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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.
This commit is contained in:
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/checks/ekf2Check.cpp
+4 -3
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@@ -45,7 +45,7 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
const bool report_fail, const bool enforce_gps_required)
{
bool success = true; // start with a pass and change to a fail if any test fails
bool present = true;
bool ahrs_present = true;
float test_limit = 1.0f; // pass limit re-used for each test
int32_t mag_strength_check_enabled = 1;
@@ -60,7 +60,7 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
const estimator_status_s &status = status_sub.get();
if (status.timestamp == 0) {
present = false;
ahrs_present = false;
goto out;
}
@@ -253,7 +253,8 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
}
out:
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, present, !optional, success && present, vehicle_status);
//PX4_INFO("AHRS CHECK: %s", (success && ahrs_present) ? "OK" : "FAIL");
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, ahrs_present, true, success && ahrs_present, vehicle_status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GPS, gps_present, enforce_gps_required, gps_success, vehicle_status);
return success;