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Commander: remove preflight check for transition switch

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This check enforced setting a VTOL transition switch if an RC as used on a VTOL.
It comes from a time when the only way to transtion was through the RC switch,
whereas now we have also a mavlink message in place for it, so enforcing it is
no longer needed.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-11-26 11:37:40 +01:00
parent fc1aaa58b2
commit 3a9eef658c
3 changed files with 3 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+1 -1
View File
@@ -201,7 +201,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
param_get(param_find("COM_RC_IN_MODE"), &com_rc_in_mode);
if (com_rc_in_mode == 0) {
if (rcCalibrationCheck(mavlink_log_pub, report_failures, status.is_vtol) != OK) {
if (rcCalibrationCheck(mavlink_log_pub, report_failures) != OK) {
if (report_failures) {
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
}
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+1 -1
View File
@@ -106,7 +106,7 @@ private:
static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
const bool report_fail, const bool prearm, const bool max_airspeed_check_en, const float arming_max_airspeed_allowed);
static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL);
static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail);
static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
const bool prearm);
static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
src/modules/commander/Arming/PreFlightCheck/checks/rcCalibrationCheck.cpp
+1 -24
View File
@@ -52,7 +52,7 @@
*/
#define RC_INPUT_HIGHEST_MAX_US 3500
int PreFlightCheck::rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL)
int PreFlightCheck::rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail)
{
char nbuf[20];
param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
@@ -67,29 +67,6 @@ int PreFlightCheck::rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool repor
unsigned j = 0;
/* if VTOL, check transition switch mapping */
if (isVTOL) {
param_t trans_parm = param_find("RC_MAP_TRANS_SW");
if (trans_parm == PARAM_INVALID) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC_MAP_TRANS_SW PARAMETER MISSING."); }
/* give system time to flush error message in case there are more */
px4_usleep(100000);
map_fail_count++;
} else {
int32_t transition_switch;
param_get(trans_parm, &transition_switch);
if (transition_switch < 1) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Transition switch RC_MAP_TRANS_SW not set."); }
map_fail_count++;
}
}
}
/* first check channel mappings */
while (rc_map_mandatory[j] != nullptr) {