fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: Add reporting of preflight and prearming state

Browse Source 
This is essential for the operator to know if the system is ready to fly.
This commit is contained in:
Lorenz Meier 2020-03-08 00:10:42 +01:00
parent 4f1749541c
commit ed0a01d5da
2 changed files with 14 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
msg/subsystem_info.msg
View File

@ -28,6 +28,7 @@ uint64 SUBSYSTEM_TYPE_LOGGING = 16777216
uint64 SUBSYSTEM_TYPE_SENSORBATTERY = 33554432
uint64 SUBSYSTEM_TYPE_SENSORPROXIMITY = 67108864
uint64 SUBSYSTEM_TYPE_SATCOM = 134217728
uint64 SUBSYSTEM_TYPE_PREARM_CHECK = 268435456
uint64 SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE = 536870912
bool present

14
src/modules/commander/Commander.cpp
View File

@ -2251,6 +2251,16 @@ Commander::run()
/* publish vehicle_status_flags */
status_flags.timestamp = hrt_absolute_time();
// Evaluate current prearm status
if (!armed.armed) {
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, true, true, 30_s);
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, safety_s{},
PreFlightCheck::arm_requirements_t{}, status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, (preflight_check_res
&& prearm_check_res), status);
}
_vehicle_status_flags_pub.publish(status_flags);
}
@ -3748,7 +3758,6 @@ void Commander::avoidance_check()
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE, sensor_oa_present, sensor_oa_enabled,
sensor_oa_healthy, status);
}
void Commander::battery_status_check()
@ -3826,6 +3835,9 @@ void Commander::battery_status_check()
// No currently-connected batteries have any warning
&& (_battery_warning == battery_status_s::BATTERY_WARNING_NONE);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_SENSORBATTERY, true, true,
(_battery_warning == battery_status_s::BATTERY_WARNING_NONE), status);
// execute battery failsafe if the state has gotten worse while we are armed
if (battery_warning_level_increased_while_armed) {
battery_failsafe(&mavlink_log_pub, status, status_flags, &_internal_state, _battery_warning,