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commander: properly use new param

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The param COM_ARM_WO_GPS is set to 1 by default to allow arming without
GPS. This then sets a bool arm_without_gps which translates to
!GNSS_check in preflightCheck.
This commit is contained in:
Julian Oes
2016-06-21 10:21:34 +02:00
committed by Lorenz Meier
parent f67e74935e
commit c7ec07be70
4 changed files with 35 additions and 20 deletions
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src/modules/commander/commander.cpp
+23 -12
View File
@@ -190,6 +190,8 @@ static uint64_t rc_signal_lost_timestamp; // Time at which the RC reception was
static float avionics_power_rail_voltage; // voltage of the avionics power rail static float avionics_power_rail_voltage; // voltage of the avionics power rail
static bool can_arm_without_gps = false;
/** /**
* The daemon app only briefly exists to start * The daemon app only briefly exists to start
@@ -365,9 +367,9 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "check")) { if (!strcmp(argv[1], "check")) {
int checkres = 0; int checkres = 0;
checkres = preflight_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery); checkres = preflight_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery, false);
warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED"); warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
checkres = preflight_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery); checkres = preflight_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery, true);
warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED"); warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
return 0; return 0;
} }
@@ -625,7 +627,8 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
true /* fRunPreArmChecks */, true /* fRunPreArmChecks */,
mavlink_log_pub_local, mavlink_log_pub_local,
&status_flags, &status_flags,
avionics_power_rail_voltage); avionics_power_rail_voltage,
can_arm_without_gps);
if (arming_res == TRANSITION_CHANGED) { if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_log_pub_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); mavlink_log_info(mavlink_log_pub_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
@@ -1507,6 +1510,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_autostart_id, &autostart_id); param_get(_param_autostart_id, &autostart_id);
param_get(_param_rc_in_off, &rc_in_off); param_get(_param_rc_in_off, &rc_in_off);
param_get(_param_arm_without_gps, &arm_without_gps); param_get(_param_arm_without_gps, &arm_without_gps);
can_arm_without_gps = (arm_without_gps == 1);
status.rc_input_mode = rc_in_off; status.rc_input_mode = rc_in_off;
if (is_hil_setup(autostart_id)) { if (is_hil_setup(autostart_id)) {
// HIL configuration selected: real sensors will be disabled // HIL configuration selected: real sensors will be disabled
@@ -1516,7 +1520,7 @@ int commander_thread_main(int argc, char *argv[])
// sensor diagnostics done continuously, not just at boot so don't warn about any issues just yet // sensor diagnostics done continuously, not just at boot so don't warn about any issues just yet
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true,
checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
(arm_without_gps == 0), false); !can_arm_without_gps, false);
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} }
@@ -1635,6 +1639,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_offboard_loss_act, &offboard_loss_act); param_get(_param_offboard_loss_act, &offboard_loss_act);
param_get(_param_offboard_loss_rc_act, &offboard_loss_rc_act); param_get(_param_offboard_loss_rc_act, &offboard_loss_rc_act);
param_get(_param_arm_without_gps, &arm_without_gps); param_get(_param_arm_without_gps, &arm_without_gps);
can_arm_without_gps = (arm_without_gps == 1);
/* Autostart id */ /* Autostart id */
param_get(_param_autostart_id, &autostart_id); param_get(_param_autostart_id, &autostart_id);
@@ -1747,7 +1752,7 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
/* check sensors also */ /* check sensors also */
(void)Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, chAirspeed, (void)Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, chAirspeed,
(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), (arm_without_gps == 0), hotplug_timeout); (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !can_arm_without_gps, hotplug_timeout);
} }
} }
@@ -1852,7 +1857,8 @@ int commander_thread_main(int argc, char *argv[])
true /* fRunPreArmChecks */, true /* fRunPreArmChecks */,
&mavlink_log_pub, &mavlink_log_pub,
&status_flags, &status_flags,
avionics_power_rail_voltage)) { avionics_power_rail_voltage,
can_arm_without_gps)) {
mavlink_log_info(&mavlink_log_pub, "DISARMED by safety switch"); mavlink_log_info(&mavlink_log_pub, "DISARMED by safety switch");
arming_state_changed = true; arming_state_changed = true;
} }
@@ -2128,7 +2134,8 @@ int commander_thread_main(int argc, char *argv[])
true /* fRunPreArmChecks */, true /* fRunPreArmChecks */,
&mavlink_log_pub, &mavlink_log_pub,
&status_flags, &status_flags,
avionics_power_rail_voltage); avionics_power_rail_voltage,
can_arm_without_gps);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
@@ -2382,7 +2389,8 @@ int commander_thread_main(int argc, char *argv[])
true /* fRunPreArmChecks */, true /* fRunPreArmChecks */,
&mavlink_log_pub, &mavlink_log_pub,
&status_flags, &status_flags,
avionics_power_rail_voltage); avionics_power_rail_voltage,
can_arm_without_gps);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
@@ -2429,7 +2437,8 @@ int commander_thread_main(int argc, char *argv[])
true /* fRunPreArmChecks */, true /* fRunPreArmChecks */,
&mavlink_log_pub, &mavlink_log_pub,
&status_flags, &status_flags,
avionics_power_rail_voltage); avionics_power_rail_voltage,
can_arm_without_gps);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
@@ -3703,7 +3712,8 @@ void *commander_low_prio_loop(void *arg)
false /* fRunPreArmChecks */, false /* fRunPreArmChecks */,
&mavlink_log_pub, &mavlink_log_pub,
&status_flags, &status_flags,
avionics_power_rail_voltage)) { avionics_power_rail_voltage,
can_arm_without_gps)) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub, command_ack); answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub, command_ack);
break; break;
} else { } else {
@@ -3787,7 +3797,7 @@ void *commander_low_prio_loop(void *arg)
} }
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed, status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), false, hotplug_timeout); !(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !can_arm_without_gps, hotplug_timeout);
arming_state_transition(&status, arming_state_transition(&status,
&battery, &battery,
@@ -3797,7 +3807,8 @@ void *commander_low_prio_loop(void *arg)
false /* fRunPreArmChecks */, false /* fRunPreArmChecks */,
&mavlink_log_pub, &mavlink_log_pub,
&status_flags, &status_flags,
avionics_power_rail_voltage); avionics_power_rail_voltage,
can_arm_without_gps);
} else { } else {
tune_negative(true); tune_negative(true);
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+3 -1
View File
@@ -278,6 +278,8 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
for (size_t i=0; i<cArmingTransitionTests; i++) { for (size_t i=0; i<cArmingTransitionTests; i++) {
const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i]; const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i];
const bool check_gps = false;
// Setup initial machine state // Setup initial machine state
status.arming_state = test->current_state.arming_state; status.arming_state = test->current_state.arming_state;
status_flags.condition_system_sensors_initialized = test->condition_system_sensors_initialized; status_flags.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
@@ -294,7 +296,7 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
false /* no pre-arm checks */, false /* no pre-arm checks */,
nullptr /* no mavlink_log_pub */, nullptr /* no mavlink_log_pub */,
&status_flags, &status_flags,
5.0f); 5.0f, check_gps);
// Validate result of transition // Validate result of transition
ut_compare(test->assertMsg, test->expected_transition_result, result); ut_compare(test->assertMsg, test->expected_transition_result, result);
src/modules/commander/state_machine_helper.cpp
+6 -5
View File
@@ -118,7 +118,8 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
bool fRunPreArmChecks, bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags, status_flags_s *status_flags,
float avionics_power_rail_voltage) float avionics_power_rail_voltage,
bool can_arm_without_gps)
{ {
// Double check that our static arrays are still valid // Double check that our static arrays are still valid
ASSERT(vehicle_status_s::ARMING_STATE_INIT == 0); ASSERT(vehicle_status_s::ARMING_STATE_INIT == 0);
@@ -144,7 +145,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) { && status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */, prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags, battery); status_flags, battery, can_arm_without_gps);
} }
/* re-run the pre-flight check as long as sensors are failing */ /* re-run the pre-flight check as long as sensors are failing */
@@ -155,7 +156,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) { if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */, false /* force_report */, prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */, false /* force_report */,
status_flags, battery); status_flags, battery, can_arm_without_gps);
status_flags->condition_system_sensors_initialized = !prearm_ret; status_flags->condition_system_sensors_initialized = !prearm_ret;
last_preflight_check = hrt_absolute_time(); last_preflight_check = hrt_absolute_time();
last_prearm_ret = prearm_ret; last_prearm_ret = prearm_ret;
@@ -972,7 +973,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
return status->nav_state != nav_state_old; return status->nav_state != nav_state_old;
} }
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery) int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery, bool can_arm_without_gps)
{ {
/* /*
*/ */
@@ -988,7 +989,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, true, true, true, true, bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, true, true, true, true,
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
!status_flags->circuit_breaker_engaged_gpsfailure_check, true, reportFailures); !can_arm_without_gps, true, reportFailures);
if (!status_flags->circuit_breaker_engaged_usb_check && status_flags->usb_connected && prearm) { if (!status_flags->circuit_breaker_engaged_usb_check && status_flags->usb_connected && prearm) {
preflight_ok = false; preflight_ok = false;
src/modules/commander/state_machine_helper.h
+3 -2
View File
@@ -104,7 +104,8 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
bool fRunPreArmChecks, bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags, status_flags_s *status_flags,
float avionics_power_rail_voltage); float avionics_power_rail_voltage,
bool can_arm_without_gps);
transition_result_t transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev, main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
@@ -117,6 +118,6 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
const bool stay_in_failsafe, status_flags_s *status_flags, bool landed, const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act); const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act);
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery); int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery, bool can_arm_without_gps);
#endif /* STATE_MACHINE_HELPER_H_ */ #endif /* STATE_MACHINE_HELPER_H_ */