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

Reverted arming state machine back to its original state, operational again

This commit is contained in:
Lorenz Meier 2012-12-16 16:30:41 +01:00
parent e56911bf2d
commit b9606d0d6e
1 changed files with 19 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
apps/px4io/safety.c
View File

@ -71,8 +71,14 @@ static unsigned counter = 0;
static unsigned blink_counter = 0;
/*
* IMPORTANT: The arming state machine critically
* depends on using the same threshold
* for arming and disarming. Since disarming
* is quite deadly for the system, a similar
* length can be justified.
*/
#define ARM_COUNTER_THRESHOLD 10
#define DISARM_COUNTER_THRESHOLD 4
static bool safety_button_pressed;
@ -102,8 +108,16 @@ safety_check_button(void *arg)
*/
safety_button_pressed = BUTTON_SAFETY;
/* Keep pressed for a while to arm */
/*
* Keep pressed for a while to arm.
*
* Note that the counting sequence has to be same length
* for arming / disarming in order to end up as proper
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
if (safety_button_pressed && !system_state.armed) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
@ -114,9 +128,10 @@ safety_check_button(void *arg)
}
/* Disarm quickly */
} else if (safety_button_pressed && system_state.armed) {
if (counter < DISARM_COUNTER_THRESHOLD) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == DISARM_COUNTER_THRESHOLD) {
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* change to disarmed state and notify the FMU */
system_state.armed = false;
counter++;