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DistanceSensorCheck: do not raise a distance sensor failure if the SFXX_MODE is set to 2 and we are in a VTOL FX flight phase

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Konrad
2024-09-03 15:53:09 +02:00
committed by KonradRudin
parent a9cdb36d7c
commit 80d4fad624
5 changed files with 22 additions and 2 deletions
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src/modules/commander/HealthAndArmingChecks/checks/distanceSensorChecks.cpp
+2 -1
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@@ -48,7 +48,8 @@ void DistanceSensorChecks::checkAndReport(const Context &context, Report &report
if (exists) {
distance_sensor_s dist_sens;
valid = _distance_sensor_sub[instance].copy(&dist_sens) && hrt_elapsed_time(&dist_sens.timestamp) < 1_s;
valid = _distance_sensor_sub[instance].copy(&dist_sens) && ((hrt_elapsed_time(&dist_sens.timestamp) < 1_s)
|| (dist_sens.mode == distance_sensor_s::DISTANCE_SENSOR_MODE_DISABLED));
reporter.setIsPresent(health_component_t::distance_sensor);
}