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Code Issues Releases Activity

Arm checks: Simply don't check GPS because the dependence on AHRS Settings

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breaks CC.  This should be done by the GPS alarm being set only when
appropriate (i.e. by AHRS on OP when needed) and not by the GPS module.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2824 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-02-21 05:58:24 +00:00 committed by peabody124
parent 4972c99519
commit 5f2c502172
2 changed files with 20 additions and 56 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

65
flight/Modules/ManualControl/manualcontrol.c
View File

@ -42,8 +42,6 @@
#include "attitudedesired.h"
#include "flighttelemetrystats.h"
#include "ahrs_comm_objects.h"
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
@ -543,63 +541,30 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
}
/**
* @brief Determine if the aircraft is safe to arm
* @returns True if safe to arm, false otherwise
*/
static bool okToArm(void)
{ // return TRUE if it's OK to arm, otherwise return FALSE
bool ok = true;
// read AHRS settings
AHRSSettingsData AHRSSettings;
AHRSSettingsGet(&AHRSSettings);
{
// read alarms
SystemAlarmsData alarms;
SystemAlarmsGet(&alarms);
SystemAlarmsGet(&alarms);
// SystemAlarmsAlarmOptions gps_alarm = AlarmsGet(SYSTEMALARMS_ALARM_GPS);
// SystemAlarmsAlarmOptions telemetry_alarm = AlarmsGet(SYSTEMALARMS_ALARM_TELEMETRY);
switch (AHRSSettings.Algorithm)
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
case AHRSSETTINGS_ALGORITHM_SIMPLE:
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR:
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY)
continue;
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i != SYSTEMALARMS_ALARM_GPS && i != SYSTEMALARMS_ALARM_TELEMETRY)
{ // it's not the gps or telemetry alarm
ok = false; // prevent arming
break;
}
}
}
break;
case AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
default: // unknown AHRS algorithum
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i != SYSTEMALARMS_ALARM_TELEMETRY)
{ // it's not the telemetry alarm
ok = false; // prevent arming
break;
}
}
}
break;
return false;
}
}
return ok;
return true;
}
//

1
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -8256,7 +8256,6 @@
};
buildConfigurationList = 1DEB928908733DD80010E9CD /* Build configuration list for PBXProject "OpenPilotOSX" */;
compatibilityVersion = "Xcode 3.1";
developmentRegion = English;
hasScannedForEncodings = 1;
knownRegions = (
English,