fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 01:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

update vehicle status before doing preflight checks

Browse Source
This commit is contained in:
Roman Bapst
2015-04-22 09:53:09 +02:00
parent 5e584c2942
commit 5b772e5720
3 changed files with 14 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+8 -13
View File
@@ -1125,6 +1125,10 @@ int commander_thread_main(int argc, char *argv[])
commander_initialized = true;
thread_running = true;
/* update vehicle status to find out vehicle type (required for preflight checks) */
param_get(_param_sys_type, &(status.system_type)); // get system type
status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
@@ -1204,15 +1208,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* disable manual override for all systems that rely on electronic stabilization */
if (status.system_type == vehicle_status_s::VEHICLE_TYPE_COAXIAL ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_HELICOPTER ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_TRICOPTER ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_QUADROTOR ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_HEXAROTOR ||
status.system_type == vehicle_status_s::VEHICLE_TYPE_OCTOROTOR ||
(status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR && vtol_status.vtol_in_rw_mode) ||
(status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR && vtol_status.vtol_in_rw_mode)) {
if (is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode)) {
status.is_rotary_wing = true;
} else {
@@ -1220,8 +1216,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* set vehicle_status.is_vtol flag */
status.is_vtol = (status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR);
status.is_vtol = is_vtol(&status);
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
@@ -1422,8 +1417,8 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
/* Make sure that this is only adjusted if vehicle realy is of type vtol*/
if ((status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR) || (status.system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR)) {
/* Make sure that this is only adjusted if vehicle really is of type vtol*/
if (is_vtol(&status)) {
status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
}
}