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Fix handling of RC mode selection

This commit is contained in:
Lorenz Meier 2015-09-04 19:57:44 +02:00
parent f63dd12952
commit be92c1189b
2 changed files with 10 additions and 9 deletions
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15
src/modules/commander/commander.cpp
View File

@ -1220,14 +1220,17 @@ int commander_thread_main(int argc, char *argv[])
} }
// Run preflight check // Run preflight check
int32_t rc_in_off = 0;
param_get(_param_autostart_id, &autostart_id); param_get(_param_autostart_id, &autostart_id);
if (is_hil_setup(autostart_id)) { if (is_hil_setup(autostart_id)) {
// HIL configuration selected: real sensors will be disabled // HIL configuration selected: real sensors will be disabled
status.condition_system_sensors_initialized = false; status.condition_system_sensors_initialized = false;
set_tune_override(TONE_STARTUP_TUNE); //normal boot tune set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
} else { } else {
param_get(_param_rc_in_off, &rc_in_off);
status.rc_input_mode = rc_in_off;
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true,
checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check); checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) { if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
} }
@ -1243,7 +1246,6 @@ int commander_thread_main(int argc, char *argv[])
int32_t datalink_loss_enabled = false; int32_t datalink_loss_enabled = false;
int32_t datalink_loss_timeout = 10; int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5; float rc_loss_timeout = 0.5;
int32_t rc_in_off = 0;
int32_t datalink_regain_timeout = 0; int32_t datalink_regain_timeout = 0;
/* Thresholds for engine failure detection */ /* Thresholds for engine failure detection */
@ -1913,8 +1915,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */ /* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY && if (sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* we check outside of the transition function here because the requirement /* we check outside of the transition function here because the requirement
@ -1925,13 +1926,15 @@ int commander_thread_main(int argc, char *argv[])
(status.main_state != vehicle_status_s::MAIN_STATE_STAB)) { (status.main_state != vehicle_status_s::MAIN_STATE_STAB)) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else { } else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */,
mavlink_fd); mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
} }
} else {
print_reject_arm("NOT ARMING: Configuration error");
} }
stick_on_counter = 0; stick_on_counter = 0;
@ -1978,7 +1981,7 @@ int commander_thread_main(int argc, char *argv[])
} }
} else { } else {
if (!status.rc_signal_lost) { if (!status.rc_input_blocked && !status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000); mavlink_log_critical(mavlink_fd, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000);
status.rc_signal_lost = true; status.rc_signal_lost = true;
status.rc_signal_lost_timestamp = sp_man.timestamp; status.rc_signal_lost_timestamp = sp_man.timestamp;

4
src/modules/commander/state_machine_helper.cpp
View File

@ -245,9 +245,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) && (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
(!status->condition_system_sensors_initialized)) { (!status->condition_system_sensors_initialized)) {
if (!fRunPreArmChecks) { mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
}
feedback_provided = true; feedback_provided = true;
valid_transition = false; valid_transition = false;
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR; status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;