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Merge pull request #2293 from kd0aij/HIL_inhibitSensorCheck

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special treatment and warning message for HIL platform arming
This commit is contained in:
Lorenz Meier
2015-06-11 15:22:21 +02:00
parent 000434be15 7e48c66c22
commit ac084ae3d0
1 changed files with 28 additions and 11 deletions
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src/modules/commander/commander.cpp
+28 -11
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@@ -147,6 +147,9 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define INAIR_RESTART_HOLDOFF_INTERVAL 2000000
#define HIL_ID_MIN 1000
#define HIL_ID_MAX 1999
enum MAV_MODE_FLAG {
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
@@ -253,6 +256,15 @@ void *commander_low_prio_loop(void *arg);
void answer_command(struct vehicle_command_s &cmd, unsigned result);
/**
* check whether autostart ID is in the reserved range for HIL setups
*/
bool is_hil_setup(int id);
bool is_hil_setup(int id) {
return (id >= HIL_ID_MIN) && (id <= HIL_ID_MAX);
}
int commander_main(int argc, char *argv[])
{
@@ -437,6 +449,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// For HIL platforms, require that simulated sensors are connected
if (is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
}
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY, &armed,
@@ -1156,7 +1174,11 @@ int commander_thread_main(int argc, char *argv[])
// Run preflight check
param_get(_param_autostart_id, &autostart_id);
if (autostart_id > 1999) {
if (is_hil_setup(autostart_id)) {
// HIL configuration selected: real sensors will be disabled
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} else {
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
@@ -1164,11 +1186,6 @@ int commander_thread_main(int argc, char *argv[])
else {
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
} else {
// HIL configuration selected: real sensors will be disabled
warnx("HIL configuration; autostart_id: %d, onboard IMU sensors disabled", autostart_id);
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
commander_boot_timestamp = hrt_absolute_time();
@@ -1339,14 +1356,14 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
if (autostart_id > 1999) {
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
} else {
if (is_hil_setup(autostart_id)) {
/* HIL configuration: check only RC input */
warnx("new telemetry link connected: checking RC status");
(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
} else {
/* check sensors also */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
}
}