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Merge branch 'corvuscorax/OP-1371_fix-hitl-sanitychecks' into next

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Corvus Corax 2014-06-18 22:53:56 +02:00
commit b186833290
3 changed files with 18 additions and 2 deletions
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17
flight/libraries/sanitycheck.c
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@ -38,6 +38,7 @@
#include <systemsettings.h> #include <systemsettings.h>
#include <systemalarms.h> #include <systemalarms.h>
#include <revosettings.h> #include <revosettings.h>
#include <positionstate.h>
#include <taskinfo.h> #include <taskinfo.h>
// a number of useful macros // a number of useful macros
@ -79,10 +80,17 @@ int32_t configuration_check()
break; break;
default: default:
navCapableFusion = false; navCapableFusion = false;
// check for hitl. hitl allows to feed position and velocity state via
// telemetry, this makes nav possible even with an unsuited algorithm
if (PositionStateHandle()) {
if (PositionStateReadOnly()) {
navCapableFusion = true;
}
}
} }
#else #else
const bool navCapableFusion = false; const bool navCapableFusion = false;
#endif #endif /* ifdef REVOLUTION */
// Classify airframe type // Classify airframe type
@ -173,7 +181,12 @@ int32_t configuration_check()
} }
} }
// TODO: Check on a multirotor no axis supports "None" uint8_t checks_disabled;
FlightModeSettingsDisableSanityChecksGet(&checks_disabled);
if (checks_disabled == FLIGHTMODESETTINGS_DISABLESANITYCHECKS_TRUE) {
severity = SYSTEMALARMS_ALARM_WARNING;
}
if (severity != SYSTEMALARMS_ALARM_OK) { if (severity != SYSTEMALARMS_ALARM_OK) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus); ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
} else { } else {

2
flight/modules/Receiver/receiver.c
View File

@ -200,6 +200,8 @@ static void receiverTask(__attribute__((unused)) void *parameters)
UAVObjSetAccess(&metadata, ACCESS_READWRITE); UAVObjSetAccess(&metadata, ACCESS_READWRITE);
ManualControlCommandSetMetadata(&metadata); ManualControlCommandSetMetadata(&metadata);
} }
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
continue;
} }
bool valid_input_detected = true; bool valid_input_detected = true;

1
shared/uavobjectdefinition/flightmodesettings.xml
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@ -108,6 +108,7 @@
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/> <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/> <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/> <field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisableSanityChecks" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/> <field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/> <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
<!-- optimized for current vtolpathfollower, <!-- optimized for current vtolpathfollower,