dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

commander: Do not lock down the system once HIL has kickeed in

This commit is contained in:
Lorenz Meier 2015-04-26 18:27:48 +02:00
parent b07964660e
commit a57030c836
1 changed files with 9 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/commander/state_machine_helper.cpp
View File

@ -140,6 +140,11 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
prearm_ret = OK;
status->condition_system_sensors_initialized = true;
/* recover from a prearm fail */
if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY;
}
} else {
armed->lockdown = false;
}
@ -211,8 +216,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
valid_transition = true;
}
// Sensors need to be initialized for STANDBY state
if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
// Sensors need to be initialized for STANDBY state, except for HIL
if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(!status->condition_system_sensors_initialized)) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
feedback_provided = true;
valid_transition = false;