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commander: properly use new param

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The param COM_ARM_WO_GPS is set to 1 by default to allow arming without
GPS. This then sets a bool arm_without_gps which translates to
!GNSS_check in preflightCheck.
This commit is contained in:
Julian Oes
2016-06-07 16:00:23 +02:00
committed by Lorenz Meier
parent f67e74935e
commit c7ec07be70
4 changed files with 35 additions and 20 deletions
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11
src/modules/commander/state_machine_helper.cpp
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@@ -118,7 +118,8 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags,
float avionics_power_rail_voltage)
float avionics_power_rail_voltage,
bool can_arm_without_gps)
{
// Double check that our static arrays are still valid
ASSERT(vehicle_status_s::ARMING_STATE_INIT == 0);
@@ -144,7 +145,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags, battery);
status_flags, battery, can_arm_without_gps);
}
/* re-run the pre-flight check as long as sensors are failing */
@@ -155,7 +156,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */, false /* force_report */,
status_flags, battery);
status_flags, battery, can_arm_without_gps);
status_flags->condition_system_sensors_initialized = !prearm_ret;
last_preflight_check = hrt_absolute_time();
last_prearm_ret = prearm_ret;
@@ -972,7 +973,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
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, status_flags_s *status_flags, battery_status_s *battery)
int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery, bool can_arm_without_gps)
{
/*
*/
@@ -988,7 +989,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
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_flags->circuit_breaker_engaged_gpsfailure_check, true, reportFailures);
!can_arm_without_gps, true, reportFailures);
if (!status_flags->circuit_breaker_engaged_usb_check && status_flags->usb_connected && prearm) {
preflight_ok = false;