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Commander: Handle HITL state in all places consistently

This commit is contained in:
Lorenz Meier 2017-07-30 21:27:53 +02:00
parent 9d49690f17
commit c94e54bbab
2 changed files with 5 additions and 3 deletions
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2
src/modules/commander/commander.cpp
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@ -2004,7 +2004,7 @@ int commander_thread_main(int argc, char *argv[])
/* provide RC and sensor status feedback to the user */
if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
/* HIL configuration: check only RC input */
/* HITL configuration: check only RC input */
(void)Commander::preflightCheck(&mavlink_log_pub, false, false, false, false, false,
(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), false,
/* checkDynamic */ true, is_vtol(&status), /* reportFailures */ false, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));

6
src/modules/commander/state_machine_helper.cpp
View File

@ -502,6 +502,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation.");
} else {
mavlink_log_critical(mavlink_log_pub, "Set parameter SYS_HITL to 1 before starting HITL.");
ret = TRANSITION_DENIED;
}
} else {
@ -520,7 +521,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
if (ret == TRANSITION_CHANGED) {
current_status->hil_state = new_state;
current_status->timestamp = hrt_absolute_time();
// XXX also set lockdown here
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
}
@ -1043,7 +1043,9 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
checkAirspeed = true;
}
bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, true, true, true, true,
bool sensor_checks = (status->hil_state == vehicle_status_s::HIL_STATE_OFF);
bool preflight_ok = Commander::preflightCheck(mavlink_log_pub, sensor_checks, sensor_checks, sensor_checks, sensor_checks,
checkAirspeed, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
!arm_without_gps, true, status->is_vtol, reportFailures, prearm, time_since_boot);