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Commander: Add preflight check for missing GPS module

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This commit is contained in:
Johan Jansen
2015-05-14 19:19:30 +02:00
parent c0a9e08a30
commit 45f1fd6634
3 changed files with 34 additions and 7 deletions
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src/modules/commander/commander.cpp
+4 -5
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@@ -916,6 +916,7 @@ int commander_thread_main(int argc, char *argv[])
status.circuit_breaker_engaged_airspd_check = false;
status.circuit_breaker_engaged_enginefailure_check = false;
status.circuit_breaker_engaged_gpsfailure_check = false;
get_circuit_breaker_params();
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -1117,8 +1118,6 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_sys_type, &(status.system_type)); // get system type
status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
get_circuit_breaker_params();
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
@@ -1127,7 +1126,7 @@ int commander_thread_main(int argc, char *argv[])
}
// Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, status.circuit_breaker_engaged_gpsfailure_check, true);
if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
@@ -1300,7 +1299,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true);
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, status.circuit_breaker_engaged_gpsfailure_check, true);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -2749,7 +2748,7 @@ void *commander_low_prio_loop(void *arg)
checkAirspeed = true;
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, status.circuit_breaker_engaged_gpsfailure_check, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);