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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/state_machine_helper.cpp
+3 -3
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@@ -133,8 +133,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& !hil_enabled) {
preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, *status, *status_flags,
arm_requirements.global_position, true, true, time_since_boot);
preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, *status, *status_flags, true, true,
time_since_boot);
if (preflight_check_ret) {
status_flags->condition_system_sensors_initialized = true;
@@ -153,7 +153,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
status_flags->condition_system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, *status,
*status_flags, arm_requirements.global_position, false, status->arming_state != vehicle_status_s::ARMING_STATE_ARMED,
*status_flags, false, status->arming_state != vehicle_status_s::ARMING_STATE_ARMED,
time_since_boot);
last_preflight_check = hrt_absolute_time();