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arming_state_transition now outputs error messages 

If mavlink fd is passed in method will output reason for arming failure
to mavlink.
This commit is contained in:
Don Gagne 2014-03-16 21:39:06 -07:00
parent dec13e7f21
commit 4b980b508c
2 changed files with 14 additions and 9 deletions
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21
src/modules/commander/state_machine_helper.cpp
View File

@ -70,7 +70,7 @@ static bool failsafe_state_changed = true;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed)
arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd)
{
/*
* Perform an atomic state update
@ -125,13 +125,18 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
case ARMING_STATE_ARMED:
/* allow arming from STANDBY and IN-AIR-RESTORE */
if ((status->arming_state == ARMING_STATE_STANDBY
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
&& (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */
ret = TRANSITION_CHANGED;
armed->armed = true;
armed->ready_to_arm = true;
}
if ((status->arming_state == ARMING_STATE_STANDBY || status->arming_state == ARMING_STATE_IN_AIR_RESTORE)) {
if (status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
// If we need to wait for safety switch then output message, but only if we have fd for mavlink connection
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first.");
}
} else {
ret = TRANSITION_CHANGED;
armed->armed = true;
armed->ready_to_arm = true;
}
}
break;

2
src/modules/commander/state_machine_helper.h
View File

@ -57,7 +57,7 @@ typedef enum {
} transition_result_t;
transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed);
arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd = 0);
bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);