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PreFlightCheck: remove unused device_id argument

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bresch 2022-03-10 14:39:05 +01:00 committed by Mathieu Bresciani
parent 5f1b577b6d
commit b1c1163ee4
7 changed files with 16 additions and 23 deletions
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3
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
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@ -246,9 +246,8 @@ bool PreFlightCheck::sensorAvailabilityCheck(const bool report_failure, const ui
/* check all sensors, but fail only for mandatory ones */
for (uint8_t i = 0u; i < max_optional_count; i++) {
const bool required = (i < max_mandatory_count) || isSensorRequired(i);
int32_t device_id = -1;
if (!sens_check(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (!sens_check(mavlink_log_pub, status, i, !required, report_fail)) {
if (required) {
pass_check = false;
}

12
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
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@ -48,7 +48,7 @@
#include <drivers/drv_hrt.h>
typedef bool (*sens_check_func_t)(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
const bool optional, const bool report_fail);
typedef bool (*is_sens_req_func_t)(uint8_t instance);
class PreFlightCheck
@ -105,20 +105,20 @@ private:
vehicle_status_s &status, sens_check_func_t sens_check, is_sens_req_func_t isSensorRequired);
static bool isMagRequired(uint8_t instance);
static bool magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
const bool optional, const bool report_fail);
static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
static bool isAccelRequired(uint8_t instance);
static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
const bool optional, const bool report_fail);
static bool isGyroRequired(uint8_t instance);
static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
const bool optional, const bool report_fail);
static bool isBaroRequired(uint8_t instance);
static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
const bool optional, const bool report_fail);
static bool isDistSensRequired(uint8_t instance);
static bool distSensCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail);
const bool optional, const bool report_fail);
static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
const bool report_fail, const bool prearm, const bool max_airspeed_check_en, const float arming_max_airspeed_allowed);

6
src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
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@ -62,7 +62,7 @@ bool PreFlightCheck::isAccelRequired(const uint8_t instance)
}
bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail)
const bool optional, const bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
bool calibration_valid = false;
@ -80,13 +80,11 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
}
}
device_id = accel.get().device_id;
if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
calibration_valid = true;
} else {
calibration_valid = (calibration::FindCurrentCalibrationIndex("ACC", device_id) >= 0);
calibration_valid = (calibration::FindCurrentCalibrationIndex("ACC", accel.get().device_id) >= 0);
}
if (!calibration_valid) {

2
src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp
View File

@ -60,7 +60,7 @@ bool PreFlightCheck::isBaroRequired(const uint8_t instance)
}
bool PreFlightCheck::baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail)
const bool optional, const bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_baro), instance) == PX4_OK);
bool valid = false;

2
src/modules/commander/Arming/PreFlightCheck/checks/distanceSensorChecks.cpp
View File

@ -48,7 +48,7 @@ bool PreFlightCheck::isDistSensRequired(const uint8_t instance)
}
bool PreFlightCheck::distSensCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail)
const bool optional, const bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(distance_sensor), instance) == PX4_OK);
bool check_valid = false;

6
src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
View File

@ -61,7 +61,7 @@ bool PreFlightCheck::isGyroRequired(const uint8_t instance)
}
bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail)
const bool optional, const bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK);
bool calibration_valid = false;
@ -79,13 +79,11 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
}
}
device_id = gyro.get().device_id;
if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
calibration_valid = true;
} else {
calibration_valid = (calibration::FindCurrentCalibrationIndex("GYRO", device_id) >= 0);
calibration_valid = (calibration::FindCurrentCalibrationIndex("GYRO", gyro.get().device_id) >= 0);
}
if (!calibration_valid) {

8
src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
View File

@ -61,7 +61,7 @@ bool PreFlightCheck::isMagRequired(const uint8_t instance)
}
bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool optional, int32_t &device_id, const bool report_fail)
const bool optional, const bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_mag), instance) == PX4_OK);
bool calibration_valid = false;
@ -80,13 +80,11 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
}
}
device_id = magnetometer.get().device_id;
if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
calibration_valid = true;
} else {
calibration_valid = (calibration::FindCurrentCalibrationIndex("MAG", device_id) >= 0);
calibration_valid = (calibration::FindCurrentCalibrationIndex("MAG", magnetometer.get().device_id) >= 0);
}
if (!calibration_valid) {
@ -98,7 +96,7 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
uORB::SubscriptionData<estimator_status_s> estimator_status_sub{ORB_ID(estimator_status), i};
if (estimator_status_sub.get().mag_device_id == static_cast<uint32_t>(device_id)) {
if (estimator_status_sub.get().mag_device_id == static_cast<uint32_t>(magnetometer.get().device_id)) {
if (estimator_status_sub.get().control_mode_flags & (1 << estimator_status_s::CS_MAG_FAULT)) {
is_mag_fault = true;
break;