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HealthAndArmingChecks: add support for legacy mavlink_log reporting

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This commit is contained in:
Beat Küng
2022-06-01 14:20:04 +02:00
committed by Daniel Agar
parent f23363f88c
commit 8f9be0541f
3 changed files with 26 additions and 0 deletions
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src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
+20
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@@ -57,6 +57,26 @@ bool HealthAndArmingChecks::update(bool force_reporting)
if (_reporter.report(_context.isArmed(), force_reporting)) {
// LEGACY start
// Run the checks again, this time with the mavlink publication set.
// We don't expect any change, and rate limitation would prevent the events from being reported again,
// so we only report mavlink_log_*.
_reporter._mavlink_log_pub = &_mavlink_log_pub;
_reporter.reset();
for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
if (!_checks[i]) {
break;
}
_checks[i]->checkAndReport(_context, _reporter);
}
_reporter.finalize();
_reporter.report(_context.isArmed(), false);
_reporter._mavlink_log_pub = nullptr;
// LEGACY end
health_report_s health_report;
_reporter.getHealthReport(health_report);
health_report.timestamp = hrt_absolute_time();