fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 03:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: don't impose additional timeouts in sensor checks

Browse Source 
- the sensors hub is responsible for sensor timeouts
This commit is contained in:
Daniel Agar
2020-09-30 12:17:48 -04:00
parent 98c8cbb27f
commit 25c537bae9
7 changed files with 23 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
+5 -5
View File
@@ -50,15 +50,15 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
{
const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
bool calibration_valid = false;
bool accel_valid = true;
bool valid = true;
if (exists) {
uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};
accel_valid = (hrt_elapsed_time(&accel.get().timestamp) < 1_s);
valid = (accel.get().device_id != 0) && (accel.get().timestamp != 0);
if (!accel_valid) {
if (!valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Accel #%u", instance);
}
@@ -86,7 +86,7 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
}
/* this is frickin' fatal */
accel_valid = false;
valid = false;
}
}
}
@@ -97,7 +97,7 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
}
}
const bool success = calibration_valid && accel_valid;
const bool success = calibration_valid && valid;
if (instance == 0) {
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC, exists, !optional, success, status);
src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp
+5 -6
View File
@@ -47,20 +47,19 @@ bool PreFlightCheck::baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
const bool optional, int32_t &device_id, const bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_baro), instance) == PX4_OK);
bool baro_valid = false;
bool valid = false;
if (exists) {
uORB::SubscriptionData<sensor_baro_s> baro{ORB_ID(sensor_baro), instance};
baro_valid = (hrt_elapsed_time(&baro.get().timestamp) < 1_s);
valid = (baro.get().device_id != 0) && (baro.get().timestamp != 0);
if (!baro_valid) {
if (!valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Baro #%u", instance);
}
}
} else {
if (!optional && report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Baro Sensor #%u missing", instance);
@@ -68,8 +67,8 @@ bool PreFlightCheck::baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
}
if (instance == 0) {
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, exists, !optional, baro_valid, status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, exists, !optional, valid, status);
}
return baro_valid;
return valid;
}
src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
+6 -6
View File
@@ -49,15 +49,15 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
{
const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK);
bool calibration_valid = false;
bool gyro_valid = false;
bool valid = false;
if (exists) {
uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), instance};
gyro_valid = (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);
valid = (gyro.get().device_id != 0) && (gyro.get().timestamp != 0);
if (!gyro_valid) {
if (!valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Gyro #%u", instance);
}
@@ -80,11 +80,11 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
}
if (instance == 0) {
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, exists, !optional, calibration_valid && gyro_valid, status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, exists, !optional, calibration_valid && valid, status);
} else if (instance == 1) {
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, exists, !optional, calibration_valid && gyro_valid, status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, exists, !optional, calibration_valid && valid, status);
}
return calibration_valid && gyro_valid;
return calibration_valid && valid;
}
src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
+4 -4
View File
@@ -49,15 +49,15 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
{
const bool exists = (orb_exists(ORB_ID(sensor_mag), instance) == PX4_OK);
bool calibration_valid = false;
bool mag_valid = false;
bool valid = false;
if (exists) {
uORB::SubscriptionData<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), instance};
mag_valid = (hrt_elapsed_time(&magnetometer.get().timestamp) < 1_s);
valid = (magnetometer.get().device_id != 0) && (magnetometer.get().timestamp != 0);
if (!mag_valid) {
if (!valid) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Compass #%u", instance);
}
@@ -79,7 +79,7 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
}
}
const bool success = calibration_valid && mag_valid;
const bool success = calibration_valid && valid;
if (instance == 0) {
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG, exists, !optional, success, status);
src/modules/commander/Arming/PreFlightCheck/checks/manualControlCheck.cpp
+1 -1
View File
@@ -47,7 +47,7 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
manual_control_setpoint_sub.update();
const manual_control_setpoint_s &manual_control_setpoint = manual_control_setpoint_sub.get();
if (hrt_elapsed_time(&manual_control_setpoint.timestamp) < 1_s) {
if (manual_control_setpoint.timestamp != 0) {
//check action switches
if (manual_control_setpoint.return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp
+1 -1
View File
@@ -67,7 +67,7 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
system_power_sub.update();
const system_power_s &system_power = system_power_sub.get();
if (hrt_elapsed_time(&system_power.timestamp) < 1_s) {
if (system_power.timestamp != 0) {
// Check avionics rail voltages (if USB isn't connected)
if (!system_power.usb_connected) {
float avionics_power_rail_voltage = system_power.voltage5v_v;
src/modules/commander/mag_calibration.cpp
+1 -1
View File
@@ -976,7 +976,7 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian
sensor_mag_s mag{};
mag_sub.copy(&mag);
if (mag_sub.advertised() && (hrt_elapsed_time(&mag.timestamp) < 1_s)) {
if (mag_sub.advertised() && (mag.timestamp != 0)) {
calibration::Magnetometer cal{mag.device_id, mag.is_external};