forked from Archive/PX4-Autopilot
commit
2685e3cfa4
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@ -1407,8 +1407,12 @@ int commander_thread_main(int argc, char *argv[])
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arming_state_changed = true;
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} else if (arming_ret == TRANSITION_DENIED) {
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/* DENIED here indicates bug in the commander */
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mavlink_log_critical(mavlink_fd, "arming state transition denied");
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/*
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* the arming transition can be denied to a number of reasons:
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* - pre-flight check failed (sensors not ok or not calibrated)
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* - safety not disabled
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* - system not in manual mode
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*/
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tune_negative(true);
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}
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@ -110,8 +110,8 @@ arming_state_transition(struct vehicle_status_s *status, /// current
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ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
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transition_result_t ret = TRANSITION_DENIED;
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arming_state_t current_arming_state = status->arming_state;
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bool feedback_provided = false;
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/* only check transition if the new state is actually different from the current one */
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if (new_arming_state == current_arming_state) {
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@ -156,13 +156,15 @@ arming_state_transition(struct vehicle_status_s *status, /// current
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// Fail transition if pre-arm check fails
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if (prearm_ret) {
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/* the prearm check already prints the reject reason */
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feedback_provided = true;
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valid_transition = false;
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// Fail transition if we need safety switch press
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} else if (safety->safety_switch_available && !safety->safety_off) {
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mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
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mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
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feedback_provided = true;
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valid_transition = false;
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}
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@ -173,6 +175,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
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if (!status->condition_power_input_valid) {
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mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
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feedback_provided = true;
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valid_transition = false;
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}
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@ -182,6 +185,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
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(status->avionics_power_rail_voltage < 4.9f))) {
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mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
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feedback_provided = true;
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valid_transition = false;
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}
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}
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@ -200,6 +204,8 @@ arming_state_transition(struct vehicle_status_s *status, /// current
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/* Sensors need to be initialized for STANDBY state */
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if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
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mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
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feedback_provided = true;
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valid_transition = false;
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}
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@ -216,11 +222,14 @@ arming_state_transition(struct vehicle_status_s *status, /// current
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}
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if (ret == TRANSITION_DENIED) {
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static const char *errMsg = "INVAL: %s - %s";
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const char * str = "INVAL: %s - %s";
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/* only print to console here by default as this is too technical to be useful during operation */
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warnx(str, state_names[status->arming_state], state_names[new_arming_state]);
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mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
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warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
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/* print to MAVLink if we didn't provide any feedback yet */
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if (!feedback_provided) {
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mavlink_log_critical(mavlink_fd, str, state_names[status->arming_state], state_names[new_arming_state]);
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}
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}
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return ret;
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@ -648,8 +657,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
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float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
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if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
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mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
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mavlink_log_critical(mavlink_fd, "hold still while arming");
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mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE, hold still");
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/* this is frickin' fatal */
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failed = true;
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goto system_eval;
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