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

ArmStateMachine: port arming_state_names into the class

This commit is contained in:
Matthias Grob 2022-03-31 13:10:38 +02:00
parent 074080c816
commit f968a5947d
3 changed files with 11 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp
View File

@ -59,6 +59,16 @@ public:
vehicle_status_flags_s &status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements,
const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason);
// You can index into the array with an arming_state_t in order to get its textual representation
const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"INIT",
"STANDBY",
"ARMED",
"STANDBY_ERROR",
"SHUTDOWN",
"IN_AIR_RESTORE",
};
private:
static inline events::px4::enums::arming_state_t eventArmingState(uint8_t arming_state);

2
src/modules/commander/Commander.cpp
View File

@ -465,7 +465,7 @@ int Commander::custom_command(int argc, char *argv[])
int Commander::print_status()
{
PX4_INFO("arming: %s", arming_state_names[_status.arming_state]);
PX4_INFO("arming: %s", _arm_state_machine.arming_state_names[_status.arming_state]);
PX4_INFO("navigation: %s", nav_state_names[_status.nav_state]);
perf_print_counter(_loop_perf);
perf_print_counter(_preflight_check_perf);

10
src/modules/commander/state_machine_helper.cpp
View File

@ -61,16 +61,6 @@ static constexpr const char reason_no_datalink[] = "no datalink";
static constexpr const char reason_no_rc_and_no_datalink[] = "no RC and no datalink";
static constexpr const char reason_no_gps[] = "no GPS";
// You can index into the array with an arming_state_t in order to get its textual representation
const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"INIT",
"STANDBY",
"ARMED",
"STANDBY_ERROR",
"SHUTDOWN",
"IN_AIR_RESTORE",
};
// You can index into the array with an navigation_state_t in order to get its textual representation
const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
"MANUAL",