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Failure detector - Add flight termination comments, make format

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bresch
2019-01-30 14:42:08 +01:00
committed by Beat Küng
parent 0655f7603b
commit 59265f6663
5 changed files with 41 additions and 32 deletions
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28
src/modules/commander/PreflightCheck.cpp
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@@ -682,20 +682,22 @@ static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
// Ignore failure detector check after arming.
return true;
} else {
if (status.failure_detector_status != 0) {
success = false;
}
if (report_fail) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ROLL FAILURE DETECTED");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: PITCH FAILURE DETECTED");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ALTITUDE FAILURE DETECTED");
}
if (status.failure_detector_status != 0) {
success = false;
if (report_fail) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Roll failure detected");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Pitch failure detected");
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: Altitude failure detected");
}
}
}