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commander: respect control mode for prearm requirements

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- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
This commit is contained in:
Daniel Agar
2022-01-24 21:00:02 -05:00
parent 90358f078f
commit ad447ab223
7 changed files with 90 additions and 44 deletions
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src/modules/commander/state_machine_helper.cpp
+7 -5
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@@ -154,7 +154,8 @@ void reset_offboard_loss_globals(actuator_armed_s &armed, const bool old_failsaf
const offboard_loss_actions_t offboard_loss_act,
const offboard_loss_rc_actions_t offboard_loss_rc_act);
transition_result_t arming_state_transition(vehicle_status_s &status, const safety_s &safety,
transition_result_t arming_state_transition(vehicle_status_s &status,
const vehicle_control_mode_s &control_mode, const safety_s &safety,
const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s &status_flags,
const PreFlightCheck::arm_requirements_t &arm_requirements,
@@ -186,8 +187,8 @@ transition_result_t arming_state_transition(vehicle_status_s &status, const safe
if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& !hil_enabled) {
preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, true, true,
time_since_boot);
preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, control_mode,
true, true, time_since_boot);
if (preflight_check_ret) {
status_flags.condition_system_sensors_initialized = true;
@@ -206,7 +207,7 @@ transition_result_t arming_state_transition(vehicle_status_s &status, const safe
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
status_flags.condition_system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, status,
status_flags, false, status.arming_state != vehicle_status_s::ARMING_STATE_ARMED,
status_flags, control_mode, false, status.arming_state != vehicle_status_s::ARMING_STATE_ARMED,
time_since_boot);
last_preflight_check = hrt_absolute_time();
@@ -228,7 +229,8 @@ transition_result_t arming_state_transition(vehicle_status_s &status, const safe
if (fRunPreArmChecks && preflight_check_ret) {
// only bother running prearm if preflight was successful
prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, safety, arm_requirements, status);
prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode, safety, arm_requirements,
status);
}
if (!preflight_check_ret || !prearm_check_ret) {