From 5da57954332d7cc589280532dfd3c9493a71e78e Mon Sep 17 00:00:00 2001
From: Nuno Marques <n.marques21@hotmail.com>
Date: Wed, 3 Apr 2019 14:20:27 +0100
Subject: [PATCH] commander: PreflightCheck replace all differential_pressure
sensor checks with airspeed checks (#11722)
---
src/modules/commander/PreflightCheck.cpp | 19 ++-----------------
1 file changed, 2 insertions(+), 17 deletions(-)
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index 0584517006..29ca7225bf 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -385,20 +385,6 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
int fd_airspeed = orb_subscribe(ORB_ID(airspeed));
airspeed_s airspeed = {};
- int fd_diffpres = orb_subscribe(ORB_ID(differential_pressure));
- differential_pressure_s differential_pressure = {};
-
- if ((orb_copy(ORB_ID(differential_pressure), fd_diffpres, &differential_pressure) != PX4_OK) ||
- (hrt_elapsed_time(&differential_pressure.timestamp) > 1_s)) {
- if (report_fail && !optional) {
- mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
- }
-
- present = false;
- success = false;
- goto out;
- }
-
if ((orb_copy(ORB_ID(airspeed), fd_airspeed, &airspeed) != PX4_OK) ||
(hrt_elapsed_time(&airspeed.timestamp) > 1_s)) {
if (report_fail && !optional) {
@@ -427,11 +413,11 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &statu
}
/**
- * Check if differential pressure is off by more than 15Pa which equals ~5m/s when measuring no airspeed.
+ * Check if airspeed is higher than 4m/s (accepted max) while the vehicle is landed / not flying
* Negative and positive offsets are considered. Do not check anymore while arming because pitot cover
* might have been removed.
*/
- if (fabsf(differential_pressure.differential_pressure_filtered_pa) > 15.0f && !prearm) {
+ if (fabsf(airspeed.indicated_airspeed_m_s) > 4.0f && !prearm) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or Pitot");
}
@@ -445,7 +431,6 @@ out:
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE, present, !optional, success, status);
orb_unsubscribe(fd_airspeed);
- orb_unsubscribe(fd_diffpres);
return success;
}
--
GitLab