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commander: PreflightCheck replace all differential_pressure sensor checks with airspeed checks (#11722)

This commit is contained in:
Nuno Marques 2019-04-03 14:20:27 +01:00 committed by Daniel Agar
parent d36c0e131d
commit 5da5795433
1 changed files with 2 additions and 17 deletions
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19
src/modules/commander/PreflightCheck.cpp
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@ -385,20 +385,6 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
int fd_airspeed = orb_subscribe(ORB_ID(airspeed));
airspeed_s airspeed = {};
int fd_diffpres = orb_subscribe(ORB_ID(differential_pressure));
differential_pressure_s differential_pressure = {};
if ((orb_copy(ORB_ID(differential_pressure), fd_diffpres, &differential_pressure) != PX4_OK) ||
(hrt_elapsed_time(&differential_pressure.timestamp) > 1_s)) {
if (report_fail && !optional) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
}
present = false;
success = false;
goto out;
}
if ((orb_copy(ORB_ID(airspeed), fd_airspeed, &airspeed) != PX4_OK) ||
(hrt_elapsed_time(&airspeed.timestamp) > 1_s)) {
if (report_fail && !optional) {
@ -427,11 +413,11 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
}
/**
* Check if differential pressure is off by more than 15Pa which equals ~5m/s when measuring no airspeed.
* Check if airspeed is higher than 4m/s (accepted max) while the vehicle is landed / not flying
* Negative and positive offsets are considered. Do not check anymore while arming because pitot cover
* might have been removed.
*/
if (fabsf(differential_pressure.differential_pressure_filtered_pa) > 15.0f && !prearm) {
if (fabsf(airspeed.indicated_airspeed_m_s) > 4.0f && !prearm) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or Pitot");
}
@ -445,7 +431,6 @@ out:
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE, present, !optional, success, status);
orb_unsubscribe(fd_airspeed);
orb_unsubscribe(fd_diffpres);
return success;
}