fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 08:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: PreFlightCheck remove HIL special cases

Browse Source 
- skipping these sensor checks in HIL no longer makes sense as each
sensor has a normal publication (sensor_accel/gyro/etc) regardless of
simulation
This commit is contained in:
Daniel Agar
2020-10-22 11:51:03 -04:00
parent 4378254182
commit 81765bc06a
3 changed files with 21 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
+10 -13
View File
@@ -46,7 +46,7 @@
using namespace time_literals;
bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, const bool dynamic, int32_t &device_id, const bool report_fail)
const bool optional, int32_t &device_id, const bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
bool calibration_valid = false;
@@ -74,20 +74,17 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
}
} else {
const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
+ accel.get().y * accel.get().y
+ accel.get().z * accel.get().z);
if (dynamic) {
const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
+ accel.get().y * accel.get().y
+ accel.get().z * accel.get().z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
}
/* this is frickin' fatal */
valid = false;
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
}
// this is fatal
valid = false;
}
}