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commander: move estimator checks to arming check

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This commit is contained in:
Beat Küng
2022-08-27 09:40:42 +02:00
committed by Daniel Agar
parent cfe3d793bf
commit f17f38197d
9 changed files with 428 additions and 359 deletions
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src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
+13 -2
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@@ -64,13 +64,24 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_attitude);
}
NavModes local_position_modes = NavModes::None;
if (!reporter.failsafeFlags().local_position_valid && reporter.failsafeFlags().mode_req_local_position != 0) {
local_position_modes = (NavModes)reporter.failsafeFlags().mode_req_local_position;
}
if (!reporter.failsafeFlags().local_position_valid_relaxed
&& reporter.failsafeFlags().mode_req_local_position_relaxed != 0) {
local_position_modes = local_position_modes | (NavModes)reporter.failsafeFlags().mode_req_local_position_relaxed;
}
if (local_position_modes != NavModes::None) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_local_position, health_component_t::system,
reporter.armingCheckFailure(local_position_modes, health_component_t::system,
events::ID("check_modes_local_pos"),
events::Log::Error, "No valid local position estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_local_position);
reporter.clearCanRunBits(local_position_modes);
}
if (!reporter.failsafeFlags().global_position_valid && reporter.failsafeFlags().mode_req_global_position != 0) {