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Commander: More hotfixes to prearm check routine

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This commit is contained in:
Lorenz Meier
2014-07-11 15:10:11 +02:00
parent a82d4fbb11
commit 79c5d434bd
2 changed files with 7 additions and 3 deletions
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src/modules/commander/commander.cpp
+4 -1
View File
@@ -298,7 +298,9 @@ int commander_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "check")) {
int checkres = prearm_check(&status, mavlink_fd);
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
int checkres = prearm_check(&status, mavlink_fd_local);
close(mavlink_fd_local);
warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
exit(0);
}
@@ -329,6 +331,7 @@ void usage(const char *reason)
void print_status()
{
warnx("type: %s", (status.is_rotary_wing) ? "ROTARY" : "PLANE");
warnx("usb powered: %s", (on_usb_power) ? "yes" : "no");
/* read all relevant states */
src/modules/commander/state_machine_helper.cpp
+3 -2
View File
@@ -664,11 +664,12 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
}
if (!status->is_rotary_wing) {
/* accel done, close it */
close(fd);
fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
if (fd <= 0) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
failed = true;
goto system_eval;
@@ -693,5 +694,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
system_eval:
close(fd);
return (!failed);
return (failed);
}