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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/PreFlightCheck/PreFlightCheck.hpp
+1 -1
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@@ -89,7 +89,7 @@ public:
};
static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status,
const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status,
bool report_fail = true);
private: