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Minor bugfix to commander, emits arming sound now on the right occasions. Fixes an annoying issue where the arming sound would go off constantly if the safety was re-engaged in arming mode, something that we consider to be ok operationally

This commit is contained in:
Lorenz Meier 2013-11-01 09:05:28 +01:00
parent 094fa0bd43
commit 5781b58640
1 changed files with 12 additions and 6 deletions
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18
src/modules/commander/commander.cpp
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@ -199,7 +199,7 @@ void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode
*/ */
int commander_thread_main(int argc, char *argv[]); int commander_thread_main(int argc, char *argv[]);
void control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed); void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed);
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
@ -843,6 +843,12 @@ int commander_thread_main(int argc, char *argv[])
if (updated) { if (updated) {
orb_copy(ORB_ID(safety), safety_sub, &safety); orb_copy(ORB_ID(safety), safety_sub, &safety);
// XXX this would be the right approach to do it, but do we *WANT* this?
// /* disarm if safety is now on and still armed */
// if (safety.safety_switch_available && !safety.safety_off) {
// (void)arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
// }
} }
/* update global position estimate */ /* update global position estimate */
@ -1219,7 +1225,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* play arming and battery warning tunes */ /* play arming and battery warning tunes */
if (!arm_tune_played && armed.armed) { if (!arm_tune_played && armed.armed && (!safety.safety_switch_available || (safety.safety_switch_available && safety.safety_off))) {
/* play tune when armed */ /* play tune when armed */
if (tune_arm() == OK) if (tune_arm() == OK)
arm_tune_played = true; arm_tune_played = true;
@ -1240,7 +1246,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* reset arm_tune_played when disarmed */ /* reset arm_tune_played when disarmed */
if (!(armed.armed && (!safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) { if (status.arming_state != ARMING_STATE_ARMED || (safety.safety_switch_available && !safety.safety_off)) {
arm_tune_played = false; arm_tune_played = false;
} }
@ -1309,7 +1315,7 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
} }
void void
control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed) control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed)
{ {
/* driving rgbled */ /* driving rgbled */
if (changed) { if (changed) {
@ -1356,11 +1362,11 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */ /* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
if (armed->armed) { if (actuator_armed->armed) {
/* armed, solid */ /* armed, solid */
led_on(LED_BLUE); led_on(LED_BLUE);
} else if (armed->ready_to_arm) { } else if (actuator_armed->ready_to_arm) {
/* ready to arm, blink at 1Hz */ /* ready to arm, blink at 1Hz */
if (leds_counter % 20 == 0) if (leds_counter % 20 == 0)
led_toggle(LED_BLUE); led_toggle(LED_BLUE);