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Fixed HIL enabling, renamed failsafe to better term "lockdown", made sure HIL is actually locking down system. Pending implementation of lockdown in PWM outputs

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This commit is contained in:
Lorenz Meier
2012-09-10 00:11:09 +02:00
parent 6ea402efdc
commit 3140ba658a
4 changed files with 22 additions and 10 deletions
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apps/commander/state_machine_helper.c
+9 -4
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@@ -220,7 +220,10 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
void publish_armed_status(const struct vehicle_status_s *current_status) {
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
armed.failsafe = current_status->rc_signal_lost;
/* lock down actuators if required */
// XXX FIXME Currently any loss of RC will completely disable all actuators
// needs proper failsafe
armed.lockdown = (current_status->rc_signal_lost || current_status->flag_hil_enabled) ? true : false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}
@@ -559,13 +562,15 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
}
}
/* Switch on HIL if in standby */
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
/* Switch on HIL if in standby and not already in HIL mode */
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
&& !current_status->flag_hil_enabled) {
/* Enable HIL on request */
current_status->flag_hil_enabled = true;
ret = OK;
state_machine_publish(status_pub, current_status, mavlink_fd);
printf("[commander] Enabling HIL\n");
publish_armed_status(current_status);
printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
}
/* NEVER actually switch off HIL without reboot */