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suppress preflight check failure for HIL autostart_ids

This commit is contained in:
Mark Whitehorn 2015-06-05 21:18:25 -06:00
parent db3ac5f3ac
commit e9634fbe47
1 changed files with 15 additions and 7 deletions
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22
src/modules/commander/commander.cpp
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@ -1134,11 +1134,19 @@ int commander_thread_main(int argc, char *argv[])
}
// Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
else {
param_get(_param_autostart_id, &autostart_id);
if (autostart_id > 1999) {
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
else {
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
} else {
// HIL configuration selected: real sensors will be disabled
warnx("autostart_id: %d", autostart_id);
status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
}
@ -1311,7 +1319,7 @@ 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);
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@ -2781,7 +2789,7 @@ void *commander_low_prio_loop(void *arg)
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);