fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-07 06:21:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: Enforce correct system configuration for HITL

Browse Source 
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
2017-12-30 11:24:22 +01:00
parent 0ae1737e85
commit bb516be61e
1 changed files with 19 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/state_machine_helper.cpp
+19 -2
View File
@@ -520,11 +520,28 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
int32_t hitl_on = 0; int32_t hitl_on = 0;
param_get(param_find("SYS_HITL"), &hitl_on); 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) { 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 { } 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; ret = TRANSITION_DENIED;
} }