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HITL handling: Enforce the use of the activation parameter for HITL configuration

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Lorenz Meier
2017-07-29 17:45:35 +02:00
parent 8aa1382e08
commit 5838556742
4 changed files with 32 additions and 18 deletions
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src/modules/commander/commander.cpp
+5 -13
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@@ -165,6 +165,8 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define POSVEL_PROBATION_MAX 100E6 /**< maximum probation duration (usec) */
#define POSVEL_VALID_PROBATION_FACTOR 10 /**< the rate at which the probation duration is increased while checks are failing */
static bool startup_in_hil = false;
/*
* Probation times for position and velocity validity checks to pass if failed
* Signed integers are used because these can become negative values before constraints are applied
@@ -344,14 +346,6 @@ static int power_button_state_notification_cb(board_power_button_state_notificat
return PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING;
}
/**
* check whether autostart ID is in the reserved range for HIL setups
*/
static bool is_hil_setup(int id) {
return (id >= HIL_ID_MIN) && (id <= HIL_ID_MAX);
}
int commander_main(int argc, char *argv[])
{
if (argc < 2) {
@@ -700,7 +694,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
// For HIL platforms, require that simulated sensors are connected
if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
startup_in_hil && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
@@ -1288,8 +1282,6 @@ int commander_thread_main(int argc, char *argv[])
bool was_falling = false;
bool was_armed = false;
bool startup_in_hil = false;
// XXX for now just set sensors as initialized
status_flags.condition_system_sensors_initialized = true;
@@ -1711,7 +1703,7 @@ int commander_thread_main(int argc, char *argv[])
arm_mission_required = (arm_mission_required_param == 1);
status.rc_input_mode = rc_in_off;
if (is_hil_setup(autostart_id)) {
if (startup_in_hil) {
// HIL configuration selected: real sensors will be disabled
status_flags.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
@@ -1968,7 +1960,7 @@ int commander_thread_main(int argc, char *argv[])
telemetry_preflight_checks_reported[i] = hotplug_timeout;
/* provide RC and sensor status feedback to the user */
if (is_hil_setup(autostart_id)) {
if (startup_in_hil) {
/* HIL configuration: check only RC input */
(void)Commander::preflightCheck(&mavlink_log_pub, false, false, false, false, false,
(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), false,