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Commander: remove system_sensors_initialized

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and system_hotplug_timeout. They're not in use for over 2 years.
Instead control LED with preflight checks.
This commit is contained in:
Matthias Grob
2022-06-03 12:37:08 +02:00
committed by Daniel Agar
parent 0922f003f5
commit c59809b14a
7 changed files with 31 additions and 102 deletions
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src/modules/commander/Commander.cpp
+4 -21
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@@ -829,9 +829,6 @@ Commander::Commander() :
_vehicle_status.system_type = 0;
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
// XXX for now just set sensors as initialized
_vehicle_status_flags.system_sensors_initialized = true;
// We want to accept RC inputs as default
_vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
_vehicle_status.nav_state_timestamp = hrt_absolute_time();
@@ -2201,7 +2198,6 @@ Commander::run()
perf_begin(_loop_perf);
const actuator_armed_s actuator_armed_prev{_actuator_armed};
const vehicle_status_flags_s vehicle_status_flags_prev{_vehicle_status_flags};
/* update parameters */
const bool params_updated = _parameter_update_sub.updated();
@@ -3007,9 +3003,6 @@ Commander::run()
// Evaluate current prearm status (skip during arm -> disarm transition)
if (!actuator_armed_prev.armed && !_arm_state_machine.isArmed() && !_vehicle_status_flags.calibration_enabled) {
_vehicle_status_flags.system_hotplug_timeout = (hrt_elapsed_time(&_boot_timestamp) > HOTPLUG_SENS_TIMEOUT);
perf_begin(_preflight_check_perf);
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _vehicle_status, _vehicle_status_flags,
_vehicle_control_mode,
@@ -3023,8 +3016,9 @@ Commander::run()
_safety.isButtonAvailable(), _safety.isSafetyOff(),
arm_req, _vehicle_status, false);
const bool prearm_check_ok = preflight_check_res && prearm_check_res;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, prearm_check_ok, _vehicle_status);
_vehicle_status_flags.pre_flight_checks_pass = preflight_check_res && prearm_check_res;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true,
_vehicle_status_flags.pre_flight_checks_pass, _vehicle_status);
}
// publish actuator_armed first (used by output modules)
@@ -3101,13 +3095,6 @@ Commander::run()
_arm_tune_played = false;
}
/* play sensor failure tunes if we already waited for hotplug sensors to come up and failed */
if (!_vehicle_status_flags.system_sensors_initialized &&
!vehicle_status_flags_prev.system_hotplug_timeout && _vehicle_status_flags.system_hotplug_timeout) {
set_tune_override(tune_control_s::TUNE_ID_GPS_WARNING);
}
// check if the worker has finished
if (_worker_thread.hasResult()) {
int ret = _worker_thread.getResultAndReset();
@@ -3229,7 +3216,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
led_mode = led_control_s::MODE_ON;
set_normal_color = true;
} else if (!_vehicle_status_flags.system_sensors_initialized && _vehicle_status_flags.system_hotplug_timeout) {
} else if (!_vehicle_status_flags.pre_flight_checks_pass) {
led_mode = led_control_s::MODE_BLINK_FAST;
led_color = led_control_s::COLOR_RED;
@@ -3237,10 +3224,6 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
led_mode = led_control_s::MODE_BREATHE;
set_normal_color = true;
} else if (!_vehicle_status_flags.system_sensors_initialized && !_vehicle_status_flags.system_hotplug_timeout) {
led_mode = led_control_s::MODE_BREATHE;
set_normal_color = true;
} else if (_arm_state_machine.isInit()) {
// if in init status it should not be in the error state
led_mode = led_control_s::MODE_OFF;