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Commander: differentiate clearly between to arm and to disarm transition

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This commit is contained in:
Matthias Grob
2022-05-25 16:25:49 +02:00
committed by Julian Oes
parent 400e1f8214
commit 33df8b24f2
1 changed files with 10 additions and 11 deletions
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src/modules/commander/Commander.cpp
+10 -11
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@@ -2900,22 +2900,21 @@ Commander::run()
}
}
// check for arming state change
// check for arming state changes
if (_was_armed != _arm_state_machine.isArmed()) {
_status_changed = true;
}
if (_arm_state_machine.isArmed()) {
if (!_vehicle_land_detected.landed) { // check if takeoff already detected upon arming
_have_taken_off_since_arming = true;
}
if (!_was_armed && _arm_state_machine.isArmed() && !_vehicle_land_detected.landed) {
_have_taken_off_since_arming = true;
}
} else { // increase the flight uuid upon disarming
const int32_t flight_uuid = _param_flight_uuid.get() + 1;
_param_flight_uuid.set(flight_uuid);
_param_flight_uuid.commit_no_notification();
if (_was_armed && !_arm_state_machine.isArmed()) {
const int32_t flight_uuid = _param_flight_uuid.get() + 1;
_param_flight_uuid.set(flight_uuid);
_param_flight_uuid.commit_no_notification();
_last_disarmed_timestamp = hrt_absolute_time();
}
_last_disarmed_timestamp = hrt_absolute_time();
}
if (!_arm_state_machine.isArmed()) {