mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 10:00:36 +08:00
Matthias Grob
1a79f75f94
* PreFlightCheck: remove unused reportFailures flag * Commander: pull all pre flight checks together on the PreFlightCheck class * PreFlightCheck: separate checks into their own files
66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "../PreFlightCheck.hpp"
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#include <systemlib/mavlink_log.h>
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bool PreFlightCheck::failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
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const bool report_fail, const bool prearm)
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{
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// Ignore failure detector check after arming
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if (!prearm) {
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return true;
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}
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if (status.failure_detector_status != vehicle_status_s::FAILURE_NONE) {
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if (report_fail) {
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if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Roll failure detected");
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}
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if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Pitch failure detected");
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}
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if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Altitude failure detected");
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}
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}
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return false;
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}
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return true;
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}
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