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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

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Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent e12b470cac
commit 9f414e82f6
1 changed files with 5 additions and 4 deletions
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src/modules/commander/PreflightCheck.cpp
+5 -4
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@@ -747,7 +747,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
bool mag_fail_reported = false; 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++) { for (unsigned i = 0; i < max_optional_mag_count; i++) {
bool required = (i < max_mandatory_mag_count) && sys_has_mag == 1; bool required = (i < max_mandatory_mag_count) && sys_has_mag == 1;
int device_id = -1; int device_id = -1;
@@ -771,7 +771,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
failed = true; 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))) { if (!magConsistencyCheck(mavlink_log_pub, status, (reportFailures && !failed))) {
failed = true; failed = true;
} }
@@ -785,7 +785,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
bool accel_fail_reported = false; 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++) { for (unsigned i = 0; i < max_optional_accel_count; i++) {
bool required = (i < max_mandatory_accel_count); bool required = (i < max_mandatory_accel_count);
int device_id = -1; 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; 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++) { for (unsigned i = 0; i < max_optional_gyro_count; i++) {
bool required = (i < max_mandatory_gyro_count); bool required = (i < max_mandatory_gyro_count);
int device_id = -1; int device_id = -1;
@@ -880,6 +880,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
} }
/* ---- IMU CONSISTENCY ---- */ /* ---- IMU CONSISTENCY ---- */
// To be performed after the individual sensor checks have completed
if (checkSensors) { if (checkSensors) {
if (!imuConsistencyCheck(mavlink_log_pub, status, (reportFailures && !failed))) { if (!imuConsistencyCheck(mavlink_log_pub, status, (reportFailures && !failed))) {
failed = true; failed = true;