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Commander: Run continuous pre-flight checks silently

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As we are checking the current pre-flight state and validate wether the system could be armed, we do not want to spam the console or user with continously failing checks. These checks are reported to the GCS separately and are processed and displayed there.
This commit is contained in:
Lorenz Meier
2020-03-14 23:01:19 +01:00
parent 21435bd32b
commit 9d5aebd235
3 changed files with 20 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+2 -1
View File
@@ -89,7 +89,8 @@ public:
};
static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status);
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status,
bool report_fail = true);
private:
static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+16 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2020 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
@@ -38,13 +38,13 @@
#include <uORB/topics/vehicle_command_ack.h>
bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status)
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status, bool report_fail)
{
bool prearm_ok = true;
// USB not connected
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe"); }
prearm_ok = false;
}
@@ -54,7 +54,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// Fail transition if power is not good
if (!status_flags.condition_power_input_valid) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module"); }
prearm_ok = false;
}
@@ -62,7 +62,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// main battery level
if (!status_flags.condition_battery_healthy) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery"); }
}
prearm_ok = false;
@@ -74,7 +74,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.condition_auto_mission_available) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission"); }
}
prearm_ok = false;
@@ -82,7 +82,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.condition_global_position_valid) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position"); }
}
prearm_ok = false;
@@ -94,7 +94,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.condition_global_position_valid) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required"); }
}
prearm_ok = false;
@@ -105,7 +105,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (safety.safety_switch_available && !safety.safety_off) {
// Fail transition if we need safety switch press
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first"); }
}
prearm_ok = false;
@@ -113,7 +113,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready"); }
}
prearm_ok = false;
@@ -122,7 +122,8 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (arm_requirements.esc_check && status_flags.condition_escs_error) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline"); }
prearm_ok = false;
}
}
@@ -131,7 +132,8 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (status.in_transition_mode) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is in transition state");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is in transition state"); }
prearm_ok = false;
}
}
@@ -139,7 +141,8 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.circuit_breaker_vtol_fw_arming_check
&& status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode");
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode"); }
prearm_ok = false;
}
}
src/modules/commander/Commander.cpp
+2 -2
View File
@@ -2254,9 +2254,9 @@ Commander::run()
// Evaluate current prearm status
if (!armed.armed) {
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, true, true, 30_s);
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, false, true, 30_s);
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, _safety,
_arm_requirements, status);
_arm_requirements, status, false);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, (preflight_check_res
&& prearm_check_res), status);
}