yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

commander preflightCheck don't report failures during calibration

Browse Source
This commit is contained in:
Daniel Agar
2018-04-04 20:49:57 -04:00
parent 2271b3f127
commit 64fb4b43b6
2 changed files with 8 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/modules/commander/PreflightCheck.cpp
View File

@@ -245,8 +245,7 @@ static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, bool report_statu
return true;
}
static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool optional, bool dynamic,
int &device_id, bool report_fail)
static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool optional, bool dynamic, int &device_id, bool report_fail)
{
bool success = true;
@@ -688,7 +687,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &statu
checkAirspeed = true;
}
reportFailures = (reportFailures && status_flags.condition_system_hotplug_timeout);
reportFailures = (reportFailures && status_flags.condition_system_hotplug_timeout && !status_flags.condition_calibration_enabled);
#ifdef __PX4_QURT
// WARNING: Preflight checks are important and should be added back when
@@ -721,7 +720,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &statu
bool required = (i < max_mandatory_mag_count);
int device_id = -1;
if (!magnometerCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !mag_fail_reported)) && required) {
if (!magnometerCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !failed && !mag_fail_reported)) && required) {
failed = true;
mag_fail_reported = true;
}
@@ -744,7 +743,6 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &statu
if (!magConsistencyCheck(mavlink_log_pub, (reportFailures && !failed))) {
failed = true;
}
}
/* ---- ACCEL ---- */
@@ -760,8 +758,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &statu
bool required = (i < max_mandatory_accel_count);
int device_id = -1;
if (!accelerometerCheck(mavlink_log_pub, i, !required, checkDynamic, device_id, (reportFailures
&& !accel_fail_reported)) && required) {
if (!accelerometerCheck(mavlink_log_pub, i, !required, checkDynamic, device_id, (reportFailures && !failed && !accel_fail_reported)) && required) {
failed = true;
accel_fail_reported = true;
}
@@ -794,7 +791,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &statu
bool required = (i < max_mandatory_gyro_count);
int device_id = -1;
if (!gyroCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !gyro_fail_reported)) && required) {
if (!gyroCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !failed && !gyro_fail_reported)) && required) {
failed = true;
gyro_fail_reported = true;
}
@@ -827,7 +824,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &statu
bool required = (i < max_mandatory_baro_count);
int device_id = -1;
if (!baroCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !baro_fail_reported)) && required) {
if (!baroCheck(mavlink_log_pub, i, !required, device_id, (reportFailures && !failed && !baro_fail_reported)) && required) {
failed = true;
baro_fail_reported = true;
}
@@ -857,14 +854,14 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &statu
/* ---- AIRSPEED ---- */
if (checkAirspeed) {
if (!airspeedCheck(mavlink_log_pub, true, reportFailures, prearm)) {
if (!airspeedCheck(mavlink_log_pub, true, reportFailures && !failed, prearm)) {
failed = true;
}
}
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (rc_calibration_check(mavlink_log_pub, reportFailures, status.is_vtol) != OK) {
if (rc_calibration_check(mavlink_log_pub, reportFailures && !failed, status.is_vtol) != OK) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
}