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commander: print 'ready for takeoff' to console for sitl after startup

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This commit is contained in:
Beat Küng
2022-08-08 13:21:02 +02:00
committed by Daniel Agar
parent 2fccb576ad
commit 4230eee24f
4 changed files with 31 additions and 9 deletions
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src/modules/commander/Commander.cpp
+19
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@@ -2963,6 +2963,8 @@ Commander::run()
_vehicle_status_flags.pre_flight_checks_pass = _health_and_arming_checks.canArm(
_vehicle_status.nav_state);
perf_end(_preflight_check_perf);
check_and_inform_ready_for_takeoff();
}
// publish actuator_armed first (used by output modules)
@@ -3099,6 +3101,23 @@ Commander::get_circuit_breaker_params()
CBRK_VTOLARMING_KEY);
}
void Commander::check_and_inform_ready_for_takeoff()
{
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
static bool ready_for_takeoff_printed = false;
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||
_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
if (!ready_for_takeoff_printed &&
_health_and_arming_checks.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF)) {
PX4_INFO("%sReady for takeoff!%s", PX4_ANSI_COLOR_GREEN, PX4_ANSI_COLOR_RESET);
ready_for_takeoff_printed = true;
}
}
#endif // CONFIG_ARCH_BOARD_PX4_SITL
}
void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
{
switch (blink_msg_state()) {