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commander: set correct health component when reporting errors

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This commit is contained in:
Beat Küng
2024-04-24 16:06:32 -04:00
committed by Daniel Agar
parent 69e082c83d
commit f543951e10
1 changed files with 4 additions and 3 deletions
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src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
+4 -3
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@@ -58,7 +58,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
* @description
* Wait until the estimator initialized
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::system,
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::attitude_estimate,
events::ID("check_modes_attitude"),
events::Log::Critical, "No valid attitude estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_attitude);
@@ -78,7 +78,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
if (local_position_modes != NavModes::None) {
/* EVENT
*/
reporter.armingCheckFailure(local_position_modes, health_component_t::system,
reporter.armingCheckFailure(local_position_modes, health_component_t::local_position_estimate,
events::ID("check_modes_local_pos"),
events::Log::Error, "No valid local position estimate");
reporter.clearCanRunBits(local_position_modes);
@@ -87,7 +87,8 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
if (reporter.failsafeFlags().global_position_invalid && reporter.failsafeFlags().mode_req_global_position != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, health_component_t::system,
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position,
health_component_t::global_position_estimate,
events::ID("check_modes_global_pos"),
events::Log::Error, "No valid global position estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position);