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preArmCheck: Shorten messages to to not write "Arming denied!"

This commit is contained in:
Matthias Grob 2022-06-22 16:27:30 +02:00 committed by Daniel Agar
parent 3d01b5aa11
commit 8deebd07b8
1 changed files with 20 additions and 20 deletions
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40
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
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@ -47,48 +47,48 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// rate control mode require valid angular velocity
if (control_mode.flag_control_rates_enabled && !status_flags.angular_velocity_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! angular velocity invalid"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Angular velocity invalid"); }
prearm_ok = false;
}
// attitude control mode require valid attitude
if (control_mode.flag_control_attitude_enabled && !status_flags.attitude_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! attitude invalid"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Attitude invalid"); }
prearm_ok = false;
}
// velocity control mode require valid velocity
if (control_mode.flag_control_velocity_enabled && !status_flags.local_velocity_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! velocity invalid"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Velocity invalid"); }
prearm_ok = false;
}
// position control mode require valid position
if (control_mode.flag_control_position_enabled && !status_flags.local_position_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! position invalid"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Position invalid"); }
prearm_ok = false;
}
// manual control mode require valid manual control (rc)
if (control_mode.flag_control_manual_enabled && status.rc_signal_lost) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! manual control lost"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Manual control unavailable"); }
prearm_ok = false;
}
if (status_flags.flight_terminated) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flight termination active"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Flight termination active"); }
prearm_ok = false;
}
// USB not connected
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Flying with USB is not safe"); }
prearm_ok = false;
}
@ -98,7 +98,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// Fail transition if power is not good
if (!status_flags.power_input_valid) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Connect power module"); }
prearm_ok = false;
}
@ -110,7 +110,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// Only arm if healthy
if (!status_flags.battery_healthy) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Check battery"); }
}
prearm_ok = false;
@ -125,7 +125,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (mission_required) {
if (!status_flags.auto_mission_available) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "No valid mission"); }
}
prearm_ok = false;
@ -133,7 +133,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.global_position_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Missions require a global position"); }
}
prearm_ok = false;
@ -147,7 +147,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (global_position_required && !status_flags.circuit_breaker_engaged_posfailure_check) {
if (!status_flags.global_position_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Global position required"); }
}
prearm_ok = false;
@ -155,7 +155,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.home_position_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Home position invalid"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Home position invalid"); }
}
prearm_ok = false;
@ -166,7 +166,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (safety_button_available && !safety_off) {
// Fail transition if we need safety button press
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety button first"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Press safety button first"); }
}
prearm_ok = false;
@ -174,7 +174,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Avoidance system not ready"); }
}
prearm_ok = false;
@ -187,7 +187,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (esc_checks_required && status_flags.escs_error) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "One or more ESCs are offline"); }
prearm_ok = false;
}
@ -195,7 +195,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (esc_checks_required && status_flags.escs_failure) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs have a failure"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "One or more ESCs have a failure"); }
prearm_ok = false;
}
@ -204,7 +204,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (status.is_vtol) {
if (status.in_transition_mode) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is in transition state"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Vehicle is in transition state"); }
prearm_ok = false;
}
@ -213,7 +213,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (!status_flags.circuit_breaker_vtol_fw_arming_check
&& status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Vehicle is not in multicopter mode"); }
prearm_ok = false;
}
@ -226,7 +226,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
if (gefence_action_configured && status.geofence_violated) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Arming denied, vehicle outside geofence");
mavlink_log_critical(mavlink_log_pub, "Vehicle outside geofence");
}
prearm_ok = false;