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Harmonize preflight and prearm checks, run same code except for dynamic range check only on arming

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This commit is contained in:
Lorenz Meier
2015-04-19 23:07:32 +02:00
parent 4f0896b105
commit 554719c78f
4 changed files with 112 additions and 76 deletions
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src/modules/commander/commander.cpp
+34 -4
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@@ -1125,8 +1125,15 @@ int commander_thread_main(int argc, char *argv[])
commander_initialized = true;
thread_running = true;
bool checkAirspeed = false;
/* 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) {
checkAirspeed = true;
}
//Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
if(!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
@@ -1302,8 +1309,15 @@ int commander_thread_main(int argc, char *argv[])
telemetry.heartbeat_time > 0 &&
hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) {
bool chAirspeed = false;
/* 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) {
chAirspeed = true;
}
/* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -2711,7 +2725,15 @@ void *commander_low_prio_loop(void *arg)
// we do not set the calibration return value based on it because the calibration
// might have worked just fine, but the preflight check fails for a different reason,
// so this would be prone to false negatives.
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
bool checkAirspeed = false;
/* 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) {
checkAirspeed = true;
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
@@ -2719,8 +2741,16 @@ void *commander_low_prio_loop(void *arg)
}
case VEHICLE_CMD_PREFLIGHT_STORAGE: {
bool checkAirspeed = false;
/* 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) {
checkAirspeed = true;
}
// Update preflight check status
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);