fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-17 12:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

preflightcheck EKF2 GPS requirement after 20s

Browse Source
This commit is contained in:
Daniel Agar
2017-08-11 01:27:08 -04:00
parent 9a9923c517
commit 2495f8942b
2 changed files with 23 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+2 -3
View File
@@ -1706,7 +1706,7 @@ int commander_thread_main(int argc, char *argv[])
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) ? ARM_REQ_NONE : ARM_REQ_GPS_BIT;
int32_t arm_mission_required_param = 0;
param_get(_param_arm_mission_required, &arm_mission_required_param);
@@ -1722,7 +1722,6 @@ int commander_thread_main(int argc, char *argv[])
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true,
checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status_flags.circuit_breaker_engaged_gpsfailure_check,
false, is_vtol(&status), false, false, hrt_elapsed_time(&commander_boot_timestamp));
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
@@ -1865,7 +1864,7 @@ int commander_thread_main(int argc, char *argv[])
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) ? ARM_REQ_NONE : 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));