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commander: Improve user feedback on sensor health, in particular during calibration

This commit is contained in:
Lorenz Meier 2015-05-21 10:26:36 +02:00
parent bc75814d50
commit fb4dc27bc9
1 changed files with 3 additions and 2 deletions
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5
src/modules/commander/state_machine_helper.cpp
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@ -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 // Sensors need to be initialized for STANDBY state, except for HIL
if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) && if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
(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->condition_system_sensors_initialized)) { (!status->condition_system_sensors_initialized)) {
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;
@ -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 (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (status->condition_system_sensors_initialized) { 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 { } else {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm"); 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) && } else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
status->condition_system_sensors_initialized) { 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; feedback_provided = true;
} else { } else {