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commander: don't impose additional timeouts in sensor checks

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- 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
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src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
+6 -6
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@@ -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;
}