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commander: Better user feedback after resolving preflight check warnings

This commit is contained in:
Lorenz Meier 2015-04-26 12:04:16 +02:00
parent 585c5334be
commit 1b6742cebe
1 changed files with 17 additions and 9 deletions
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26
src/modules/commander/state_machine_helper.cpp
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@ -211,7 +211,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
valid_transition = true;
}
/* Sensors need to be initialized for STANDBY state */
// Sensors need to be initialized for STANDBY state
if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors not operational.");
feedback_provided = true;
@ -219,15 +219,23 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
/* Check if we are trying to arm, checks look good but we are in STANDBY_ERROR */
if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR &&
new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming");
} else {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm");
// Check if we are trying to arm, checks look good but we are in STANDBY_ERROR
if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming");
} else {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm");
}
feedback_provided = true;
} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, power cycle to complete");
feedback_provided = true;
}
feedback_provided = true;
}
// Finish up the state transition