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Fixed bug with transition from in air restore to armed 

Also added better debug output for invalid transitions
This commit is contained in:
Don Gagne 2014-03-27 13:05:51 -07:00
parent d5a7e7c52b
commit b9a56fbeb9
1 changed files with 7 additions and 4 deletions
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11
src/modules/commander/state_machine_helper.cpp
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@ -129,8 +129,10 @@ arming_state_transition(struct vehicle_status_s *status, /// current
if (valid_transition) {
// We have a good transition. Now perform any secondary validation.
if (new_arming_state == ARMING_STATE_ARMED) {
// In non-HIL, fail transition if we need safety switch press
if (status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
// Fail transition if we need safety switch press
// Allow if coming from in air restore
// Allow if HIL_STATE_ON
if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first.");
}
@ -165,10 +167,11 @@ arming_state_transition(struct vehicle_status_s *status, /// current
irqrestore(flags);
if (ret == TRANSITION_DENIED) {
static const char* errMsg = "Invalid arming transition from %s to %s";
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "Invalid arming transition from %s to %s", state_names[status->arming_state], state_names[new_arming_state]);
mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
}
warnx("arming transition rejected");
warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
}
return ret;