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commander preflight checks pass status and status_flags messages

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This commit is contained in:
Daniel Agar
2018-04-04 20:48:44 -04:00
parent f2104217d4
commit 2271b3f127
4 changed files with 91 additions and 51 deletions
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src/modules/commander/commander.cpp
+1 -18
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@@ -4032,26 +4032,9 @@ void Commander::mission_init()
bool Commander::preflight_check(bool report)
{
const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON);
const bool checkSensors = !hil_enabled;
const bool checkRC = (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT);
const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT);
const bool checkDynamic = !hil_enabled;
const bool checkPower = (status_flags.condition_power_input_valid && !status_flags.circuit_breaker_engaged_power_check);
const bool reportFailures = (report && status_flags.condition_system_hotplug_timeout);
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status_flags.circuit_breaker_engaged_airspd_check && (!status.is_rotary_wing || status.is_vtol)) {
checkAirspeed = true;
}
bool success = Preflight::preflightCheck(&mavlink_log_pub, checkSensors, checkAirspeed, checkRC, checkGNSS, checkDynamic, checkPower,
status.is_vtol, reportFailures, false, hrt_elapsed_time(&commander_boot_timestamp));
bool success = Preflight::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false, hrt_elapsed_time(&commander_boot_timestamp));
status_flags.condition_system_sensors_initialized = success;