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Allow to in-air restore the FMU and IO arming state if only one of the two fails

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Lorenz Meier
2013-02-17 16:06:33 +01:00
parent 6bd18e46bb
commit 038037d676
5 changed files with 207 additions and 41 deletions
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apps/commander/commander.c
+7
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@@ -1260,6 +1260,8 @@ int commander_thread_main(int argc, char *argv[])
param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
param_t _param_sys_type = param_find("MAV_TYPE");
param_t _param_system_id = param_find("MAV_SYS_ID");
param_t _param_component_id = param_find("MAV_COMP_ID");
/* welcome user */
warnx("I am in command now!\n");
@@ -1444,6 +1446,7 @@ int commander_thread_main(int argc, char *argv[])
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
/* update parameters */
if (!current_status.flag_system_armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
@@ -1460,6 +1463,10 @@ int commander_thread_main(int argc, char *argv[])
current_status.flag_external_manual_override_ok = true;
}
/* check and update system / component ID */
param_get(_param_system_id, &(current_status.system_id));
param_get(_param_component_id, &(current_status.component_id));
} else {
warnx("ARMED, rejecting sys type change\n");
}