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Commander: Fix inverted circuit breaker logic

This commit is contained in:
Johan Jansen 2015-05-14 21:20:05 +02:00
parent 52222de021
commit 510b6124ec
2 changed files with 5 additions and 5 deletions
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8
src/modules/commander/commander.cpp
View File

@ -1128,7 +1128,7 @@ int commander_thread_main(int argc, char *argv[])
} }
// Run preflight check // Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, status.circuit_breaker_engaged_gpsfailure_check); status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) { if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
} }
@ -1301,7 +1301,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* provide RC and sensor status feedback to the user */ /* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true, status.circuit_breaker_engaged_gpsfailure_check); (void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
} }
telemetry_last_heartbeat[i] = telemetry.heartbeat_time; telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@ -1637,7 +1637,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* check if GPS is ok */ /* check if GPS is ok */
if (status.circuit_breaker_engaged_gpsfailure_check) { if (!status.circuit_breaker_engaged_gpsfailure_check) {
bool gpsIsNoisy = gps_position.noise_per_ms > 0 && gps_position.noise_per_ms < COMMANDER_MAX_GPS_NOISE; bool gpsIsNoisy = gps_position.noise_per_ms > 0 && gps_position.noise_per_ms < COMMANDER_MAX_GPS_NOISE;
//Check if GPS receiver is too noisy while we are disarmed //Check if GPS receiver is too noisy while we are disarmed
@ -2762,7 +2762,7 @@ void *commander_low_prio_loop(void *arg)
checkAirspeed = true; checkAirspeed = true;
} }
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, status.circuit_breaker_engaged_gpsfailure_check); status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd); arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);

2
src/modules/commander/state_machine_helper.cpp
View File

@ -689,5 +689,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
checkAirspeed = true; checkAirspeed = true;
} }
return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, status->circuit_breaker_engaged_gpsfailure_check, true); return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status->circuit_breaker_engaged_gpsfailure_check, true);
} }