUPPLY_CHK_KEY);
_vehicle_status.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(),
CBRK_USB_CHK_KEY);
_vehicle_status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(
_param_cbrk_airspd_chk.get(),
CBRK_AIRSPD_CHK_KEY);
_vehicle_status.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(
_circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(
_param_cbrk_flightterm.get(),
CBRK_FLIGHTTERM_KEY);
_vehicle_status.circuit_breaker_vtol_fw_arming_check = circuit_breaker_enabled_by_val(
_param_cbrk_vtolarming.get(),
CBRK_VTOLARMING_KEY);
}
void Commander::check_and_inform_ready_for_takeoff()