failureDetectorCheck.cpp

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#include "../PreFlightCheck.hpp"

#include <systemlib/mavlink_log.h>

bool PreFlightCheck::failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
        const bool report_fail, const bool prearm)
{
    // Ignore failure detector check after arming
    if (!prearm) {
        return true;
    }

    if (status.failure_detector_status != vehicle_status_s::FAILURE_NONE) {
        if (report_fail) {
            if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
                mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Roll failure detected");
            }

            if (status.failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
                mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Pitch failure detected");
            }

            if (status.failure_detector_status & vehicle_status_s::FAILURE_ALT) {
                mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Altitude failure detected");
            }
        }

        return false;
    }

    return true;
}