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Commander: Fix preflight check reporting and simplify logic

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This commit is contained in:
Lorenz Meier
2015-11-19 18:28:16 +01:00
parent f2b988dcaa
commit 7a5391a723
3 changed files with 33 additions and 14 deletions
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9
src/modules/commander/state_machine_helper.cpp
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@@ -271,6 +271,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
/* reset feedback state */
if (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR &&
status->arming_state != vehicle_status_s::ARMING_STATE_INIT &&
valid_transition) {
status->condition_system_prearm_error_reported = false;
}
@@ -745,8 +746,8 @@ int preflight_check(struct vehicle_status_s *status, const int mavlink_fd, bool
{
/*
*/
bool reportFailures = force_report || (!status->data_link_lost &&
!status->condition_system_prearm_error_reported && status->condition_system_hotplug_timeout);
bool reportFailures = force_report || (!status->condition_system_prearm_error_reported &&
status->condition_system_hotplug_timeout);
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
@@ -755,7 +756,9 @@ int preflight_check(struct vehicle_status_s *status, const int mavlink_fd, bool
checkAirspeed = true;
}
bool preflight_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
bool preflight_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true,
checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF),
!status->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
if (!status->cb_usb && status->usb_connected && prearm) {
preflight_ok = false;