fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 07:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

PreFlightCheck: remove unused device_id argument

Browse Source
This commit is contained in:
bresch
2022-03-16 11:46:01 +01:00
committed by Mathieu Bresciani
parent 5f1b577b6d
commit b1c1163ee4
7 changed files with 16 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+1 -2
View File
@@ -246,9 +246,8 @@ bool PreFlightCheck::sensorAvailabilityCheck(const bool report_failure, const ui
/* check all sensors, but fail only for mandatory ones */ /* check all sensors, but fail only for mandatory ones */
for (uint8_t i = 0u; i < max_optional_count; i++) { for (uint8_t i = 0u; i < max_optional_count; i++) {
const bool required = (i < max_mandatory_count) || isSensorRequired(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) { if (required) {
pass_check = false; pass_check = false;
} }
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+6 -6
View File
@@ -48,7 +48,7 @@
#include <drivers/drv_hrt.h> #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, 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); typedef bool (*is_sens_req_func_t)(uint8_t instance);
class PreFlightCheck class PreFlightCheck
@@ -105,20 +105,20 @@ private:
vehicle_status_s &status, sens_check_func_t sens_check, is_sens_req_func_t isSensorRequired); vehicle_status_s &status, sens_check_func_t sens_check, is_sens_req_func_t isSensorRequired);
static bool isMagRequired(uint8_t instance); static bool isMagRequired(uint8_t instance);
static bool magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const 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 magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
static bool isAccelRequired(uint8_t instance); static bool isAccelRequired(uint8_t instance);
static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const 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 isGyroRequired(uint8_t instance);
static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const 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 isBaroRequired(uint8_t instance);
static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const 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 isDistSensRequired(uint8_t instance);
static bool distSensCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const 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 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, 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); const bool report_fail, const bool prearm, const bool max_airspeed_check_en, const float arming_max_airspeed_allowed);
src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
+2 -4
View File
@@ -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, 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); const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
bool calibration_valid = false; 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) { if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
calibration_valid = true; calibration_valid = true;
} else { } else {
calibration_valid = (calibration::FindCurrentCalibrationIndex("ACC", device_id) >= 0); calibration_valid = (calibration::FindCurrentCalibrationIndex("ACC", accel.get().device_id) >= 0);
} }
if (!calibration_valid) { if (!calibration_valid) {
src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp
+1 -1
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, 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); const bool exists = (orb_exists(ORB_ID(sensor_baro), instance) == PX4_OK);
bool valid = false; bool valid = false;
src/modules/commander/Arming/PreFlightCheck/checks/distanceSensorChecks.cpp
+1 -1
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, 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); const bool exists = (orb_exists(ORB_ID(distance_sensor), instance) == PX4_OK);
bool check_valid = false; bool check_valid = false;
src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
+2 -4
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, 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); const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK);
bool calibration_valid = false; 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) { if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
calibration_valid = true; calibration_valid = true;
} else { } else {
calibration_valid = (calibration::FindCurrentCalibrationIndex("GYRO", device_id) >= 0); calibration_valid = (calibration::FindCurrentCalibrationIndex("GYRO", gyro.get().device_id) >= 0);
} }
if (!calibration_valid) { if (!calibration_valid) {
src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
+3 -5
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, 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); const bool exists = (orb_exists(ORB_ID(sensor_mag), instance) == PX4_OK);
bool calibration_valid = false; 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) { if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
calibration_valid = true; calibration_valid = true;
} else { } else {
calibration_valid = (calibration::FindCurrentCalibrationIndex("MAG", device_id) >= 0); calibration_valid = (calibration::FindCurrentCalibrationIndex("MAG", magnetometer.get().device_id) >= 0);
} }
if (!calibration_valid) { 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++) { for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
uORB::SubscriptionData<estimator_status_s> estimator_status_sub{ORB_ID(estimator_status), 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)) { if (estimator_status_sub.get().control_mode_flags & (1 << estimator_status_s::CS_MAG_FAULT)) {
is_mag_fault = true; is_mag_fault = true;
break; break;