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Merge pull request #2289 from kd0aij/HIL_inhibitSensorCheck

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Hil inhibit sensor check
This commit is contained in:
Lorenz Meier
2015-06-06 09:39:34 +02:00
parent b3bcc2e2c8 9588e6fc68
commit 7b36353e52
1 changed files with 13 additions and 5 deletions
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src/modules/commander/commander.cpp
+13 -5
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@@ -1143,11 +1143,19 @@ int commander_thread_main(int argc, char *argv[])
}
// Run preflight 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) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
else {
param_get(_param_autostart_id, &autostart_id);
if (autostart_id > 1999) {
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) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
else {
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
} else {
// HIL configuration selected: real sensors will be disabled
warnx("autostart_id: %d", autostart_id);
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}