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Commander: execute pre arm check with preflight checks

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This commit is contained in:
Matthias Grob
2022-06-13 13:33:44 +02:00
committed by Daniel Agar
parent aa575d6af0
commit 3b3d8b9942
5 changed files with 55 additions and 39 deletions
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src/modules/commander/Commander.cpp
+28 -19
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@@ -298,16 +298,14 @@ int Commander::custom_command(int argc, char *argv[])
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, vehicle_status, vehicle_status_flags,
vehicle_control_mode,
true, true, 30_s);
true, // report_failures
true, // prearm
30_s,
false, // safety_buttton_available not known
false, // safety_off not known
PreFlightCheck::arm_requirements_t{});
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
bool dummy_safety_button{false};
bool dummy_safety_off{false};
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, vehicle_status_flags, vehicle_control_mode,
dummy_safety_button, dummy_safety_off,
PreFlightCheck::arm_requirements_t{}, vehicle_status);
PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
print_health_flags(vehicle_status);
return 0;
@@ -856,7 +854,12 @@ Commander::Commander() :
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
false, true, hrt_elapsed_time(&_boot_timestamp));
false, // report_failures
true, // prearm
hrt_elapsed_time(&_boot_timestamp),
false, // safety_buttton_available not known
false, // safety_off not known,
PreFlightCheck::arm_requirements_t{});
}
Commander::~Commander()
@@ -3004,19 +3007,19 @@ Commander::run()
// Evaluate current prearm status (skip during arm -> disarm transition)
if (!actuator_armed_prev.armed && !_arm_state_machine.isArmed() && !_vehicle_status_flags.calibration_enabled) {
perf_begin(_preflight_check_perf);
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _vehicle_status, _vehicle_status_flags,
_vehicle_control_mode,
false, true, hrt_elapsed_time(&_boot_timestamp));
perf_end(_preflight_check_perf);
// skip arm authorization check until actual arming attempt
PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
arm_req.arm_authorization = false;
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _vehicle_status_flags, _vehicle_control_mode,
_safety.isButtonAvailable(), _safety.isSafetyOff(),
arm_req, _vehicle_status, false);
_vehicle_status_flags.pre_flight_checks_pass = PreFlightCheck::preflightCheck(nullptr, _vehicle_status,
_vehicle_status_flags,
_vehicle_control_mode,
false, // report_failures
true, // prearm
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff(),
arm_req);
perf_end(_preflight_check_perf);
_vehicle_status_flags.pre_flight_checks_pass = preflight_check_res && prearm_check_res;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true,
_vehicle_status_flags.pre_flight_checks_pass, _vehicle_status);
}
@@ -3638,8 +3641,14 @@ void Commander::data_link_check()
if (!_arm_state_machine.isArmed() && !_vehicle_status_flags.calibration_enabled) {
// make sure to report preflight check failures to a connecting GCS
// skip arm authorization check until actual arming attempt
PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
arm_req.arm_authorization = false;
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
true, false, hrt_elapsed_time(&_boot_timestamp));
true, // report_failures
false, // prearm
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff(), arm_req);
}
}