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sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set

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- add new SYS_HAS_GPS parameter
This commit is contained in:
Daniel Agar
2021-08-23 10:59:58 -04:00
parent 6d3120d00d
commit 61702d0d97
3 changed files with 30 additions and 15 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
+7 -3
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@@ -67,8 +67,11 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
int32_t arm_without_gps = 0;
param_get(param_find("COM_ARM_WO_GPS"), &arm_without_gps);
bool gps_success = true;
bool gps_present = true;
int32_t sys_has_gps = 1;
param_get(param_find("SYS_HAS_GPS"), &sys_has_gps);
bool gps_success = false;
bool gps_present = false;
// Get estimator status data if available and exit with a fail recorded if not
uORB::SubscriptionData<estimator_selector_status_s> estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
@@ -154,10 +157,11 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
}
// If GPS aiding is required, declare fault condition if the required GPS quality checks are failing
{
if (sys_has_gps == 1) {
const bool ekf_gps_fusion = status.control_mode_flags & (1 << estimator_status_s::CS_GPS);
const bool ekf_gps_check_fail = status.gps_check_fail_flags > 0;
gps_present = true;
gps_success = ekf_gps_fusion; // default to success if gps data is fused
if (ekf_gps_check_fail) {