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Add mavlink_fd to all commander arm transitions to provide user feedback why the arming command failed

This commit is contained in:
Lorenz Meier 2014-06-26 12:07:28 +02:00
parent 43c3559763
commit 547f71d791
1 changed files with 10 additions and 10 deletions
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20
src/modules/commander/commander.cpp
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@ -412,7 +412,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* if HIL got enabled, reset battery status state */
if (hil_ret == OK && status->hil_state == HIL_STATE_ON) {
/* reset the arming mode to disarmed */
arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed);
arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed, mavlink_fd);
if (arming_res != TRANSITION_DENIED) {
mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby");
@ -945,8 +945,8 @@ int commander_thread_main(int argc, char *argv[])
if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) {
mavlink_log_info(mavlink_fd, "#audio DISARMED by safety switch");
}
}
}
@ -1149,10 +1149,10 @@ int commander_thread_main(int argc, char *argv[])
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) {
arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, mavlink_fd);
} else {
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, mavlink_fd);
}
status_changed = true;
@ -1163,7 +1163,7 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */
if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
// XXX check for sensors
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd);
} else {
// XXX: Add emergency stuff if sensors are lost
@ -1217,7 +1217,7 @@ int commander_thread_main(int argc, char *argv[])
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed);
arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd);
stick_off_counter = 0;
} else {
@ -1239,7 +1239,7 @@ int commander_thread_main(int argc, char *argv[])
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
}
stick_on_counter = 0;
@ -1941,7 +1941,7 @@ void *commander_low_prio_loop(void *arg)
/* try to go to INIT/PREFLIGHT arming state */
// XXX disable interrupts in arming_state_transition
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) {
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
break;
}
@ -2004,7 +2004,7 @@ void *commander_low_prio_loop(void *arg)
tune_negative(true);
}
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd);
break;
}