diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 35 |
1 files changed, 16 insertions, 19 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 6b96e3a3f..363f5e8eb 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -70,8 +70,6 @@ #endif static const int ERROR = -1; -static int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd); - // This array defines the arming state transitions. The rows are the new state, and the columns // are the current state. Using new state and current state you can index into the array which // will be true for a valid transition or false for a invalid transition. In some cases even @@ -622,12 +620,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) { int ret; + bool failed = false; int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); if (fd < 0) { mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING"); - ret = fd; + failed = true; goto system_eval; } @@ -635,6 +634,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) if (ret != OK) { mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION"); + failed = true; goto system_eval; } @@ -644,33 +644,31 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) if (ret == sizeof(acc)) { /* evaluate values */ - float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); - - if (accel_scale < 9.78f || accel_scale > 9.83f) { - mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended."); - } + float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); - if (accel_scale > 30.0f /* m/s^2 */) { + if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) { mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE"); + mavlink_log_info(mavlink_fd, "#audio: hold still while arming"); /* this is frickin' fatal */ - ret = ERROR; + failed = true; goto system_eval; - } else { - ret = OK; } } else { mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ"); /* this is frickin' fatal */ - ret = ERROR; + failed = true; goto system_eval; } if (!status->is_rotary_wing) { + + /* accel done, close it */ + close(fd); fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); - if (fd < 0) { + if (fd <= 0) { mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING"); - ret = fd; + failed = true; goto system_eval; } @@ -679,20 +677,19 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) ret = read(fd, &diff_pres, sizeof(diff_pres)); if (ret == sizeof(diff_pres)) { - if (fabsf(diff_pres.differential_pressure_filtered_pa > 5.0f)) { + if (fabsf(diff_pres.differential_pressure_filtered_pa > 6.0f)) { mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING"); // XXX do not make this fatal yet - ret = OK; } } else { mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ"); /* this is frickin' fatal */ - ret = ERROR; + failed = true; goto system_eval; } } system_eval: close(fd); - return ret; + return (failed); } |