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Fix error reporting logic

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This commit is contained in:
Lorenz Meier 2015-11-19 17:48:39 +01:00
parent 173edcef63
commit f2b988dcaa
3 changed files with 15 additions and 14 deletions
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10
src/modules/commander/commander.cpp
View File

@ -2195,9 +2195,9 @@ int commander_thread_main(int argc, char *argv[])
/* report a regain */
if (telemetry_last_dl_loss[i] > 0) {
mavlink_and_console_log_info(mavlink_fd, "data link #%i regained", i);
} else if (telemetry_last_dl_loss[i] == 0){
/* do not report a new data link in order to not spam the user */
status.data_link_found_new = true;
} else if (telemetry_last_dl_loss[i] == 0) {
/* new link */
status.condition_system_prearm_error_reported = false;
status_changed = true;
}
@ -2208,10 +2208,6 @@ int commander_thread_main(int argc, char *argv[])
/* telemetry was healthy also in last iteration
* we don't have to check a timeout */
have_link = true;
if(status.data_link_found_new) {
status.data_link_found_new = false;
status_changed = true;
}
}
} else {

17
src/modules/commander/state_machine_helper.cpp
View File

@ -123,6 +123,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
/* only perform the pre-arm check if we have to */
if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = preflight_check(status, mavlink_fd, true /* pre-arm */ );
}
/* re-run the pre-flight check as long as sensors are failing */
@ -130,6 +131,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED ||
new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = preflight_check(status, mavlink_fd, false /* pre-flight */);
status->condition_system_sensors_initialized = !prearm_ret;
}
@ -272,10 +274,6 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
valid_transition) {
status->condition_system_prearm_error_reported = false;
}
if(status->data_link_found_new == true)
{
status->condition_system_prearm_error_reported = false;
}
/* end of atomic state update */
#ifdef __PX4_NUTTX
@ -743,7 +741,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
return status->nav_state != nav_state_old;
}
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report)
int preflight_check(struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report)
{
/*
*/
@ -761,7 +759,14 @@ int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd,
if (!status->cb_usb && status->usb_connected && prearm) {
preflight_ok = false;
if(reportFailures) mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
}
}
/* report once, then set the flag */
if (mavlink_fd >= 0 && reportFailures && !preflight_ok) {
status->condition_system_prearm_error_reported = true;
}
return !preflight_ok;

2
src/modules/commander/state_machine_helper.h
View File

@ -65,6 +65,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);
int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report=false);
int preflight_check(struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report=false);
#endif /* STATE_MACHINE_HELPER_H_ */