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circuit_breakers: added param to disable airspeed check

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Julian Oes
2014-07-26 17:48:45 +02:00
parent 5bf7d5774c
commit 54b9698d65
5 changed files with 19 additions and 1 deletions
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src/modules/commander/commander.cpp
+2
View File
@@ -736,6 +736,7 @@ int commander_thread_main(int argc, char *argv[])
// CIRCUIT BREAKERS
status.circuit_breaker_engaged_power_check = false;
status.circuit_breaker_engaged_airspd_check = false;
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -977,6 +978,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_component_id, &(status.component_id));
status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
status_changed = true;
src/modules/commander/state_machine_helper.cpp
+3 -1
View File
@@ -669,7 +669,9 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
goto system_eval;
}
if (!status->is_rotary_wing) {
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status->circuit_breaker_engaged_airspd_check && !status->is_rotary_wing) {
/* accel done, close it */
close(fd);
fd = orb_subscribe(ORB_ID(airspeed));