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Commander: Streamline preflight and arming checks

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The checks did previously only report the first failure (to not overload the radio link). As we are moving to buffered messages and higher bandwidth links this design choice is not any more in the best interest of the drone operator. We are now reporting all detected failures. To ensure architectural consistency more checks have been moved from the commander mainloop into the respective classes.
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Lorenz Meier
2020-03-17 00:17:11 +01:00
parent bf3b55cac7
commit aea68f06f9
7 changed files with 37 additions and 61 deletions
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src/modules/commander/Arming/HealthFlags/HealthFlags.h
+1
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@@ -43,6 +43,7 @@
#include <px4_platform_common/log.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/subsystem_info.h>
void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status);
void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status);