fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 18:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

add HIL autostart ID range macros and remove warnx

Browse Source
This commit is contained in:
Mark Whitehorn
2015-06-10 12:13:49 -06:00
parent e224441ac1
commit 71da3976ab
1 changed files with 15 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+15 -12
View File
@@ -147,6 +147,9 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define INAIR_RESTART_HOLDOFF_INTERVAL 2000000 #define INAIR_RESTART_HOLDOFF_INTERVAL 2000000
#define HIL_ID_MIN 1000
#define HIL_ID_MAX 1999
enum MAV_MODE_FLAG { enum MAV_MODE_FLAG {
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */ MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */ MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
@@ -438,7 +441,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
transition_result_t arming_res = TRANSITION_NOT_CHANGED; transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// For HIL platforms, require that simulated sensors are connected // For HIL platforms, require that simulated sensors are connected
if (autostart_id < 2000 && status.hil_state != vehicle_status_s::HIL_STATE_ON) { if (autostart_id >= HIL_ID_MIN && autostart_id <= HIL_ID_MAX
&& status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming"); mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED; return TRANSITION_DENIED;
} }
@@ -1162,7 +1166,11 @@ int commander_thread_main(int argc, char *argv[])
// Run preflight check // Run preflight check
param_get(_param_autostart_id, &autostart_id); param_get(_param_autostart_id, &autostart_id);
if (autostart_id > 1999) { if (autostart_id >= HIL_ID_MIN && autostart_id <= HIL_ID_MAX) {
// HIL configuration selected: real sensors will be disabled
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} else {
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check); status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) { if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
@@ -1170,11 +1178,6 @@ int commander_thread_main(int argc, char *argv[])
else { else {
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} }
} else {
// HIL configuration selected: real sensors will be disabled
warnx("HIL configuration; autostart_id: %d, onboard IMU sensors disabled", autostart_id);
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} }
commander_boot_timestamp = hrt_absolute_time(); commander_boot_timestamp = hrt_absolute_time();
@@ -1345,14 +1348,14 @@ int commander_thread_main(int argc, char *argv[])
} }
/* provide RC and sensor status feedback to the user */ /* provide RC and sensor status feedback to the user */
if (autostart_id > 1999) { if (autostart_id >= HIL_ID_MIN && autostart_id <= HIL_ID_MAX) {
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
} else {
/* HIL configuration: check only RC input */ /* HIL configuration: check only RC input */
warnx("new telemetry link connected: checking RC status");
(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false, (void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false); !(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
} else {
/* check sensors also */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
} }
} }