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state_machine_helper: warn about offboard lost, not RC 

When offboard input stops and we're in OFFBOARD mode, we should complain
about offboard being lost and not RC because we probably never even had RC.
This commit is contained in:
Julian Oes 2016-11-15 20:01:52 +01:00 committed by Lorenz Meier
parent 454cd33a5e
commit 0b02a6e0f7
1 changed files with 10 additions and 8 deletions
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18
src/modules/commander/state_machine_helper.cpp
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@ -80,12 +80,14 @@ using namespace DriverFramework;
#define AVIONICS_WARN_VOLTAGE 4.9f
#endif
const char *reason_no_rc = "no rc";
const char *reason_no_gps = "no gps";
const char *reason_no_gpos = "no gpos";
const char *reason_no_gps_cmd = "no gps cmd";
const char *reason_no_home = "no home";
const char *reason_no_datalink = "no datalink";
static const char reason_no_rc[] = "no RC";
static const char reason_no_offboard[] = "no offboard";
static const char reason_no_rc_and_no_offboard[] = "no RC and no offboard";
static const char reason_no_gps[] = "no gps";
static const char reason_no_gpos[] = "no gpos";
static const char reason_no_gps_cmd[] = "no gps cmd";
static const char reason_no_home[] = "no home";
static const char reason_no_datalink[] = "no datalink";
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
@ -1020,7 +1022,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
/* require offboard control, otherwise stay where you are */
if (status_flags->offboard_control_signal_lost && !status->rc_signal_lost) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_offboard);
if (status_flags->offboard_control_loss_timeout && offb_loss_rc_act < 5 && offb_loss_rc_act >= 0) {
if (offb_loss_rc_act == 3 && status_flags->condition_global_position_valid
@ -1059,7 +1061,7 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
}
} else if (status_flags->offboard_control_signal_lost && status->rc_signal_lost) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc_and_no_offboard);
if (status_flags->offboard_control_loss_timeout && offb_loss_act < 3 && offb_loss_act >= 0) {
if (offb_loss_act == 2 && status_flags->condition_global_position_valid