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Added obstacle avoidance healthiness topic in vehicle status msg.

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This allows to perform pre-arm checks and prevent arming if obstacle avoidance is enabled but not yet running.
Added a print once flag to prevent excessive message spamming in QGC.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-02-13 16:04:22 +01:00
committed by Julian Oes
parent 7be05396ba
commit 107746ded5
3 changed files with 18 additions and 0 deletions
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11
src/modules/commander/state_machine_helper.cpp
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@@ -46,6 +46,7 @@
#include <systemlib/mavlink_log.h>
#include <drivers/drv_hrt.h>
#include "state_machine_helper.h"
#include "commander_helper.h"
#include "PreflightCheck.h"
@@ -915,6 +916,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
bool reportFailures = true;
bool prearm_ok = true;
// USB not connected
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
if (reportFailures) {
@@ -997,6 +999,15 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
}
}
if (!status_flags.avoidance_system_valid) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: AVOIDANCE SYSTEM NOT READY");
}
prearm_ok = false;
}
return prearm_ok;
}