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Enable pre-arm checks in HIL modes 

by airframe parameters HIL mode will still disable:
 - usb check
 - power checks
 - safety switch
This commit is contained in:
Nicolas MARTIN 2021-02-23 17:28:08 +01:00 committed by Lorenz Meier
parent b4b424bf7d
commit 66beffa2f3
5 changed files with 37 additions and 1 deletions
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9
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
View File

@ -47,4 +47,13 @@ param set-default RWTO_TKOFF 1
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
set MIXER AERT

9
ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
View File

@ -14,3 +14,12 @@ set MIXER quad_x
set PWM_OUT 1234
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

9
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
View File

@ -66,6 +66,15 @@ param set-default VT_TYPE 2
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
set MAV_TYPE 22
set MIXER standard_vtol_hitl

9
ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
View File

@ -17,3 +17,12 @@ set PWM_OUT 1234
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set SYS_HITL 2
# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

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

@ -173,7 +173,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
// Do not perform pre-arm checks if coming from in air restore
// Allow if vehicle_status_s::HIL_STATE_ON
if (status->arming_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE && !hil_enabled) {
if (status->arming_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE) {
bool prearm_check_ret = true;