forked from Archive/PX4-Autopilot
suppress preflight check failure for HIL autostart_ids
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@ -1134,11 +1134,19 @@ int commander_thread_main(int argc, char *argv[])
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}
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// Run preflight check
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status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
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if (!status.condition_system_sensors_initialized) {
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set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
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}
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else {
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param_get(_param_autostart_id, &autostart_id);
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if (autostart_id > 1999) {
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status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
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if (!status.condition_system_sensors_initialized) {
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set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
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}
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else {
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set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
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}
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} else {
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// HIL configuration selected: real sensors will be disabled
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warnx("autostart_id: %d", autostart_id);
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status.condition_system_sensors_initialized = false;
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set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
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}
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@ -1311,7 +1319,7 @@ int commander_thread_main(int argc, char *argv[])
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/* provide RC and sensor status feedback to the user */
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(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
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!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
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!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
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}
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telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
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@ -2781,7 +2789,7 @@ void *commander_low_prio_loop(void *arg)
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}
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status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
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!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
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!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
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arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
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