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commander: Better audio indications on arming reject reasons

This commit is contained in:
Lorenz Meier 2014-05-23 13:41:48 +02:00
parent 98d5ed5e73
commit 5f752cdb7c
2 changed files with 5 additions and 5 deletions
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6
src/modules/commander/commander.cpp
View File

@ -1233,10 +1233,10 @@ int commander_thread_main(int argc, char *argv[])
sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first."); print_reject_arm("#audio: NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) { } else if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
} else { } else {
arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
@ -1408,7 +1408,7 @@ int commander_thread_main(int argc, char *argv[])
home.alt = global_position.alt; home.alt = global_position.alt;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); mavlink_log_info(mavlink_fd, "#audio: home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* announce new home position */ /* announce new home position */
if (home_pub > 0) { if (home_pub > 0) {

4
src/modules/commander/state_machine_helper.cpp
View File

@ -138,7 +138,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Allow if HIL_STATE_ON // Allow if HIL_STATE_ON
if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
if (mavlink_fd) { if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first."); mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first.");
} }
valid_transition = false; valid_transition = false;
@ -312,7 +312,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
case HIL_STATE_OFF: case HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */ /* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)"); mavlink_log_critical(mavlink_fd, "#audio: Not switching off HIL (safety)");
valid_transition = false; valid_transition = false;
break; break;