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commander: Better reporting and convenience for commander

This commit is contained in:
Lorenz Meier 2016-05-13 11:39:40 +02:00
parent a700b02f77
commit 5fb1de906c
1 changed files with 5 additions and 7 deletions
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12
src/modules/commander/commander.cpp
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@ -811,10 +811,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
if (arming_ret == TRANSITION_DENIED) {
mavlink_log_critical(&mavlink_log_pub, "Rejecting arming cmd");
}
if (main_ret == TRANSITION_DENIED) {
mavlink_log_critical(&mavlink_log_pub, "Rejecting mode switch cmd");
}
}
}
break;
@ -1959,7 +1955,7 @@ int commander_thread_main(int argc, char *argv[])
if ((updated && status_flags.condition_local_altitude_valid) || check_for_disarming) {
if (was_landed != land_detector.landed) {
if (land_detector.landed) {
if (land_detector.landed && armed.armed) {
mavlink_and_console_log_info(&mavlink_log_pub, "LANDING DETECTED");
} else {
mavlink_and_console_log_info(&mavlink_log_pub, "TAKEOFF DETECTED");
@ -2391,7 +2387,9 @@ int commander_thread_main(int argc, char *argv[])
if ((internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL)
&& (internal_state.main_state != commander_state_s::MAIN_STATE_ACRO)
&& (internal_state.main_state != commander_state_s::MAIN_STATE_STAB)
&& (internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL)) {
&& (internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL)
&& (internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL)
) {
print_reject_arm("NOT ARMING: Switch to a manual mode first.");
} else if (!status_flags.condition_home_position_valid &&
@ -2413,7 +2411,7 @@ int commander_thread_main(int argc, char *argv[])
arming_state_changed = true;
} else {
usleep(100000);
print_reject_arm("NOT ARMING: Configuration error");
print_reject_arm("NOT ARMING: Preflight checks failed");
}
}
stick_on_counter = 0;