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commander fix and enforce code style

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This commit is contained in:
Daniel Agar
2018-11-28 17:11:15 -05:00
parent 91721f2060
commit 48d9484ceb
16 changed files with 855 additions and 481 deletions
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24
src/modules/commander/PreflightCheck.cpp
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@@ -474,7 +474,8 @@ static bool powerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage);
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt",
(double)avionics_power_rail_voltage);
}
} else if (avionics_power_rail_voltage < 4.9f) {
@@ -610,44 +611,59 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
if (report_fail) {
// Only report the first failure to avoid spamming
const char *message = nullptr;
if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_GPS_FIX)) {
message = "Preflight%s: GPS fix too low";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT)) {
message = "Preflight%s: not enough GPS Satellites";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_GDOP)) {
message = "Preflight%s: GPS GDoP too low";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR)) {
message = "Preflight%s: GPS Horizontal Pos Error too high";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_ERR)) {
message = "Preflight%s: GPS Vertical Pos Error too high";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_SPD_ERR)) {
message = "Preflight%s: GPS Speed Accuracy too low";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_DRIFT)) {
message = "Preflight%s: GPS Horizontal Pos Drift too high";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_DRIFT)) {
message = "Preflight%s: GPS Vertical Pos Drift too high";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR)) {
message = "Preflight%s: GPS Hor Speed Drift too high";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_SPD_ERR)) {
message = "Preflight%s: GPS Vert Speed Drift too high";
} else {
if (!ekf_gps_fusion) {
// Likely cause unknown
message = "Preflight%s: Estimator not using GPS";
gps_present = false;
} else {
// if we land here there was a new flag added and the code not updated. Show a generic message.
message = "Preflight%s: Poor GPS Quality";
}
}
if (message) {
if (enforce_gps_required) {
mavlink_log_critical(mavlink_log_pub, message, " Fail");
} else {
mavlink_log_warning(mavlink_log_pub, message, "");
}
}
}
gps_success = false;
if (enforce_gps_required) {
@@ -690,7 +706,8 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
checkAirspeed = true;
}
reportFailures = (reportFailures && status_flags.condition_system_hotplug_timeout && !status_flags.condition_calibration_enabled);
reportFailures = (reportFailures && status_flags.condition_system_hotplug_timeout
&& !status_flags.condition_calibration_enabled);
bool failed = false;
@@ -902,7 +919,8 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
} else {
// The calibration is fine, but only set the overall health state to true if the signal is not currently lost
status_flags.rc_calibration_valid = true;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, status_flags.rc_signal_found_once, true, !status.rc_signal_lost, status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, status_flags.rc_signal_found_once, true,
!status.rc_signal_lost, status);
}
}