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fix commander: remove arming_state_changed, check for was_armed != armed.armed instead 

arming_state_changed was not set in all places where an arming transition
occurred, for example when calling arm_disarm() from auto-disarm.

We did not notice because the state is published with at least 5 Hz already.
This commit is contained in:
Beat Küng 2017-10-16 16:51:14 +02:00
parent 239de7191f
commit fa8453443f
1 changed files with 7 additions and 21 deletions
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28
src/modules/commander/commander.cpp
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@ -1758,7 +1758,6 @@ int commander_thread_main(int argc, char *argv[])
int32_t low_bat_action = 0;
/* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_old = false;
@ -2110,7 +2109,6 @@ int commander_thread_main(int argc, char *argv[])
avionics_power_rail_voltage,
arm_requirements,
hrt_elapsed_time(&commander_boot_timestamp))) {
arming_state_changed = true;
}
}
@ -2422,9 +2420,7 @@ int commander_thread_main(int argc, char *argv[])
arm_requirements,
hrt_elapsed_time(&commander_boot_timestamp));
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
} else if (arming_ret == TRANSITION_DENIED) {
if (arming_ret == TRANSITION_DENIED) {
/* do not complain if not allowed into standby */
arming_ret = TRANSITION_NOT_CHANGED;
}
@ -2717,10 +2713,6 @@ int commander_thread_main(int argc, char *argv[])
avionics_power_rail_voltage,
arm_requirements,
hrt_elapsed_time(&commander_boot_timestamp));
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
}
stick_off_counter++;
/* do not reset the counter when holding the arm button longer than needed */
@ -2772,9 +2764,7 @@ int commander_thread_main(int argc, char *argv[])
arm_requirements,
hrt_elapsed_time(&commander_boot_timestamp));
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
} else {
if (arming_ret != TRANSITION_CHANGED) {
usleep(100000);
print_reject_arm("NOT ARMING: Preflight checks failed");
}
@ -2788,10 +2778,7 @@ int commander_thread_main(int argc, char *argv[])
_last_sp_man_arm_switch = sp_man.arm_switch;
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
} else if (arming_ret == TRANSITION_DENIED) {
if (arming_ret == TRANSITION_DENIED) {
/*
* the arming transition can be denied to a number of reasons:
* - pre-flight check failed (sensors not ok or not calibrated)
@ -3050,14 +3037,13 @@ int commander_thread_main(int argc, char *argv[])
}
was_armed = armed.armed;
/* print new state */
if (arming_state_changed) {
// check for arming state change
if (was_armed != armed.armed) {
status_changed = true;
arming_state_changed = false;
}
was_armed = armed.armed;
/* now set navigation state according to failsafe and main state */
bool nav_state_changed = set_nav_state(&status,
&armed,