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| author | Simon Wilks <sjwilks@gmail.com> | 2015-04-27 13:29:36 +0200 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2015-04-27 13:30:37 +0200 |
| commit | ef63babb7137b1a0c2cdfed8af5881e0268b26b2 (patch) | |
| tree | 642ab1c3e58e7484a5fbf5b457184c6bcf8be897 | |
| parent | 868b9b33ed6d7f521d20d28429cd8c7d57311409 (diff) | |
| download | px4-firmware-ef63babb7137b1a0c2cdfed8af5881e0268b26b2.tar.gz px4-firmware-ef63babb7137b1a0c2cdfed8af5881e0268b26b2.tar.bz2 px4-firmware-ef63babb7137b1a0c2cdfed8af5881e0268b26b2.zip | |
Make sure circuit breakers are ready before the first preflight check call.
| -rw-r--r-- | src/modules/commander/commander.cpp | 30 |
1 files changed, 20 insertions, 10 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 5eb0ab6ec..7aaf5e5cd 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -213,6 +213,8 @@ int commander_thread_main(int argc, char *argv[]); void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed); +void get_circuit_breaker_params(); + void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man); @@ -1114,6 +1116,8 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_sys_type, &(status.system_type)); // get system type status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status); + get_circuit_breaker_params(); + bool checkAirspeed = false; /* Perform airspeed check only if circuit breaker is not * engaged and it's not a rotary wing */ @@ -1121,9 +1125,9 @@ int commander_thread_main(int argc, char *argv[]) checkAirspeed = true; } - //Run preflight check + // Run preflight check status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true); - if(!status.condition_system_sensors_initialized) { + if (!status.condition_system_sensors_initialized) { set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune } else { @@ -1207,14 +1211,7 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); - status.circuit_breaker_engaged_power_check = - circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); - status.circuit_breaker_engaged_airspd_check = - circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); - status.circuit_breaker_engaged_enginefailure_check = - circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY); - status.circuit_breaker_engaged_gpsfailure_check = - circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY); + get_circuit_breaker_params(); status_changed = true; @@ -2108,6 +2105,19 @@ int commander_thread_main(int argc, char *argv[]) } void +get_circuit_breaker_params() +{ + status.circuit_breaker_engaged_power_check = + circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); + status.circuit_breaker_engaged_airspd_check = + circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY); + status.circuit_breaker_engaged_enginefailure_check = + circuit_breaker_enabled("CBRK_ENGINEFAIL", CBRK_ENGINEFAIL_KEY); + status.circuit_breaker_engaged_gpsfailure_check = + circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY); +} + +void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed) { hrt_abstime t = hrt_absolute_time(); |