yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

commander preflight checks pass status and status_flags messages

Browse Source
This commit is contained in:
Daniel Agar
2018-04-04 20:48:44 -04:00
parent f2104217d4
commit 2271b3f127
4 changed files with 91 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
src/modules/commander/state_machine_helper.cpp
View File

@@ -75,7 +75,7 @@ static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MA
};
// You can index into the array with an arming_state_t in order to get its textual representation
const char * const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"INIT",
"STANDBY",
"ARMED",
@@ -120,27 +120,13 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
bool preflight_check_ret = true;
bool prearm_check_ret = true;
const bool checkSensors = !hil_enabled;
const bool checkRC = (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT);
const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT);
const bool checkDynamic = !hil_enabled;
const bool checkPower = (status_flags->condition_power_input_valid
&& !status_flags->circuit_breaker_engaged_power_check);
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status_flags->circuit_breaker_engaged_airspd_check && (!status->is_rotary_wing || status->is_vtol)) {
checkAirspeed = true;
}
/* only perform the pre-arm check if we have to */
if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& !hil_enabled) {
preflight_check_ret = Preflight::preflightCheck(mavlink_log_pub, checkSensors, checkAirspeed, checkRC, checkGNSS,
checkDynamic, checkPower, status->is_vtol, true, true, time_since_boot);
preflight_check_ret = Preflight::preflightCheck(mavlink_log_pub, *status, *status_flags, checkGNSS, true, true, time_since_boot);
if (preflight_check_ret) {
status_flags->condition_system_sensors_initialized = true;
@@ -156,8 +142,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
status_flags->condition_system_sensors_initialized = Preflight::preflightCheck(mavlink_log_pub, checkSensors,
checkAirspeed, checkRC, checkGNSS, checkDynamic, checkPower, status->is_vtol, false, false, time_since_boot);
status_flags->condition_system_sensors_initialized = Preflight::preflightCheck(mavlink_log_pub, *status, *status_flags, checkGNSS, false, false, time_since_boot);
last_preflight_check = hrt_absolute_time();
}