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ekf2checks: split GPS checks from AHRS checks - minor cleanup

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2021-01-31 23:04:34 +01:00
committed by Beat Küng
parent 78dff6adcb
commit c2154df2f6
5 changed files with 31 additions and 27 deletions
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src/modules/commander/Commander.cpp
+5 -5
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@@ -230,7 +230,7 @@ int Commander::custom_command(int argc, char *argv[])
vehicle_status_flags_sub.copy(&vehicle_status_flags);
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, vehicle_status, vehicle_status_flags, true, true,
true, 30_s);
30_s);
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, vehicle_status_flags, safety_s{},
@@ -1522,7 +1522,7 @@ Commander::run()
arm_auth_init(&_mavlink_log_pub, &_status.system_id);
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _status, _status_flags, _arm_requirements.global_position, false,
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _status, _status_flags, false,
true,
hrt_elapsed_time(&_boot_timestamp));
@@ -2615,7 +2615,7 @@ Commander::run()
// Evaluate current prearm status
if (!_armed.armed && !_status_flags.condition_calibration_enabled) {
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, true, false, true, 30_s);
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, false, true, 30_s);
// skip arm authorization check until actual arming attempt
PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
@@ -3711,8 +3711,8 @@ void Commander::data_link_check()
if (!_armed.armed && !_status_flags.condition_calibration_enabled) {
// make sure to report preflight check failures to a connecting GCS
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _status, _status_flags,
_arm_requirements.global_position, true, true, hrt_elapsed_time(&_boot_timestamp));
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _status, _status_flags, true, true,
hrt_elapsed_time(&_boot_timestamp));
}
}