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commander: remove circuit breakers from status msg

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Since the circuit breaker bools are not actually used anywhere else than
in the commander, it is safe to remove them and replace them with local
bools.
This commit is contained in:
Julian Oes
2016-02-24 08:00:33 +00:00
parent ebacd4c1de
commit 5f3a23a253
4 changed files with 137 additions and 50 deletions
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27
src/modules/commander/state_machine_helper.cpp
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@@ -116,6 +116,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
struct actuator_armed_s *armed, ///< current armed status
bool fRunPreArmChecks, ///< true: run the pre-arm checks, false: no pre-arm checks, for unit testing
orb_advert_t *mavlink_log_pub) ///< uORB handle for mavlink log
bool circuit_breaker_engaged_airspd_check,
bool circuit_breaker_engaged_gpsfailure_check,
bool circuit_breaker_engaged_power_check,
bool cb_usb)
{
// Double check that our static arrays are still valid
ASSERT(vehicle_status_s::ARMING_STATE_INIT == 0);
@@ -140,7 +144,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */ );
prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
circuit_breaker_engaged_airspd_check,
circuit_breaker_engaged_gpsfailure_check,
cb_usb);
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status->condition_system_sensors_initialized
@@ -149,7 +156,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */);
prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */,
circuit_breaker_engaged_airspd_check,
circuit_breaker_engaged_gpsfailure_check,
cb_usb);
status->condition_system_sensors_initialized = !prearm_ret;
last_preflight_check = hrt_absolute_time();
last_prearm_ret = prearm_ret;
@@ -208,7 +218,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
// Perform power checks only if circuit breaker is not
// engaged for these checks
if (!status->circuit_breaker_engaged_power_check) {
if (!circuit_breaker_engaged_power_check) {
// Fail transition if power is not good
if (!status->condition_power_input_valid) {
@@ -859,7 +869,10 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
return status->nav_state != nav_state_old;
}
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report)
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report,
bool circuit_breaker_engaged_airspd_check,
bool circuit_breaker_engaged_gpsfailure_check,
bool cb_usb)
{
/*
*/
@@ -869,15 +882,15 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status->circuit_breaker_engaged_airspd_check && (!status->is_rotary_wing || status->is_vtol)) {
if (!circuit_breaker_engaged_airspd_check && (!status->is_rotary_wing || status->is_vtol)) {
checkAirspeed = true;
}
bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, true, true, true, true,
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
!status->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
!circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
if (!status->cb_usb && status->usb_connected && prearm) {
if (!cb_usb && status->usb_connected && prearm) {
preflight_ok = false;
if (reportFailures) {
mavlink_and_console_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");