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vehicle_status_flags.msg: remove condition_ prefix to reduce message size

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-03-23 10:37:51 -04:00
committed by Daniel Agar
parent c30f2b9493
commit a7ddaf08c4
12 changed files with 165 additions and 165 deletions
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src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+3 -3
View File
@@ -54,8 +54,8 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
vehicle_status_flags_s &status_flags, const vehicle_control_mode_s &control_mode,
bool report_failures, const bool prearm, const hrt_abstime &time_since_boot)
{
report_failures = (report_failures && status_flags.condition_system_hotplug_timeout
&& !status_flags.condition_calibration_enabled);
report_failures = (report_failures && status_flags.system_hotplug_timeout
&& !status_flags.calibration_enabled);
bool failed = false;
@@ -173,7 +173,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
}
/* ---- SYSTEM POWER ---- */
if (status_flags.condition_power_input_valid && !status_flags.circuit_breaker_engaged_power_check) {
if (status_flags.power_input_valid && !status_flags.circuit_breaker_engaged_power_check) {
if (!powerCheck(mavlink_log_pub, status, report_failures, prearm)) {
failed = true;
}
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+13 -13
View File
@@ -45,28 +45,28 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
bool prearm_ok = true;
// rate control mode require valid angular velocity
if (control_mode.flag_control_rates_enabled && !status_flags.condition_angular_velocity_valid) {
if (control_mode.flag_control_rates_enabled && !status_flags.angular_velocity_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! angular velocity invalid"); }
prearm_ok = false;
}
// attitude control mode require valid attitude
if (control_mode.flag_control_attitude_enabled && !status_flags.condition_attitude_valid) {
if (control_mode.flag_control_attitude_enabled && !status_flags.attitude_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! attitude invalid"); }
prearm_ok = false;
}
// velocity control mode require valid velocity
if (control_mode.flag_control_velocity_enabled && !status_flags.condition_local_velocity_valid) {
if (control_mode.flag_control_velocity_enabled && !status_flags.local_velocity_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! velocity invalid"); }
prearm_ok = false;
}
// position control mode require valid position
if (control_mode.flag_control_position_enabled && !status_flags.condition_local_position_valid) {
if (control_mode.flag_control_position_enabled && !status_flags.local_position_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! position invalid"); }
prearm_ok = false;
@@ -90,7 +90,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.circuit_breaker_engaged_power_check) {
// Fail transition if power is not good
if (!status_flags.condition_power_input_valid) {
if (!status_flags.power_input_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module"); }
prearm_ok = false;
@@ -98,10 +98,10 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// main battery level
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_SENSORBATTERY, true, true,
status_flags.condition_battery_healthy, status);
status_flags.battery_healthy, status);
// Only arm if healthy
if (!status_flags.condition_battery_healthy) {
if (!status_flags.battery_healthy) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery"); }
}
@@ -113,7 +113,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// Arm Requirements: mission
if (arm_requirements.mission) {
if (!status_flags.condition_auto_mission_available) {
if (!status_flags.auto_mission_available) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission"); }
}
@@ -121,7 +121,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
prearm_ok = false;
}
if (!status_flags.condition_global_position_valid) {
if (!status_flags.global_position_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position"); }
}
@@ -132,7 +132,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (arm_requirements.global_position && !status_flags.circuit_breaker_engaged_posfailure_check) {
if (!status_flags.condition_global_position_valid) {
if (!status_flags.global_position_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required"); }
}
@@ -140,7 +140,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
prearm_ok = false;
}
if (!status_flags.condition_home_position_valid) {
if (!status_flags.home_position_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Home position invalid"); }
}
@@ -168,7 +168,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
if (arm_requirements.esc_check && status_flags.condition_escs_error) {
if (arm_requirements.esc_check && status_flags.escs_error) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline"); }
@@ -176,7 +176,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
}
if (arm_requirements.esc_check && status_flags.condition_escs_failure) {
if (arm_requirements.esc_check && status_flags.escs_failure) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs have a failure"); }