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commander remove gps receiver checks

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This commit is contained in:
Daniel Agar
2018-02-18 17:24:01 -05:00
committed by Lorenz Meier
parent a6e863ac89
commit 4e45d7959c
4 changed files with 15 additions and 138 deletions
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src/modules/commander/PreflightCheck.cpp
-44
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@@ -448,42 +448,6 @@ out:
return success;
}
static bool gnssCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool &lock_detected)
{
bool success = true;
lock_detected = false;
int gpsSub = orb_subscribe(ORB_ID(vehicle_gps_position));
//Wait up to 2000ms to allow the driver to detect a GNSS receiver module
px4_pollfd_struct_t fds[1];
fds[0].fd = gpsSub;
fds[0].events = POLLIN;
if (px4_poll(fds, 1, 2000) <= 0) {
success = false;
} else {
struct vehicle_gps_position_s gps;
if ((OK != orb_copy(ORB_ID(vehicle_gps_position), gpsSub, &gps)) ||
(hrt_elapsed_time(&gps.timestamp) > 1000000)) {
success = false;
} else if (gps.fix_type >= 3) {
lock_detected = true;
}
}
//Report failure to detect module
if (!success) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
}
}
orb_unsubscribe(gpsSub);
return success;
}
static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_fail, bool enforce_gps_required)
{
bool success = true; // start with a pass and change to a fail if any test fails
@@ -779,14 +743,6 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
}
}
/* ---- Global Navigation Satellite System receiver ---- */
if (checkGNSS) {
bool lock_detected = false;
if (!gnssCheck(mavlink_log_pub, reportFailures, lock_detected)) {
failed = true;
}
}
/* ---- Navigation EKF ---- */
// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
int32_t estimator_type;