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Code Issues Releases Activity

Sanity check: Add some initial checks for revo that make sure the needed optional modules are

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running.
This commit is contained in:
James Cotton 2012-10-25 20:36:21 -05:00
parent 23422d3cd4
commit 736f96b297
1 changed files with 16 additions and 4 deletions
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20
flight/Libraries/sanitycheck.c
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@ -51,16 +51,13 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
int32_t configuration_check()
{
int32_t status = SYSTEMALARMS_ALARM_OK;
// TODO: Check manual control settings for any modes that can be accessed without the
// necessary module running
// TODO: Get board type
// Get board type
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool coptercontrol = bdinfo->board_type == 0x04;
// Classify airframe type
bool multirotor = true;
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch(airframe_type) {
@ -112,14 +109,29 @@ int32_t configuration_check()
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if(running[TASKINFO_RUNNING_ALTITUDEHOLD] != TASKINFO_RUNNING_TRUE)
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if(running[TASKINFO_RUNNING_GUIDANCE] != TASKINFO_RUNNING_TRUE)
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if(running[TASKINFO_RUNNING_GUIDANCE] != TASKINFO_RUNNING_TRUE)
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
default:
// Uncovered modes are automatically an error