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Commander: Do not lock in user on a single boot assignment failure

This commit is contained in:
Lorenz Meier 2015-09-23 18:36:29 +02:00
parent 9eb748ed5b
commit 996a6ee437
2 changed files with 13 additions and 4 deletions
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4
src/modules/commander/commander.cpp
View File

@ -1930,9 +1930,9 @@ int commander_thread_main(int argc, char *argv[])
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
} else {
print_reject_arm("NOT ARMING: Configuration error");
}
} else {
print_reject_arm("NOT ARMING: Configuration error");
}
stick_on_counter = 0;

13
src/modules/commander/state_machine_helper.cpp
View File

@ -93,6 +93,8 @@ static const char * const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"ARMING_STATE_IN_AIR_RESTORE",
};
static bool sensor_feedback_provided = false;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, ///< current vehicle status
const struct safety_s *safety, ///< current safety settings
@ -241,10 +243,12 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
(!status->condition_system_sensors_initialized)) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
if (!sensor_feedback_provided) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
sensor_feedback_provided = true;
}
feedback_provided = true;
valid_transition = false;
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
// Finish up the state transition
@ -255,6 +259,11 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
status->arming_state = new_arming_state;
}
/* reset feedback state */
if (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
sensor_feedback_provided = false;
}
/* end of atomic state update */
#ifdef __PX4_NUTTX
irqrestore(flags);