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Commander: extend COM_ARM_WO_GPS to disable warning (#23628)

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This commit is contained in:
Mathieu Bresciani 2024-08-28 17:33:58 +02:00 committed by GitHub
parent 0f1507c24e
commit 2cda0efd84
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GPG Key ID: B5690EEEBB952194
3 changed files with 44 additions and 11 deletions
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38
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
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@ -273,12 +273,27 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
}
if (!context.isArmed() && ekf_gps_check_fail) {
NavModes required_groups_gps = required_groups;
events::Log log_level = events::Log::Error;
NavModes required_groups_gps;
events::Log log_level;
if (_param_com_arm_wo_gps.get()) {
switch (static_cast<GnssArmingCheck>(_param_com_arm_wo_gps.get())) {
default:
/* FALLTHROUGH */
case GnssArmingCheck::DenyArming:
required_groups_gps = required_groups;
log_level = events::Log::Error;
break;
case GnssArmingCheck::WarningOnly:
required_groups_gps = NavModes::None; // optional
log_level = events::Log::Warning;
break;
case GnssArmingCheck::Disabled:
required_groups_gps = NavModes::None;
log_level = events::Log::Disabled;
break;
}
// Only report the first failure to avoid spamming
@ -438,11 +453,20 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
}
if (message && reporter.mavlink_log_pub()) {
if (!_param_com_arm_wo_gps.get()) {
mavlink_log_critical(reporter.mavlink_log_pub(), message, " Fail");
switch (static_cast<GnssArmingCheck>(_param_com_arm_wo_gps.get())) {
default:
} else {
mavlink_log_critical(reporter.mavlink_log_pub(), message, "");
/* FALLTHROUGH */
case GnssArmingCheck::DenyArming:
mavlink_log_critical(reporter.mavlink_log_pub(), message, " Fail");
break;
case GnssArmingCheck::WarningOnly:
mavlink_log_warning(reporter.mavlink_log_pub(), message, "");
break;
case GnssArmingCheck::Disabled:
break;
}
}
}

8
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
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@ -59,6 +59,12 @@ public:
void checkAndReport(const Context &context, Report &reporter) override;
private:
enum class GnssArmingCheck : uint8_t {
DenyArming = 0,
WarningOnly = 1,
Disabled = 2
};
void checkEstimatorStatus(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
NavModes required_groups);
void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
@ -108,7 +114,7 @@ private:
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
(ParamInt<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,

9
src/modules/commander/commander_params.c
View File

@ -225,11 +225,14 @@ PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
/**
* Allow arming without GPS
* GPS preflight check
*
* Measures taken when a check defined by EKF2_GPS_CHECK is failing.
*
* @group Commander
* @value 0 Require GPS lock to arm
* @value 1 Allow arming without GPS
* @value 0 Deny arming
* @value 1 Warning only
* @value 2 Disabled
*/
PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);