yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Commander: Preflight check reporting cleanup, add USB breaker

Browse Source
This commit is contained in:
Lorenz Meier
2015-11-14 15:02:56 +01:00
parent 9b758e7285
commit ff88fc00c0
3 changed files with 59 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/commander/state_machine_helper.cpp
View File

@@ -177,7 +177,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
// Fail transition if we need safety switch press
} else if (safety->safety_switch_available && !safety->safety_off) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
feedback_provided = true;
valid_transition = false;
}
@@ -202,10 +202,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
feedback_provided = true;
valid_transition = false;
} else if (status->avionics_power_rail_voltage < 4.9f) {
mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
mavlink_and_console_log_critical(mavlink_fd, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
} else if (status->avionics_power_rail_voltage > 5.4f) {
mavlink_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage);
mavlink_and_console_log_critical(mavlink_fd, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
}
}
@@ -392,7 +392,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
switch (new_state) {
case vehicle_status_s::HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)");
mavlink_and_console_log_critical(mavlink_fd, "Not switching off HIL (safety)");
ret = TRANSITION_DENIED;
break;
@@ -465,7 +465,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
closedir(d);
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
mavlink_and_console_log_critical(mavlink_fd, "Switched to ON hil state");
} else {
/* failed opening dir */
@@ -502,11 +502,11 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
}
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
mavlink_and_console_log_critical(mavlink_fd, "Switched to ON hil state");
#endif
} else {
mavlink_log_critical(mavlink_fd, "Not switching to HIL when armed");
mavlink_and_console_log_critical(mavlink_fd, "Not switching to HIL when armed");
ret = TRANSITION_DENIED;
}
break;
@@ -759,9 +759,9 @@ int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd,
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->usb_connected && prearm) {
if (!status->cb_usb && status->usb_connected && prearm) {
preflight_ok = false;
if(reportFailures) mavlink_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
if(reportFailures) mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
}
return !preflight_ok;