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Commander: Handle HITL state in all places consistently

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Lorenz Meier
2017-07-30 21:27:53 +02:00
parent 9d49690f17
commit c94e54bbab
2 changed files with 5 additions and 3 deletions
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6
src/modules/commander/state_machine_helper.cpp
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@@ -502,6 +502,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation.");
} else {
mavlink_log_critical(mavlink_log_pub, "Set parameter SYS_HITL to 1 before starting HITL.");
ret = TRANSITION_DENIED;
}
} else {
@@ -520,7 +521,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
if (ret == TRANSITION_CHANGED) {
current_status->hil_state = new_state;
current_status->timestamp = hrt_absolute_time();
// XXX also set lockdown here
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
}
@@ -1043,7 +1043,9 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
checkAirspeed = true;
}
bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, true, true, true, true,
bool sensor_checks = (status->hil_state == vehicle_status_s::HIL_STATE_OFF);
bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, sensor_checks, sensor_checks, sensor_checks, sensor_checks,
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
!arm_without_gps, true, status->is_vtol, reportFailures, prearm, time_since_boot);