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add is_hil_setup()

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This commit is contained in:
Mark Whitehorn
2015-06-10 11:05:56 -06:00
parent 71da3976ab
commit 7e48c66c22
1 changed files with 12 additions and 4 deletions
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src/modules/commander/commander.cpp
+12 -4
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@@ -256,6 +256,15 @@ void *commander_low_prio_loop(void *arg);
void answer_command(struct vehicle_command_s &cmd, unsigned result);
/**
* check whether autostart ID is in the reserved range for HIL setups
*/
bool is_hil_setup(int id);
bool is_hil_setup(int id) {
return (id >= HIL_ID_MIN) && (id <= HIL_ID_MAX);
}
int commander_main(int argc, char *argv[])
{
@@ -441,8 +450,7 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// For HIL platforms, require that simulated sensors are connected
if (autostart_id >= HIL_ID_MIN && autostart_id <= HIL_ID_MAX
&& status.hil_state != vehicle_status_s::HIL_STATE_ON) {
if (is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
}
@@ -1166,7 +1174,7 @@ int commander_thread_main(int argc, char *argv[])
// Run preflight check
param_get(_param_autostart_id, &autostart_id);
if (autostart_id >= HIL_ID_MIN && autostart_id <= HIL_ID_MAX) {
if (is_hil_setup(autostart_id)) {
// HIL configuration selected: real sensors will be disabled
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
@@ -1348,7 +1356,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
if (autostart_id >= HIL_ID_MIN && autostart_id <= HIL_ID_MAX) {
if (is_hil_setup(autostart_id)) {
/* HIL configuration: check only RC input */
(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);