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VTOL transition switch parameter checking (#5545)

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* VTOL transition switch parameter checking

* Code style
This commit is contained in:
Sander Smeets
2016-09-26 10:18:23 +02:00
committed by Lorenz Meier
parent bd922e4eed
commit c4eabbd083
6 changed files with 33 additions and 7 deletions
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src/modules/systemlib/rc_check.c
+27 -1
View File
@@ -52,7 +52,7 @@
#define RC_INPUT_MAP_UNMAPPED 0
int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail)
int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL)
{
char nbuf[20];
@@ -68,6 +68,32 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail)
unsigned j = 0;
/* if VTOL, check transition switch mapping */
if (isVTOL) {
param_t trans_parm = param_find("RC_MAP_TRANS_SW");
if (trans_parm == PARAM_INVALID) {
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "ERR: RC_MAP_TRANS_SW PARAMETER MISSING"); }
/* give system time to flush error message in case there are more */
usleep(100000);
map_fail_count++;
} else {
int32_t transition_switch;
param_get(trans_parm, &transition_switch);
if (transition_switch < 1) {
if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "ERR: transition switch (RC_MAP_TRANS_SW) not set"); }
map_fail_count++;
}
}
}
/* first check channel mappings */
while (rc_map_mandatory[j] != 0) {
src/modules/systemlib/rc_check.h
+1 -1
View File
@@ -49,6 +49,6 @@ __BEGIN_DECLS
* @return 0 / OK if RC calibration is ok, index + 1 of the first
* channel that failed else (so 1 == first channel failed)
*/
__EXPORT int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail);
__EXPORT int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL);
__END_DECLS