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Code Issues Releases Activity

Add missing flightmodes into sanitycheck, pathfollower needs to be running before sanitycheck runs

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This commit is contained in:
sambas 2013-03-30 14:57:43 +02:00
parent 2557600257
commit e43e5c5028
2 changed files with 39 additions and 3 deletions
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40
flight/Libraries/sanitycheck.c
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@ -114,7 +114,7 @@ int32_t configuration_check()
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
// Revo supports VelocityControl
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
@ -123,7 +123,43 @@ int32_t configuration_check()
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
// Revo supports Position Hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_LAND:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports AutoLand Mode
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POI:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports POI Mode
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_PATHPLANNER:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports PathPlanner
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports ReturnToBase
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}

2
flight/targets/RevoMini/Makefile
View File

@ -34,6 +34,7 @@ MODULES += Altitude/revolution
MODULES += Airspeed/revolution
MODULES += AltitudeHold
MODULES += Stabilization
MODULES += VtolPathFollower
MODULES += ManualControl
MODULES += Actuator
MODULES += GPS
@ -46,7 +47,6 @@ MODULES += PathPlanner
MODULES += FixedWingPathFollower
MODULES += Osd/OsdHk
MODULES += Telemetry
MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
OPTMODULES =