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commander simplify sensors PreflightCheck

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Daniel Agar
2017-08-10 02:40:48 -04:00
parent 391d103bfd
commit 9a9923c517
4 changed files with 80 additions and 90 deletions
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src/modules/commander/commander.cpp
+9 -8
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@@ -1719,9 +1719,10 @@ int commander_thread_main(int argc, char *argv[])
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} else {
// sensor diagnostics done continuously, not just at boot so don't warn about any issues just yet
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true,
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true,
checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status_flags.circuit_breaker_engaged_gpsfailure_check,
/* checkDynamic */ false, is_vtol(&status), /* reportFailures */ false, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
false, is_vtol(&status), false, false, hrt_elapsed_time(&commander_boot_timestamp));
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
@@ -1986,14 +1987,14 @@ int commander_thread_main(int argc, char *argv[])
/* provide RC and sensor status feedback to the user */
if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
/* HITL configuration: check only RC input */
(void)Commander::preflightCheck(&mavlink_log_pub, false, false, false, false, false,
(void)Commander::preflightCheck(&mavlink_log_pub, false, false,
(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), false,
/* checkDynamic */ true, is_vtol(&status), /* reportFailures */ false, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
true, is_vtol(&status), false, false, hrt_elapsed_time(&commander_boot_timestamp));
} else {
/* check sensors also */
(void)Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
(void)Commander::preflightCheck(&mavlink_log_pub, true, checkAirspeed,
(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT,
/* checkDynamic */ true, is_vtol(&status), /* reportFailures */ hotplug_timeout, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
true, is_vtol(&status), hotplug_timeout, false, hrt_elapsed_time(&commander_boot_timestamp));
}
// Provide feedback on mission state
@@ -4315,9 +4316,9 @@ void *commander_low_prio_loop(void *arg)
checkAirspeed = true;
}
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, checkAirspeed,
!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), arm_requirements & ARM_REQ_GPS_BIT,
/* checkDynamic */ true, is_vtol(&status), /* reportFailures */ hotplug_timeout, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
true, is_vtol(&status), hotplug_timeout, false, hrt_elapsed_time(&commander_boot_timestamp));
arming_state_transition(&status,
&battery,