fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-19 20:19:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Subsystem_info status flags & checks: Add comment to indicate that the IMU+MAG consistency checks need to be performed AFTER the individual checks are complete

Browse Source
This commit is contained in:
Philipp Oettershagen 2018-06-06 14:24:19 +02:00 committed by Beat Küng
parent e12b470cac
commit 9f414e82f6
1 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/modules/commander/PreflightCheck.cpp
View File

@ -747,7 +747,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
bool mag_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
/* check all sensors individually, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_mag_count; i++) {
bool required = (i < max_mandatory_mag_count) && sys_has_mag == 1;
int device_id = -1;
@ -771,7 +771,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
failed = true;
}
/* fail if mag sensors are inconsistent */
/* mag consistency checks (need to be performed after the individual checks) */
if (!magConsistencyCheck(mavlink_log_pub, status, (reportFailures && !failed))) {
failed = true;
}
@ -785,7 +785,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
bool accel_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
/* check all sensors individually, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_accel_count; i++) {
bool required = (i < max_mandatory_accel_count);
int device_id = -1;
@ -818,7 +818,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
bool gyro_fail_reported = false;
/* check all sensors, but fail only for mandatory ones */
/* check all sensors individually, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_gyro_count; i++) {
bool required = (i < max_mandatory_gyro_count);
int device_id = -1;
@ -880,6 +880,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
}
/* ---- IMU CONSISTENCY ---- */
// To be performed after the individual sensor checks have completed
if (checkSensors) {
if (!imuConsistencyCheck(mavlink_log_pub, status, (reportFailures && !failed))) {
failed = true;