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Code Issues Wiki Activity

allow HITL to run with HW baro failure

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This commit is contained in:
Roman Lut 2023-04-26 16:55:46 +02:00
parent f31f6fc483
commit 32c4dcd436
3 changed files with 28 additions and 10 deletions
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11
src/main/fc/fc_msp.c
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@ -3478,7 +3478,9 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
DISABLE_ARMING_FLAG(SIMULATOR_MODE_HITL);
#ifdef USE_BARO
if ( requestedSensors[SENSOR_INDEX_BARO] != BARO_NONE ) {
baroStartCalibration();
}
#endif
#ifdef USE_MAG
DISABLE_STATE(COMPASS_CALIBRATED);
@ -3489,10 +3491,15 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
disarm(DISARM_SWITCH); // Disarm to prevent motor output!!!
}
} else if (!areSensorsCalibrating()) {
} else {
if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) { // Just once
#ifdef USE_BARO
baroStartCalibration();
if ( requestedSensors[SENSOR_INDEX_BARO] != BARO_NONE ) {
sensorsSet(SENSOR_BARO);
setTaskEnabled(TASK_BARO, true);
DISABLE_ARMING_FLAG(ARMING_DISABLED_HARDWARE_FAILURE);
baroStartCalibration();
}
#endif
#ifdef USE_MAG