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Commander: Fix reporting in presence of no telemetry link

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Lorenz Meier
2015-11-19 16:33:56 +01:00
parent ca125bccbd
commit 173edcef63
3 changed files with 6 additions and 6 deletions
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src/modules/commander/commander.cpp
+2 -2
View File
@@ -382,9 +382,9 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "check")) {
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
int checkres = 0;
checkres = preflight_check(&status, mavlink_fd_local, false);
checkres = preflight_check(&status, mavlink_fd_local, false, true);
warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
checkres = preflight_check(&status, mavlink_fd_local, true);
checkres = preflight_check(&status, mavlink_fd_local, true, true);
warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
px4_close(mavlink_fd_local);
return 0;
src/modules/commander/state_machine_helper.cpp
+3 -3
View File
@@ -743,12 +743,12 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
return status->nav_state != nav_state_old;
}
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm)
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report)
{
/*
*/
bool reportFailures = false;
reportFailures = !status->condition_system_prearm_error_reported && status->condition_system_hotplug_timeout;
bool reportFailures = force_report || (!status->data_link_lost &&
!status->condition_system_prearm_error_reported && status->condition_system_hotplug_timeout);
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
src/modules/commander/state_machine_helper.h
+1 -1
View File
@@ -65,6 +65,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm);
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report=false);
#endif /* STATE_MACHINE_HELPER_H_ */