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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
3 changed files with 44 additions and 11 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+31 -7
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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;
}
}
}