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Update arming_state_transition calls 

Add new fRunPreArmChecks flag
This commit is contained in:
Don Gagne 2014-08-04 09:40:38 -07:00
parent d3d5aa9bdc
commit 6fbeaeaace
1 changed files with 9 additions and 9 deletions
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18
src/modules/commander/commander.cpp
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@ -393,7 +393,7 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will // Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition. // output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd_local); arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd_local);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) { if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
@ -1085,7 +1085,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { 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); 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_fd)) { if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
mavlink_log_info(mavlink_fd, "DISARMED by safety switch"); mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
arming_state_changed = true; arming_state_changed = true;
} }
@ -1288,14 +1288,14 @@ int commander_thread_main(int argc, char *argv[])
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) { if (armed.armed) {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, mavlink_fd); arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
} }
} else { } else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, mavlink_fd); arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
@ -1309,7 +1309,7 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */ /* If in INIT state, try to proceed to STANDBY state */
if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
/* TODO: check for sensors */ /* TODO: check for sensors */
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd); arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
@ -1368,7 +1368,7 @@ int commander_thread_main(int argc, char *argv[])
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ /* 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_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd); arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
} }
@ -1394,7 +1394,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.main_state != MAIN_STATE_MANUAL) { if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else { } else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd); arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
} }
@ -2156,7 +2156,7 @@ void *commander_low_prio_loop(void *arg)
int calib_ret = ERROR; int calib_ret = ERROR;
/* try to go to INIT/PREFLIGHT arming state */ /* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, mavlink_fd)) { if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
break; break;
} }
@ -2219,7 +2219,7 @@ void *commander_low_prio_loop(void *arg)
tune_negative(true); tune_negative(true);
} }
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd); arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
break; break;
} }