diff --git a/src/modules/commander/state_machine_helper_posix.cpp b/src/modules/commander/state_machine_helper_posix.cpp deleted file mode 100644 index 000cbf366a..0000000000 --- a/src/modules/commander/state_machine_helper_posix.cpp +++ /dev/null @@ -1,634 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file state_machine_helper.cpp - * State machine helper functions implementations - * - * @author Thomas Gubler - * @author Julian Oes - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "state_machine_helper.h" -#include "commander_helper.h" -#include "PreflightCheck.h" - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -// This array defines the arming state transitions. The rows are the new state, and the columns -// are the current state. Using new state and current state you can index into the array which -// will be true for a valid transition or false for a invalid transition. In some cases even -// though the transition is marked as true additional checks must be made. See arming_state_transition -// code for those checks. -static const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = { - // INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE - { /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, true, false, false }, - { /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, true, false, false, false }, - { /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, false, true }, - { /* vehicle_status_s::ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false }, - { /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, true, false, false }, - { /* vehicle_status_s::ARMING_STATE_REBOOT */ true, true, false, false, true, true, true }, - { /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI -}; - -// You can index into the array with an arming_state_t in order to get it's textual representation -static const char * const state_names[vehicle_status_s::ARMING_STATE_MAX] = { - "ARMING_STATE_INIT", - "ARMING_STATE_STANDBY", - "ARMING_STATE_ARMED", - "ARMING_STATE_ARMED_ERROR", - "ARMING_STATE_STANDBY_ERROR", - "ARMING_STATE_REBOOT", - "ARMING_STATE_IN_AIR_RESTORE", -}; - -transition_result_t -arming_state_transition(struct vehicle_status_s *status, ///< current vehicle status - const struct safety_s *safety, ///< current safety settings - arming_state_t new_arming_state, ///< arming state requested - struct actuator_armed_s *armed, ///< current armed status - bool fRunPreArmChecks, ///< true: run the pre-arm checks, false: no pre-arm checks, for unit testing - const int mavlink_fd) ///< mavlink fd for error reporting, 0 for none -{ - // Double check that our static arrays are still valid - ASSERT(vehicle_status_s::ARMING_STATE_INIT == 0); - ASSERT(vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE == vehicle_status_s::ARMING_STATE_MAX - 1); - - transition_result_t ret = TRANSITION_DENIED; - arming_state_t current_arming_state = status->arming_state; - bool feedback_provided = false; - - /* only check transition if the new state is actually different from the current one */ - if (new_arming_state == current_arming_state) { - ret = TRANSITION_NOT_CHANGED; - - } else { - - /* - * Get sensing state if necessary - */ - int prearm_ret = OK; - - /* only perform the check if we have to */ - if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - prearm_ret = prearm_check(status, mavlink_fd); - } - - /* - * Perform an atomic state update - */ - //irqstate_t flags = irqsave(); - - /* enforce lockdown in HIL */ - if (status->hil_state == vehicle_status_s::HIL_STATE_ON) { - armed->lockdown = true; - - } else { - armed->lockdown = false; - } - - // Check that we have a valid state transition - bool valid_transition = arming_transitions[new_arming_state][status->arming_state]; - - if (valid_transition) { - // We have a good transition. Now perform any secondary validation. - if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - - // Do not perform pre-arm checks if coming from in air restore - // Allow if vehicle_status_s::HIL_STATE_ON - if (status->arming_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE && - status->hil_state == vehicle_status_s::HIL_STATE_OFF) { - - // Fail transition if pre-arm check fails - if (prearm_ret) { - /* the prearm check already prints the reject reason */ - feedback_provided = true; - valid_transition = false; - - // Fail transition if we need safety switch press - } else if (safety->safety_switch_available && !safety->safety_off) { - - mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!"); - feedback_provided = true; - valid_transition = false; - } - - // Perform power checks only if circuit breaker is not - // engaged for these checks - if (!status->circuit_breaker_engaged_power_check) { - // Fail transition if power is not good - if (!status->condition_power_input_valid) { - - mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module."); - feedback_provided = true; - valid_transition = false; - } - - // Fail transition if power levels on the avionics rail - // are measured but are insufficient - if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f)) { - // Check avionics rail voltages - if (status->avionics_power_rail_voltage < 4.75f) { - mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage); - feedback_provided = true; - valid_transition = false; - } else if (status->avionics_power_rail_voltage < 4.9f) { - mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage); - feedback_provided = true; - } else if (status->avionics_power_rail_voltage > 5.4f) { - mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage); - feedback_provided = true; - } - } - } - - } - - } else if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) { - new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR; - } - } - - // HIL can always go to standby - if (status->hil_state == vehicle_status_s::HIL_STATE_ON && new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { - warnx("HIL STATE ON -> STANDBY"); - valid_transition = true; - } - - /* Sensors need to be initialized for STANDBY state */ - if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) { - warnx("NOT ARMING: Sensors not operational."); - mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational."); - feedback_provided = true; - valid_transition = false; - status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR; - } - - /* Check if we are trying to arm, checks look good but we are in STANDBY_ERROR */ - if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR && - new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - if (status->condition_system_sensors_initialized) { - mavlink_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming"); - } else { - mavlink_log_critical(mavlink_fd, "Preflight check failed, refusing to arm"); - } - feedback_provided = true; - } - - // Finish up the state transition - if (valid_transition) { - armed->armed = new_arming_state == vehicle_status_s::ARMING_STATE_ARMED || new_arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR; - armed->ready_to_arm = new_arming_state == vehicle_status_s::ARMING_STATE_ARMED || new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY; - ret = TRANSITION_CHANGED; - status->arming_state = new_arming_state; - } - - /* end of atomic state update */ - //irqrestore(flags); - } - - if (ret == TRANSITION_DENIED) { - const char * str = "INVAL: %s - %s"; - /* only print to console here by default as this is too technical to be useful during operation */ - warnx(str, state_names[status->arming_state], state_names[new_arming_state]); - - /* print to MAVLink if we didn't provide any feedback yet */ - if (!feedback_provided) { - mavlink_log_critical(mavlink_fd, str, state_names[status->arming_state], state_names[new_arming_state]); - } - } - - return ret; -} - -bool is_safe(const struct vehicle_status_s *status, const struct safety_s *safety, const struct actuator_armed_s *armed) -{ - // System is safe if: - // 1) Not armed - // 2) Armed, but in software lockdown (HIL) - // 3) Safety switch is present AND engaged -> actuators locked - if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) { - return true; - - } else { - return false; - } -} - -transition_result_t -main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state) -{ - transition_result_t ret = TRANSITION_DENIED; - - /* transition may be denied even if the same state is requested because conditions may have changed */ - switch (new_main_state) { - case vehicle_status_s::MAIN_STATE_MANUAL: - case vehicle_status_s::MAIN_STATE_ACRO: - ret = TRANSITION_CHANGED; - break; - - case vehicle_status_s::MAIN_STATE_ALTCTL: - /* need at minimum altitude estimate */ - /* TODO: add this for fixedwing as well */ - if (!status->is_rotary_wing || - (status->condition_local_altitude_valid || - status->condition_global_position_valid)) { - ret = TRANSITION_CHANGED; - } - break; - - case vehicle_status_s::MAIN_STATE_POSCTL: - /* need at minimum local position estimate */ - if (status->condition_local_position_valid || - status->condition_global_position_valid) { - ret = TRANSITION_CHANGED; - } - break; - - case vehicle_status_s::MAIN_STATE_AUTO_LOITER: - /* need global position estimate */ - if (status->condition_global_position_valid) { - ret = TRANSITION_CHANGED; - } - break; - - case vehicle_status_s::MAIN_STATE_AUTO_MISSION: - case vehicle_status_s::MAIN_STATE_AUTO_RTL: - /* need global position and home position */ - if (status->condition_global_position_valid && status->condition_home_position_valid) { - ret = TRANSITION_CHANGED; - } - break; - - case vehicle_status_s::MAIN_STATE_OFFBOARD: - - /* need offboard signal */ - if (!status->offboard_control_signal_lost) { - ret = TRANSITION_CHANGED; - } - - break; - - case vehicle_status_s::MAIN_STATE_MAX: - default: - break; - } - if (ret == TRANSITION_CHANGED) { - if (status->main_state != new_main_state) { - status->main_state = new_main_state; - } else { - ret = TRANSITION_NOT_CHANGED; - } - } - - return ret; -} - -/** - * Transition from one hil state to another - */ -transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - transition_result_t ret = TRANSITION_DENIED; - - if (current_status->hil_state == new_state) { - ret = TRANSITION_NOT_CHANGED; - - } else { - switch (new_state) { - case vehicle_status_s::HIL_STATE_OFF: - /* we're in HIL and unexpected things can happen if we disable HIL now */ - mavlink_log_critical(mavlink_fd, "#audio: Not switching off HIL (safety)"); - ret = TRANSITION_DENIED; - break; - - case vehicle_status_s::HIL_STATE_ON: - if (current_status->arming_state == vehicle_status_s::ARMING_STATE_INIT - || current_status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY - || current_status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { - - const char *devname; - unsigned int handle = 0; - for(;;) { - devname = px4_get_device_names(&handle); - if (devname == NULL) - break; - - /* skip mavlink */ - if (!strcmp(MAVLINK_LOG_DEVICE, devname)) { - continue; - } - - - int sensfd = px4_open(devname, 0); - - if (sensfd < 0) { - warn("failed opening device %s", devname); - continue; - } - - int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1); - px4_close(sensfd); - - printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR"); - } - ret = TRANSITION_CHANGED; - mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); - } else { - mavlink_log_critical(mavlink_fd, "Not switching to HIL when armed"); - ret = TRANSITION_DENIED; - } - break; - - default: - warnx("Unknown HIL state"); - break; - } - } - - if (ret == TRANSITION_CHANGED) { - current_status->hil_state = new_state; - current_status->timestamp = hrt_absolute_time(); - // XXX also set lockdown here - orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - } - return ret; -} - -/** - * Check failsafe and main status and set navigation status for navigator accordingly - */ -bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, - const bool stay_in_failsafe) -{ - navigation_state_t nav_state_old = status->nav_state; - - bool armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED || status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR); - status->failsafe = false; - - /* evaluate main state to decide in normal (non-failsafe) mode */ - switch (status->main_state) { - case vehicle_status_s::MAIN_STATE_ACRO: - case vehicle_status_s::MAIN_STATE_MANUAL: - case vehicle_status_s::MAIN_STATE_ALTCTL: - case vehicle_status_s::MAIN_STATE_POSCTL: - /* require RC for all manual modes */ - if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER; - } else if (status->condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - } - - } else { - switch (status->main_state) { - case vehicle_status_s::MAIN_STATE_ACRO: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_ACRO; - break; - - case vehicle_status_s::MAIN_STATE_MANUAL: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; - break; - - case vehicle_status_s::MAIN_STATE_ALTCTL: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; - break; - - case vehicle_status_s::MAIN_STATE_POSCTL: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; - break; - - default: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; - break; - } - } - break; - - case vehicle_status_s::MAIN_STATE_AUTO_MISSION: - - /* go into failsafe - * - if commanded to do so - * - if we have an engine failure - * - depending on datalink, RC and if the mission is finished */ - - /* first look at the commands */ - if (status->engine_failure_cmd) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; - } else if (status->data_link_lost_cmd) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS; - } else if (status->gps_failure_cmd) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; - } else if (status->rc_signal_lost_cmd) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER; - - /* finished handling commands which have priority, now handle failures */ - } else if (status->gps_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; - } else if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; - - /* datalink loss enabled: - * check for datalink lost: this should always trigger RTGS */ - } else if (data_link_loss_enabled && status->data_link_lost) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS; - } else if (status->condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - } - - /* datalink loss disabled: - * check if both, RC and datalink are lost during the mission - * or RC is lost after the mission is finished: this should always trigger RCRECOVER */ - } else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) || - (status->rc_signal_lost && mission_finished))) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER; - } else if (status->condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - } - - /* stay where you are if you should stay in failsafe, otherwise everything is perfect */ - } else if (!stay_in_failsafe){ - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; - } - break; - - case vehicle_status_s::MAIN_STATE_AUTO_LOITER: - /* go into failsafe on a engine failure */ - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; - /* also go into failsafe if just datalink is lost */ - } else if (status->data_link_lost && data_link_loss_enabled) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS; - } else if (status->condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - } - - /* go into failsafe if RC is lost and datalink loss is not set up */ - } else if (status->rc_signal_lost && !data_link_loss_enabled) { - status->failsafe = true; - - if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS; - } else if (status->condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - } - - /* don't bother if RC is lost if datalink is connected */ - } else if (status->rc_signal_lost) { - - /* this mode is ok, we don't need RC for loitering */ - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; - } else { - /* everything is perfect */ - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; - } - break; - - case vehicle_status_s::MAIN_STATE_AUTO_RTL: - /* require global position and home, also go into failsafe on an engine failure */ - - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; - } else if ((!status->condition_global_position_valid || - !status->condition_home_position_valid)) { - status->failsafe = true; - - if (status->condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - } - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; - } - break; - - case vehicle_status_s::MAIN_STATE_OFFBOARD: - /* require offboard control, otherwise stay where you are */ - if (status->offboard_control_signal_lost && !status->rc_signal_lost) { - status->failsafe = true; - - status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; - } else if (status->offboard_control_signal_lost && status->rc_signal_lost) { - status->failsafe = true; - - if (status->condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND; - } else if (status->condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - } - } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD; - } - default: - break; - } - - return status->nav_state != nav_state_old; -} - -int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) -{ - /* at this point this equals the preflight check, but might add additional - * quantities later. - */ - bool checkAirspeed = false; - /* Perform airspeed check only if circuit breaker is not - * engaged and it's not a rotary wing */ - if (!status->circuit_breaker_engaged_airspd_check && !status->is_rotary_wing) { - checkAirspeed = true; - } - - return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, true); -}