commander move avionics rail voltage check out of state machine

- add preflight_check helper

src/modules/commander/Commander.hpp

@@ -83,6 +83,9 @@ public:
 
 	void enable_hil();
 
+	// TODO: only temporarily static until low priority thread is removed
+	static bool preflight_check(bool report);
+
 private:
 	bool handle_command(vehicle_status_s *status_local, const vehicle_command_s &cmd,
 			    actuator_armed_s *armed_local, home_position_s *home, const vehicle_global_position_s &global_pos,

src/modules/commander/PreflightCheck.cpp

@@ -67,6 +67,7 @@
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/sensor_preflight.h>
+#include <uORB/topics/system_power.h>
 #include <uORB/topics/vehicle_gps_position.h>
 
 #include "PreflightCheck.h"
@@ -448,6 +449,54 @@ out:
 	return success;
 }
 
+static bool powerCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool prearm)
+{
+	bool success = true;
+
+	if (!prearm) {
+	    // Ignore power check after arming.
+	    return true;
+
+	} else {
+		int system_power_sub = orb_subscribe(ORB_ID(system_power));
+
+		system_power_s system_power;
+
+		if (orb_copy(ORB_ID(system_power), system_power_sub, &system_power) == PX4_OK) {
+
+			if (hrt_elapsed_time(&system_power.timestamp) < 200000) {
+
+				/* copy avionics voltage */
+				int avionics_power_rail_voltage = system_power.voltage5V_v;
+
+				// avionics rail
+				// Check avionics rail voltages
+				if (avionics_power_rail_voltage < 4.5f) {
+					success = false;
+
+					if (report_fail) {
+						mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Avionics power low: %6.2f Volt", (double)avionics_power_rail_voltage);
+					}
+
+				} else if (avionics_power_rail_voltage < 4.9f) {
+					if (report_fail) {
+						mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt", (double)avionics_power_rail_voltage);
+					}
+
+				} else if (avionics_power_rail_voltage > 5.4f) {
+					if (report_fail) {
+						mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt", (double)avionics_power_rail_voltage);
+					}
+				}
+			}
+		}
+
+		orb_unsubscribe(system_power_sub);
+	}
+
+	return success;
+}
+
 static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_fail, bool enforce_gps_required)
 {
 	bool success = true; // start with a pass and change to a fail if any test fails
@@ -461,7 +510,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
 		goto out;
 	}
 
-	// Check if preflight check perfomred by estimator has failed
+	// Check if preflight check performed by estimator has failed
 	if (status.pre_flt_fail) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF INTERNAL CHECKS");
@@ -570,7 +619,7 @@ out:
 }
 
 bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool checkAirspeed, bool checkRC, bool checkGNSS,
-		    bool checkDynamic, bool isVTOL, bool reportFailures, bool prearm, const hrt_abstime& time_since_boot)
+		    bool checkDynamic, bool checkPower, bool isVTOL, bool reportFailures, bool prearm, const hrt_abstime &time_since_boot)
 {
 
 	if (time_since_boot < 2000000) {
@@ -622,7 +671,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
 		/* check if the primary device is present */
 		if (!prime_found && prime_id != 0) {
 			if ((reportFailures && !failed)) {
-				mavlink_log_critical(mavlink_log_pub, "Warning: Primary compass not found");
+				mavlink_log_critical(mavlink_log_pub, "Primary compass not found");
 			}
 			failed = true;
 		}
@@ -660,7 +709,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
 		/* check if the primary device is present */
 		if (!prime_found && prime_id != 0) {
 			if ((reportFailures && !failed)) {
-				mavlink_log_critical(mavlink_log_pub, "Warning: Primary accelerometer not found");
+				mavlink_log_critical(mavlink_log_pub, "Primary accelerometer not found");
 			}
 			failed = true;
 		}
@@ -692,7 +741,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
 		/* check if the primary device is present */
 		if (!prime_found && prime_id != 0) {
 			if ((reportFailures && !failed)) {
-				mavlink_log_critical(mavlink_log_pub, "Warning: Primary gyro not found");
+				mavlink_log_critical(mavlink_log_pub, "Primary gyro not found");
 			}
 			failed = true;
 		}
@@ -725,7 +774,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
 		// // check if the primary device is present
 		if (!prime_found && prime_id != 0) {
 			if (reportFailures && !failed) {
-				mavlink_log_critical(mavlink_log_pub, "warning: primary barometer not operational");
+				mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
 			}
 			failed = true;
 		}
@@ -751,6 +800,14 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
 			if (reportFailures) {
 				mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
 			}
+
+			failed = true;
+		}
+	}
+
+	/* ---- SYSTEM POWER ---- */
+	if (checkPower) {
+		if (!powerCheck(mavlink_log_pub, (reportFailures && !failed), prearm)) {
 			failed = true;
 		}
 	}

src/modules/commander/PreflightCheck.h

@@ -67,9 +67,11 @@ namespace Preflight
 *   true if the Remote Controller should be checked
 * @param checkGNSS
 *   true if the GNSS receiver should be checked
+* @param checkPower
+*   true if the system power should be checked
 **/
 bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool checkAirspeed, bool checkRC, bool checkGNSS,
-    bool checkDynamic, bool isVTOL, bool reportFailures, bool prearm, const hrt_abstime& time_since_boot);
+		    bool checkDynamic, bool checkPower, bool isVTOL, bool reportFailures, bool prearm, const hrt_abstime &time_since_boot);
 
 static constexpr unsigned max_mandatory_gyro_count = 1;
 static constexpr unsigned max_optional_gyro_count = 3;

src/modules/commander/commander.cpp

@@ -135,7 +135,7 @@ typedef enum VEHICLE_MODE_FLAG
 #define OFFBOARD_TIMEOUT		500000
 #define DIFFPRESS_TIMEOUT		2000000
 
-#define HOTPLUG_SENS_TIMEOUT		(8 * 1000 * 1000)	/**< wait for hotplug sensors to come online for upto 8 seconds */
+static constexpr uint64_t HOTPLUG_SENS_TIMEOUT = (8 * 1000 * 1000);	/**< wait for hotplug sensors to come online for upto 8 seconds */
 
 #define PRINT_INTERVAL	5000000
 #define PRINT_MODE_REJECT_INTERVAL	500000
@@ -214,8 +214,6 @@ static struct vehicle_status_flags_s status_flags = {};
 
 static uint64_t rc_signal_lost_timestamp;		// Time at which the RC reception was lost
 
-static float avionics_power_rail_voltage;		// voltage of the avionics power rail
-
 static uint8_t arm_requirements = ARM_REQ_NONE;
 
 static bool _last_condition_global_position_valid = false;
@@ -389,8 +387,11 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "check")) {
-		bool checkres = prearm_check(&mavlink_log_pub, status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
-		PX4_INFO("Prearm check: %s", checkres ? "OK" : "FAILED");
+		bool preflight_check_res = Commander::preflight_check(true);
+		PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
+
+		bool prearm_check_res = prearm_check(&mavlink_log_pub, status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
+		PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
 
 		return 0;
 	}
@@ -580,7 +581,6 @@ void print_status()
 	warnx("type: %s", (status.is_rotary_wing) ? "symmetric motion" : "forward motion");
 	warnx("safety: USB enabled: %s, power state valid: %s", (status_flags.usb_connected) ? "[OK]" : "[NO]",
 	      (status_flags.condition_power_input_valid) ? " [OK]" : "[NO]");
-	warnx("avionics rail: %6.2f V", (double)avionics_power_rail_voltage);
 	warnx("home: lat = %.7f, lon = %.7f, alt = %.2f, yaw: %.2f", _home.lat, _home.lon, (double)_home.alt, (double)_home.yaw);
 	warnx("home: x = %.7f, y = %.7f, z = %.2f ", (double)_home.x, (double)_home.y, (double)_home.z);
 	warnx("datalink: %s %s", (status.data_link_lost) ? "LOST" : "OK", (status.high_latency_data_link_active) ? "(high latency)" : " ");
@@ -605,7 +605,6 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 					     true /* fRunPreArmChecks */,
 					     mavlink_log_pub_local,
 					     &status_flags,
-					     avionics_power_rail_voltage,
 					     arm_requirements,
 					     hrt_elapsed_time(&commander_boot_timestamp));
 
@@ -1272,7 +1271,6 @@ Commander::run()
 	status.timestamp = hrt_absolute_time();
 
 	status_flags.condition_power_input_valid = true;
-	avionics_power_rail_voltage = -1.0f;
 	status_flags.usb_connected = false;
 
 	// CIRCUIT BREAKERS
@@ -1384,8 +1382,6 @@ Commander::run()
 
 	/* Subscribe to system power */
 	int system_power_sub = orb_subscribe(ORB_ID(system_power));
-	struct system_power_s system_power;
-	memset(&system_power, 0, sizeof(system_power));
 
 	/* Subscribe to actuator controls (outputs) */
 	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
@@ -1432,14 +1428,6 @@ Commander::run()
 	status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
 	status.is_vtol = is_vtol(&status);
 
-	bool checkAirspeed = false;
-	/* Perform airspeed check only if circuit breaker is not
-	 * engaged and it's not a rotary wing */
-	if (!status_flags.circuit_breaker_engaged_airspd_check &&
-	    (!status.is_rotary_wing || status.is_vtol)) {
-		checkAirspeed = true;
-	}
-
 	commander_boot_timestamp = hrt_absolute_time();
 
 	// initially set to failed
@@ -1449,7 +1437,6 @@ Commander::run()
 
 	// Run preflight check
 	int32_t rc_in_off = 0;
-	bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
 
 	param_get(_param_rc_in_off, &rc_in_off);
 
@@ -1465,15 +1452,6 @@ Commander::run()
 	arm_requirements |= (arm_mission_required_param & (ARM_REQ_MISSION_BIT | ARM_REQ_ARM_AUTH_BIT));
 
 	status.rc_input_mode = rc_in_off;
-	if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-		// HIL configuration selected: real sensors will be disabled
-		status_flags.condition_system_sensors_initialized = false;
-	} else {
-			// sensor diagnostics done continuously, not just at boot so don't warn about any issues just yet
-			status_flags.condition_system_sensors_initialized = Preflight::preflightCheck(&mavlink_log_pub, true,
-				checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status_flags.circuit_breaker_engaged_gpsfailure_check,
-				false, is_vtol(&status), false, false, hrt_elapsed_time(&commander_boot_timestamp));
-	}
 
 	// user adjustable duration required to assert arm/disarm via throttle/rudder stick
 	int32_t rc_arm_hyst = 100;
@@ -1719,9 +1697,6 @@ Commander::run()
 					status_flags.condition_power_input_valid = true;
 				}
 
-				/* copy avionics voltage */
-				avionics_power_rail_voltage = system_power.voltage5V_v;
-
 				/* if the USB hardware connection went away, reboot */
 				if (status_flags.usb_connected && !system_power.usb_connected) {
 					/*
@@ -1747,7 +1722,7 @@ Commander::run()
 					&& safety.safety_switch_available && !safety.safety_off) {
 
 					if (TRANSITION_CHANGED == arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, &mavlink_log_pub,
-															&status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))
+															&status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))
 					) {
 						status_changed = true;
 					}
@@ -2108,7 +2083,7 @@ Commander::run()
 		if (!status_flags.condition_calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
 
 			arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
-									true /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, avionics_power_rail_voltage,
+									true /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags,
 									arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 
 			if (arming_ret == TRANSITION_DENIED) {
@@ -2330,7 +2305,7 @@ Commander::run()
 
 				} else if ((stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) || arm_switch_to_disarm_transition) {
 					arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */,
-													&mavlink_log_pub, &status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
+													&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 				}
 				stick_off_counter++;
 			/* do not reset the counter when holding the arm button longer than needed */
@@ -2371,7 +2346,7 @@ Commander::run()
 
 					} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
 						arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */,
-												&mavlink_log_pub, &status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
+												&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 
 						if (arming_ret != TRANSITION_CHANGED) {
 							usleep(100000);
@@ -2758,20 +2733,14 @@ Commander::run()
 		}
 
 		/* play sensor failure tunes if we already waited for hotplug sensors to come up and failed */
-		hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
+		status_flags.condition_system_hotplug_timeout = (hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT);
 
-		if (!sensor_fail_tune_played && (!status_flags.condition_system_sensors_initialized && hotplug_timeout)) {
+		if (!sensor_fail_tune_played && (!status_flags.condition_system_sensors_initialized && status_flags.condition_system_hotplug_timeout)) {
 			set_tune_override(TONE_GPS_WARNING_TUNE);
 			sensor_fail_tune_played = true;
 			status_changed = true;
 		}
 
-		/* update timeout flag */
-		if (!(hotplug_timeout == status_flags.condition_system_hotplug_timeout)) {
-			status_flags.condition_system_hotplug_timeout = hotplug_timeout;
-			status_changed = true;
-		}
-
 		counter++;
 
 		int blink_state = blink_msg_state();
@@ -2872,7 +2841,6 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
 		uint8_t led_mode = led_control_s::MODE_OFF;
 		uint8_t led_color = led_control_s::COLOR_WHITE;
 		bool set_normal_color = false;
-		bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
 
 		int overload_warn_delay = (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 1000 : 250000;
 
@@ -2885,7 +2853,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
 			led_mode = led_control_s::MODE_ON;
 			set_normal_color = true;
 
-		} else if (!status_flags.condition_system_sensors_initialized && hotplug_timeout) {
+		} else if (!status_flags.condition_system_sensors_initialized && status_flags.condition_system_hotplug_timeout) {
 			led_mode = led_control_s::MODE_BLINK_FAST;
 			led_color = led_control_s::COLOR_RED;
 
@@ -2893,7 +2861,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
 			led_mode = led_control_s::MODE_BREATHE;
 			set_normal_color = true;
 
-		} else if (!status_flags.condition_system_sensors_initialized && !hotplug_timeout) {
+		} else if (!status_flags.condition_system_sensors_initialized && !status_flags.condition_system_hotplug_timeout) {
 			led_mode = led_control_s::MODE_BREATHE;
 			set_normal_color = true;
 
@@ -3812,7 +3780,7 @@ void *commander_low_prio_loop(void *arg)
 
 					/* try to go to INIT/PREFLIGHT arming state */
 					if (TRANSITION_DENIED == arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
-													false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, avionics_power_rail_voltage,
+													false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags,
 													arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))) {
 
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub);
@@ -3892,26 +3860,10 @@ void *commander_low_prio_loop(void *arg)
 					if (calib_ret == OK) {
 						tune_positive(true);
 
-						// Update preflight check status
-						// we do not set the calibration return value based on it because the calibration
-						// might have worked just fine, but the preflight check fails for a different reason,
-						// so this would be prone to false negatives.
-
-						bool checkAirspeed = false;
-						bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
-						/* Perform airspeed check only if circuit breaker is not
-						 * engaged and it's not a rotary wing */
-						if (!status_flags.circuit_breaker_engaged_airspd_check &&
-						    (!status.is_rotary_wing || status.is_vtol)) {
-							checkAirspeed = true;
-						}
-
-						status_flags.condition_system_sensors_initialized = Preflight::preflightCheck(&mavlink_log_pub, true, checkAirspeed,
-							!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), arm_requirements & ARM_REQ_GPS_BIT,
-							true, is_vtol(&status), hotplug_timeout, false, hrt_elapsed_time(&commander_boot_timestamp));
+						Commander::preflight_check(false);
 
 						arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */,
-								&mavlink_log_pub, &status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
+								&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
 
 					} else {
 						tune_negative(true);
@@ -4078,6 +4030,34 @@ void Commander::mission_init()
 	}
 }
 
+bool Commander::preflight_check(bool report)
+{
+	const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON);
+
+	const bool checkSensors = !hil_enabled;
+	const bool checkRC = (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT);
+	const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT);
+	const bool checkDynamic = !hil_enabled;
+	const bool checkPower = (status_flags.condition_power_input_valid && !status_flags.circuit_breaker_engaged_power_check);
+
+	const bool reportFailures = (report && status_flags.condition_system_hotplug_timeout);
+
+	bool checkAirspeed = false;
+
+	/* Perform airspeed check only if circuit breaker is not
+	 * engaged and it's not a rotary wing */
+	if (!status_flags.circuit_breaker_engaged_airspd_check && (!status.is_rotary_wing || status.is_vtol)) {
+		checkAirspeed = true;
+	}
+
+	bool success = Preflight::preflightCheck(&mavlink_log_pub, checkSensors, checkAirspeed, checkRC, checkGNSS, checkDynamic, checkPower,
+						status.is_vtol, reportFailures, false, hrt_elapsed_time(&commander_boot_timestamp));
+
+	status_flags.condition_system_sensors_initialized = success;
+
+	return success;
+}
+
 void Commander::poll_telemetry_status(bool checkAirspeed, bool *hotplug_timeout)
 {
 	bool updated = false;

src/modules/commander/commander_tests/state_machine_helper_test.cpp

@@ -265,7 +265,6 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 				false /* no pre-arm checks */,
 				nullptr /* no mavlink_log_pub */,
 				&status_flags,
-				5.0f, /* avionics rail voltage */
 				(check_gps ? ARM_REQ_GPS_BIT : 0),
 				2e6 /* 2 seconds after boot, everything should be checked */
 				);

src/modules/commander/state_machine_helper.cpp

@@ -94,8 +94,8 @@ void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, c
 
 transition_result_t arming_state_transition(vehicle_status_s *status, const battery_status_s &battery,
 		const safety_s &safety, const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks,
-		orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags, const float avionics_power_rail_voltage,
-		const uint8_t arm_requirements, const hrt_abstime &time_since_boot)
+		orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags, const uint8_t arm_requirements,
+		const hrt_abstime &time_since_boot)
 {
 	// Double check that our static arrays are still valid
 	static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
@@ -120,8 +120,14 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
 		bool preflight_check_ret = false;
 		bool prearm_check_ret = false;
 
+		const bool checkSensors = !hil_enabled;
+		const bool checkRC = (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT);
+		const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT);
+		const bool checkDynamic = !hil_enabled;
+		const bool checkPower = (status_flags->condition_power_input_valid
+					 && !status_flags->circuit_breaker_engaged_power_check);
+
 		bool checkAirspeed = false;
-		bool sensor_checks = !hil_enabled;
 
 		/* Perform airspeed check only if circuit breaker is not
 		 * engaged and it's not a rotary wing */
@@ -133,9 +139,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
 		if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
 		    && !hil_enabled) {
 
-			preflight_check_ret = Preflight::preflightCheck(mavlink_log_pub, sensor_checks, checkAirspeed,
-					      (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT, true,
-					      status->is_vtol, true, true, time_since_boot);
+			preflight_check_ret = Preflight::preflightCheck(mavlink_log_pub, checkSensors, checkAirspeed, checkRC, checkGNSS,
+					      checkDynamic, checkPower, status->is_vtol, true, true, time_since_boot);
 
 			if (preflight_check_ret) {
 				status_flags->condition_system_sensors_initialized = true;
@@ -155,10 +160,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
 
 			if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
 
-				status_flags->condition_system_sensors_initialized = Preflight::preflightCheck(mavlink_log_pub, sensor_checks,
-						checkAirspeed,
-						(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT, true,
-						status->is_vtol, false, false, time_since_boot);
+				status_flags->condition_system_sensors_initialized = Preflight::preflightCheck(mavlink_log_pub, checkSensors,
+						checkAirspeed, checkRC, checkGNSS, checkDynamic, checkPower, status->is_vtol, false, false, time_since_boot);
 
 				last_preflight_check = hrt_absolute_time();
 			}
@@ -212,31 +215,6 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
 						feedback_provided = true;
 						valid_transition = false;
 					}
-
-					// Perform power checks only if circuit breaker is not
-					// engaged for these checks
-					if (!status_flags->circuit_breaker_engaged_power_check) {
-
-						// Fail transition if power levels on the avionics rail
-						// are measured but are insufficient
-						if (status_flags->condition_power_input_valid && (avionics_power_rail_voltage > 0.0f)) {
-							// Check avionics rail voltages
-							if (avionics_power_rail_voltage < 4.5f) {
-								mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt",
-										     (double)avionics_power_rail_voltage);
-								feedback_provided = true;
-								valid_transition = false;
-
-							} else if (avionics_power_rail_voltage < 4.9f) {
-								mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt", (double)avionics_power_rail_voltage);
-								feedback_provided = true;
-
-							} else if (avionics_power_rail_voltage > 5.4f) {
-								mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt", (double)avionics_power_rail_voltage);
-								feedback_provided = true;
-							}
-						}
-					}
 				}
 			}
 		}

src/modules/commander/state_machine_helper.h

@@ -81,7 +81,7 @@ bool is_safe(const safety_s &safety, const actuator_armed_s &armed);
 
 transition_result_t arming_state_transition(vehicle_status_s *status, const battery_status_s &battery,
 		const safety_s &safety, const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks,
-		orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags, const float avionics_power_rail_voltage,
+		orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags,
 		const uint8_t arm_requirements, const hrt_abstime &time_since_boot);
 
 transition_result_t