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sdcardCheck: minor refactor

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I was late for the review.
This commit is contained in:
Matthias Grob
2021-02-08 09:07:03 +01:00
committed by Daniel Agar
parent 5db906314a
commit a002a07ed5
1 changed files with 18 additions and 18 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/sdcardCheck.cpp
+18 -18
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@@ -34,6 +34,7 @@
#include "../PreFlightCheck.hpp"
#include <lib/parameters/param.h>
#include <systemlib/mavlink_log.h>
#ifdef __PX4_DARWIN
#include <sys/param.h>
#include <sys/mount.h>
@@ -43,30 +44,29 @@
bool PreFlightCheck::sdcardCheck(orb_advert_t *mavlink_log_pub, const bool report_fail)
{
const char *microsd_dir = PX4_STORAGEDIR;
bool success = true;
struct statfs statfs_buf;
uint64_t total_bytes = 0;
int32_t reporting_enabled = 0;
param_get(param_find("COM_ARM_SDCARD"), &reporting_enabled);
int32_t param_com_arm_sdcard{0};
param_get(param_find("COM_ARM_SDCARD"), &param_com_arm_sdcard);
if (reporting_enabled == 0) {
return success;
}
if (param_com_arm_sdcard > 0) {
bool sdcard_present{false};
struct statfs statfs_buf;
if (statfs(microsd_dir, &statfs_buf) == 0) {
total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
}
if (total_bytes == 0) { // on NuttX we get 0 total bytes if no SD card is inserted
if (reporting_enabled == 2) {
success = false;
if (statfs(PX4_STORAGEDIR, &statfs_buf) == 0) {
// on NuttX we get a data block count f_blocks and byte count per block f_bsize if an SD card is inserted
sdcard_present = (statfs_buf.f_blocks > 0) && (statfs_buf.f_bsize > 0);
}
if (report_fail && reporting_enabled > 0) {
mavlink_log_critical(mavlink_log_pub, "Warning! Missing FMU SD Card.");
if (!sdcard_present) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Warning! Missing FMU SD Card.");
}
if (param_com_arm_sdcard == 2) {
// disallow arming without sd card
success = false;
}
}
}