From 868b9b33ed6d7f521d20d28429cd8c7d57311409 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sun, 26 Apr 2015 23:31:25 +0200 Subject: Make sure we log the airspeed check to the console as well. --- src/modules/commander/PreflightCheck.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp index b0a587762..4d9bd8ae0 100644 --- a/src/modules/commander/PreflightCheck.cpp +++ b/src/modules/commander/PreflightCheck.cpp @@ -254,13 +254,13 @@ static bool airspeedCheck(int mavlink_fd, bool optional) if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) || (hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) { - mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING"); + mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING"); success = false; goto out; } if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) { - mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE"); + mavlink_and_console_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE"); // XXX do not make this fatal yet } -- cgit v1.2.3 From ef63babb7137b1a0c2cdfed8af5881e0268b26b2 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Mon, 27 Apr 2015 13:29:36 +0200 Subject: Make sure circuit breakers are ready before the first preflight check call. --- src/modules/commander/commander.cpp | 30 ++++++++++++++++++++---------- 1 file 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; @@ -2107,6 +2104,19 @@ int commander_thread_main(int argc, char *argv[]) return 0; } +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) { -- cgit v1.2.3