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Add optional preflight check for healthy MAVLink parachute system

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This commit is contained in:
Matthias Grob
2021-11-02 16:08:14 +01:00
parent 43c529f294
commit 3193b554ca
9 changed files with 91 additions and 0 deletions
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src/modules/commander/Commander.cpp
+5
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@@ -3435,6 +3435,8 @@ void Commander::data_link_check()
}
_datalink_last_heartbeat_parachute_system = telemetry.timestamp;
_status_flags.parachute_system_present = true;
_status_flags.parachute_system_healthy = telemetry.parachute_system_healthy;
}
if (telemetry.heartbeat_component_obstacle_avoidance) {
@@ -3481,7 +3483,10 @@ void Commander::data_link_check()
if ((hrt_elapsed_time(&_datalink_last_heartbeat_parachute_system) > 3_s)
&& !_parachute_system_lost) {
mavlink_log_critical(&_mavlink_log_pub, "Parachute system lost");
_status_flags.parachute_system_present = false;
_status_flags.parachute_system_healthy = false;
_parachute_system_lost = true;
_status_changed = true;
}
// AVOIDANCE SYSTEM state check (only if it is enabled)