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commander delete unused sensors check

This commit is contained in:
Daniel Agar 2017-12-20 17:52:00 -05:00 committed by Lorenz Meier
parent 294fbc46a9
commit ca804a2308
3 changed files with 0 additions and 53 deletions
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4
msg/vehicle_status_flags.msg
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@ -50,8 +50,6 @@ uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
uint16 GPS_FAILURE_MASK = 4096
uint16 GPS_FAILURE_CMD_MASK = 8192
uint16 BAROMETER_FAILURE_MASK = 16384
uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
# 0x0001 usb_connected: status of the USB power supply
# 0x0002 offboard_control_signal_found_once
@ -67,7 +65,5 @@ uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
# 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded
# 0x1000 gps_failure: Set to true if a gps failure is detected
# 0x2000 gps_failure_cmd: Set to true if a gps failure mode is commanded
# 0x4000 barometer_failure: Set to true if a barometer failure is detected
# 0x8000 ever_had_barometer_data: Set to true if ever had valid barometer data before
uint16 other_flags

47
src/modules/commander/commander.cpp
View File

@ -1388,10 +1388,6 @@ Commander::run()
status_flags.offboard_control_signal_found_once = false;
status_flags.rc_signal_found_once = false;
/* assume we don't have a valid baro on startup */
status_flags.barometer_failure = true;
status_flags.ever_had_barometer_data = false;
/* mark all signals lost as long as they haven't been found */
status.rc_signal_lost = true;
status_flags.offboard_control_signal_lost = true;
@ -1566,11 +1562,6 @@ Commander::run()
gps_position.eph = FLT_MAX;
gps_position.epv = FLT_MAX;
/* Subscribe to sensor topic */
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
/* Subscribe to differential pressure topic */
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
@ -1971,37 +1962,6 @@ Commander::run()
}
}
orb_check(sensor_sub, &updated);
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
/* Check if the barometer is healthy and issue a warning in the GCS if not so.
* Because the barometer is used for calculating AMSL altitude which is used to ensure
* vertical separation from other airtraffic the operator has to know when the
* barometer is inoperational.
* */
hrt_abstime baro_timestamp = sensors.timestamp + sensors.baro_timestamp_relative;
if (hrt_elapsed_time(&baro_timestamp) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where baro was regained */
if (status_flags.barometer_failure) {
status_flags.barometer_failure = false;
status_changed = true;
if (status_flags.ever_had_barometer_data) {
mavlink_log_critical(&mavlink_log_pub, "baro healthy");
}
status_flags.ever_had_barometer_data = true;
}
} else {
if (!status_flags.barometer_failure) {
status_flags.barometer_failure = true;
status_changed = true;
mavlink_log_critical(&mavlink_log_pub, "baro failed");
}
}
}
orb_check(diff_pres_sub, &updated);
if (updated) {
@ -3257,7 +3217,6 @@ Commander::run()
px4_close(local_position_sub);
px4_close(global_position_sub);
px4_close(gps_sub);
px4_close(sensor_sub);
px4_close(safety_sub);
px4_close(cmd_sub);
px4_close(subsys_sub);
@ -4575,12 +4534,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
if (status_flags.gps_failure_cmd) {
v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_CMD_MASK;
}
if (status_flags.barometer_failure) {
v_flags.other_flags |= vehicle_status_flags_s::BAROMETER_FAILURE_MASK;
}
if (status_flags.ever_had_barometer_data) {
v_flags.other_flags |= vehicle_status_flags_s::EVER_HAD_BAROMETER_DATA_MASK;
}
if ((v_flags.conditions != vehicle_status_flags.conditions) ||
(v_flags.other_flags != vehicle_status_flags.other_flags) ||

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

@ -110,8 +110,6 @@ struct status_flags_s {
bool vtol_transition_failure_cmd; // Set to true if vtol transition failure mode is commanded
bool gps_failure; // Set to true if a gps failure is detected
bool gps_failure_cmd; // Set to true if a gps failure mode is commanded
bool barometer_failure; // Set to true if a barometer failure is detected
bool ever_had_barometer_data; // Set to true if ever had valid barometer data before
};
bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);