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Failure detector - Add flight termination comments, make format

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This commit is contained in:
bresch
2019-06-05 16:53:08 +02:00
committed by Beat Küng
parent 0655f7603b
commit 59265f6663
5 changed files with 41 additions and 32 deletions
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src/modules/commander/Commander.cpp
+4 -3
View File
@@ -2207,6 +2207,7 @@ Commander::run()
/* Check for failure detector status */
const bool failure_detector_updated = _failure_detector.update();
if (failure_detector_updated) {
const uint8_t failure_status = _failure_detector.get_status();
@@ -2218,9 +2219,9 @@ Commander::run()
}
if (armed.armed &&
failure_detector_updated &&
!_in_flight_termination &&
!status_flags.circuit_breaker_flight_termination_disabled) {
failure_detector_updated &&
!_in_flight_termination &&
!status_flags.circuit_breaker_flight_termination_disabled) {
if (status.failure_detector_status != 0) {
src/modules/commander/PreflightCheck.cpp
+15 -13
View File
@@ -682,20 +682,22 @@ static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
// Ignore failure detector check after arming.
return true;
} else {
if (status.failure_detector_status != 0) {
success = false;
}
if (report_fail) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ROLL FAILURE DETECTED");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: PITCH FAILURE DETECTED");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ALTITUDE FAILURE DETECTED");
}
if (status.failure_detector_status != 0) {
success = false;
if (report_fail) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Roll failure detected");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Pitch failure detected");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Altitude failure detected");
}
}
}