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Code Issues Releases Activity

OP-1371 setting to disable sanity checks for debugging and testing - will set config alarm to warning if set

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This commit is contained in:
Corvus Corax 2014-06-18 21:39:16 +02:00
parent b40a114a0a
commit f1b7f339b6
2 changed files with 7 additions and 1 deletions
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7
flight/libraries/sanitycheck.c
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@ -181,7 +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) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
} else {

1
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -108,6 +108,7 @@
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" 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="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
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