fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 03:10:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: initialize gps & baro as failure state

Browse Source 
This avoids error messages on startup.
This commit is contained in:
Beat Küng
2016-09-20 18:47:33 +02:00
committed by Julian Oes
parent ce0d31b7d9
commit 50b8ed0a89
2 changed files with 10 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+9 -1
View File
@@ -1314,6 +1314,11 @@ int commander_thread_main(int argc, char *argv[])
status_flags.offboard_control_signal_found_once = false;
status_flags.rc_signal_found_once = false;
/* assume we don't have a valid GPS & baro on startup */
status_flags.gps_failure = true;
status_flags.barometer_failure = true;
status_flags.ever_had_barometer_data = false;
/* mark all signals lost as long as they haven't been found */
status.rc_signal_lost = true;
status_flags.offboard_control_signal_lost = true;
@@ -1833,7 +1838,10 @@ int commander_thread_main(int argc, char *argv[])
if (status_flags.barometer_failure) {
status_flags.barometer_failure = false;
status_changed = true;
mavlink_log_critical(&mavlink_log_pub, "baro healthy");
if (status_flags.ever_had_barometer_data) {
mavlink_log_critical(&mavlink_log_pub, "baro healthy");
}
status_flags.ever_had_barometer_data = true;
}
} else {
src/modules/commander/state_machine_helper.h
+1
View File
@@ -92,6 +92,7 @@ struct status_flags_s {
bool gps_failure; // Set to true if a gps failure is detected
bool gps_failure_cmd; // Set to true if a gps failure mode is commanded
bool barometer_failure; // Set to true if a barometer failure is detected
bool ever_had_barometer_data; // Set to true if ever had valid barometer data before
};
bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);