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Make sure circuit breakers are ready before the first preflight check call.

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Simon Wilks
2015-04-27 13:29:36 +02:00
parent 868b9b33ed
commit ef63babb71
1 changed files with 20 additions and 10 deletions
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src/modules/commander/commander.cpp
+20 -10
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@@ -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 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); 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); 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 param_get(_param_sys_type, &(status.system_type)); // get system type
status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status); status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
get_circuit_breaker_params();
bool checkAirspeed = false; bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not /* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */ * engaged and it's not a rotary wing */
@@ -1121,9 +1125,9 @@ int commander_thread_main(int argc, char *argv[])
checkAirspeed = true; checkAirspeed = true;
} }
//Run preflight check // Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true); 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 set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
} }
else { else {
@@ -1207,14 +1211,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_system_id, &(status.system_id)); param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id)); param_get(_param_component_id, &(status.component_id));
status.circuit_breaker_engaged_power_check = get_circuit_breaker_params();
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);
status_changed = true; status_changed = true;
@@ -2107,6 +2104,19 @@ int commander_thread_main(int argc, char *argv[])
return 0; 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 void
check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed) check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed)
{ {