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Commander: run ekf checks without grace period after boot

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This commit is contained in:
Matthias Grob
2022-06-22 17:29:20 +02:00
committed by Daniel Agar
parent 8deebd07b8
commit a3288ff732
7 changed files with 12 additions and 35 deletions
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src/modules/commander/Commander.cpp
+3 -9
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@@ -299,7 +299,6 @@ int Commander::custom_command(int argc, char *argv[])
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, vehicle_status, vehicle_status_flags,
vehicle_control_mode,
true, // report_failures
30_s,
false, // safety_buttton_available not known
false); // safety_off not known
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
@@ -496,7 +495,7 @@ bool Commander::shutdown_if_allowed()
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_SHUTDOWN,
_actuator_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::shutdown);
arm_disarm_reason_t::shutdown);
}
static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
@@ -748,7 +747,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status, _vehicle_control_mode,
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_ARMED, _actuator_armed, run_preflight_checks,
&_mavlink_log_pub, _vehicle_status_flags, hrt_elapsed_time(&_boot_timestamp),
&_mavlink_log_pub, _vehicle_status_flags,
calling_reason);
if (arming_res == TRANSITION_CHANGED) {
@@ -793,7 +792,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed, false,
&_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp), calling_reason);
calling_reason);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(&_mavlink_log_pub, "Disarmed by %s\t", arm_disarm_reason_str(calling_reason));
@@ -853,7 +852,6 @@ Commander::Commander() :
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
false, // report_failures
hrt_elapsed_time(&_boot_timestamp),
false, // safety_buttton_available not known
false); // safety_off not known
}
@@ -1408,7 +1406,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_INIT, _actuator_armed,
false /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
30_s, // time since boot not relevant for switching to ARMING_STATE_INIT
(cmd.from_external ? arm_disarm_reason_t::command_external : arm_disarm_reason_t::command_internal))
) {
@@ -2459,7 +2456,6 @@ Commander::run()
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed,
true /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp),
arm_disarm_reason_t::transition_to_standby);
}
@@ -3000,7 +2996,6 @@ Commander::run()
_vehicle_status_flags,
_vehicle_control_mode,
false, // report_failures
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff());
perf_end(_preflight_check_perf);
@@ -3630,7 +3625,6 @@ void Commander::data_link_check()
// make sure to report preflight check failures to a connecting GCS
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
true, // report_failures
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff());
}
}