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Commander: start pulling arming related parts into separate folder

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* PreFlightCheck: remove unused reportFailures flag
* Commander: pull all pre flight checks together on the PreFlightCheck class
* PreFlightCheck: separate checks into their own files
This commit is contained in:
Matthias Grob
2019-11-05 17:25:59 +01:00
committed by Daniel Agar
parent 08a27492b4
commit 1a79f75f94
32 changed files with 1838 additions and 1281 deletions
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src/modules/commander/Commander.cpp
+17 -13
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@@ -45,20 +45,20 @@
#include "Commander.hpp"
/* commander module headers */
#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
#include "Arming/ArmAuthorization/ArmAuthorization.h"
#include "Arming/HealthFlags/HealthFlags.h"
#include "accelerometer_calibration.h"
#include "airspeed_calibration.h"
#include "arm_auth.h"
#include "baro_calibration.h"
#include "calibration_routines.h"
#include "commander_helper.h"
#include "esc_calibration.h"
#include "gyro_calibration.h"
#include "mag_calibration.h"
#include "PreflightCheck.h"
#include "px4_custom_mode.h"
#include "rc_calibration.h"
#include "state_machine_helper.h"
#include "health_flag_helper.h"
/* PX4 headers */
#include <dataman/dataman.h>
@@ -156,7 +156,7 @@ static struct vehicle_status_flags_s status_flags = {};
static uint64_t rc_signal_lost_timestamp; // Time at which the RC reception was lost
static uint8_t arm_requirements = ARM_REQ_NONE;
static uint8_t arm_requirements = PreFlightCheck::ARM_REQ_NONE;
static bool _last_condition_local_altitude_valid = false;
static bool _last_condition_local_position_valid = false;
@@ -374,7 +374,7 @@ int commander_main(int argc, char *argv[])
bool preflight_check_res = Commander::preflight_check(true);
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
bool prearm_check_res = prearm_check(&mavlink_log_pub, status_flags, safety, arm_requirements);
bool prearm_check_res = PreFlightCheck::preArmCheck(&mavlink_log_pub, status_flags, safety, arm_requirements);
PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
return 0;
@@ -1392,15 +1392,17 @@ Commander::run()
int32_t arm_without_gps_param = 0;
param_get(_param_arm_without_gps, &arm_without_gps_param);
arm_requirements = (arm_without_gps_param == 1) ? ARM_REQ_NONE : ARM_REQ_GPS_BIT;
arm_requirements = (arm_without_gps_param == 1) ? PreFlightCheck::ARM_REQ_NONE : PreFlightCheck::ARM_REQ_GPS_BIT;
int32_t arm_mission_required_param = 0;
param_get(_param_arm_mission_required, &arm_mission_required_param);
arm_requirements |= (arm_mission_required_param & (ARM_REQ_MISSION_BIT | ARM_REQ_ARM_AUTH_BIT));
arm_requirements |= (arm_mission_required_param &
(PreFlightCheck::ARM_REQ_MISSION_BIT | PreFlightCheck::ARM_REQ_ARM_AUTH_BIT));
int32_t arm_escs_checks_required_param = 0;
param_get(_param_escs_checks_required, &arm_escs_checks_required_param);
arm_requirements |= (arm_escs_checks_required_param == 0) ? ARM_REQ_NONE : ARM_REQ_ESCS_CHECK_BIT;
arm_requirements |= (arm_escs_checks_required_param == 0) ? PreFlightCheck::ARM_REQ_NONE :
PreFlightCheck::ARM_REQ_ESCS_CHECK_BIT;
status.rc_input_mode = rc_in_off;
@@ -1528,11 +1530,13 @@ Commander::run()
param_get(_param_arm_switch_is_button, &arm_switch_is_button);
param_get(_param_arm_without_gps, &arm_without_gps_param);
arm_requirements = (arm_without_gps_param == 1) ? ARM_REQ_NONE : ARM_REQ_GPS_BIT;
arm_requirements = (arm_without_gps_param == 1) ? PreFlightCheck::ARM_REQ_NONE : PreFlightCheck::ARM_REQ_GPS_BIT;
param_get(_param_arm_mission_required, &arm_mission_required_param);
arm_requirements |= (arm_mission_required_param & (ARM_REQ_MISSION_BIT | ARM_REQ_ARM_AUTH_BIT));
arm_requirements |= (arm_mission_required_param &
(PreFlightCheck::ARM_REQ_MISSION_BIT | PreFlightCheck::ARM_REQ_ARM_AUTH_BIT));
param_get(_param_escs_checks_required, &arm_escs_checks_required_param);
arm_requirements |= (arm_escs_checks_required_param == 0) ? ARM_REQ_NONE : ARM_REQ_ESCS_CHECK_BIT;
arm_requirements |= (arm_escs_checks_required_param == 0) ? PreFlightCheck::ARM_REQ_NONE :
PreFlightCheck::ARM_REQ_ESCS_CHECK_BIT;
/* flight mode slots */
@@ -3755,9 +3759,9 @@ void Commander::mission_init()
bool Commander::preflight_check(bool report)
{
const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT);
const bool checkGNSS = (arm_requirements & PreFlightCheck::ARM_REQ_GPS_BIT);
const bool success = Preflight::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false,
const bool success = PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false,
hrt_elapsed_time(&commander_boot_timestamp));
if (success) {