From fb4dc27bc9c604e71733b38ea06045c041cd2bc6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 21 May 2015 10:26:36 +0200 Subject: [PATCH] commander: Improve user feedback on sensor health, in particular during calibration --- src/modules/commander/state_machine_helper.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index cdcc12043e..2d631305dd 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -219,6 +219,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s // Sensors need to be initialized for STANDBY state, except for HIL if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) && (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && + (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) && (!status->condition_system_sensors_initialized)) { mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection"); feedback_provided = true; @@ -232,7 +233,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { if (status->condition_system_sensors_initialized) { - mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming"); + mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, reboot before arming"); } else { mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm"); } @@ -240,7 +241,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s } else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && status->condition_system_sensors_initialized) { - mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, power cycle to complete"); + mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, reboot to complete"); feedback_provided = true; } else {