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Merge pull request #2290 from kd0aij/HIL_inhibitSensorCheck 

inhibit more sensor checks
This commit is contained in:
Lorenz Meier 2015-06-06 17:03:40 +02:00
parent ab61ebca2a 05f935cd77
commit 947306dfdc
2 changed files with 12 additions and 4 deletions
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13
src/modules/commander/commander.cpp
View File

@ -1154,7 +1154,7 @@ int commander_thread_main(int argc, char *argv[])
}
} else {
// HIL configuration selected: real sensors will be disabled
warnx("autostart_id: %d", autostart_id);
warnx("HIL configuration; autostart_id: %d, onboard IMU sensors disabled", autostart_id);
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
@ -1327,8 +1327,15 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
if (autostart_id > 1999) {
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
} else {
/* HIL configuration: check only RC input */
warnx("new telemetry link connected: checking RC status");
(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
}
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;

3
src/modules/commander/state_machine_helper.cpp
View File

@ -125,7 +125,8 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
int prearm_ret = OK;
/* only perform the check if we have to */
if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
prearm_ret = prearm_check(status, mavlink_fd);
}