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Commander: Enforce correct system configuration for HITL

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This is important to ensure that users are not trying to use HITL with airframes that will not work.
This commit is contained in:
Lorenz Meier 2017-12-28 15:28:15 +01:00
parent 0ae1737e85
commit bb516be61e
1 changed files with 19 additions and 2 deletions
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21
src/modules/commander/state_machine_helper.cpp
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@ -520,11 +520,28 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
int32_t hitl_on = 0;
param_get(param_find("SYS_HITL"), &hitl_on);
int32_t airframe = 0;
param_get(param_find("SYS_AUTOSTART"), &airframe);
if (!(airframe == 1000
|| airframe == 1001
|| airframe == 4001
|| airframe == 4002
|| airframe == 4010
|| airframe == 4011)) {
mavlink_log_critical(mavlink_log_pub, "Not a supported airframe config for HITL.");
ret = TRANSITION_DENIED;
break;
}
// Check for compatible airframes
if (hitl_on) {
mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation.");
mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation (HITL).");
} else {
mavlink_log_critical(mavlink_log_pub, "Set parameter SYS_HITL to 1 before starting HITL.");
mavlink_log_critical(mavlink_log_pub, "Set SYS_HITL to 1 and reboot to enable HITL.");
ret = TRANSITION_DENIED;
}