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commander: Fixing HIL operation with failing preflight checks

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Lorenz Meier
2015-04-22 00:38:03 +02:00
parent 9c56aa386b
commit 5c4494b1c9
2 changed files with 11 additions and 8 deletions
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src/modules/commander/commander.cpp
+4 -3
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@@ -553,7 +553,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
else {
//Refuse to arm if preflight checks have failed
if(!status.condition_system_sensors_initialized) {
if(!status.hil_state != vehicle_status_s::HIL_STATE_ON && !status.condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed.");
cmd_result = VEHICLE_CMD_RESULT_DENIED;
break;
@@ -1579,7 +1579,9 @@ int commander_thread_main(int argc, char *argv[])
/* if battery voltage is getting lower, warn using buzzer, etc. */
if (status.condition_battery_voltage_valid && status.battery_remaining < 0.18f && !low_battery_voltage_actions_done) {
low_battery_voltage_actions_done = true;
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
if (armed.armed) {
mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
}
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW;
status_changed = true;
@@ -1587,7 +1589,6 @@ int commander_thread_main(int argc, char *argv[])
&& !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
/* critical battery voltage, this is rather an emergency, change state machine */
critical_battery_voltage_actions_done = true;
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL;
if (!armed.armed) {