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px4-firmware
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Added audio and text warning if arming is refused due to mode switch

This commit is contained in:
Lorenz Meier 2013-08-16 09:23:39 +02:00
parent 98f403002f
commit 3f9f1d60e0
1 changed files with 25 additions and 0 deletions
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25
src/modules/commander/commander.cpp
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@ -204,6 +204,7 @@ void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicl
transition_result_t check_main_state_machine(struct vehicle_status_s *current_status);
void print_reject_mode(const char *msg);
void print_reject_arm(const char *msg);
transition_result_t check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode);
@ -1082,6 +1083,16 @@ int commander_thread_main(int argc, char *argv[])
} else {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC");
}
} else if (res == TRANSITION_DENIED) {
/* DENIED here indicates safety switch not pressed */
if (!(!safety.safety_switch_available || safety.safety_off)) {
print_reject_arm("NOT ARMING: Press safety switch first.");
} else {
warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
}
}
/* fill current_status according to mode switches */
@ -1490,6 +1501,20 @@ print_reject_mode(const char *msg)
}
}
void
print_reject_arm(const char *msg)
{
hrt_abstime t = hrt_absolute_time();
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
last_print_mode_reject_time = t;
char s[80];
sprintf(s, "[cmd] %s", msg);
mavlink_log_critical(mavlink_fd, s);
tune_negative();
}
}
transition_result_t
check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode)
{