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Checkpoint: Added arming state check

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This commit is contained in:
Julian Oes
2013-02-17 15:04:01 -08:00
parent 0e2db0beb9
commit 3bc385c789
6 changed files with 36 additions and 8 deletions
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apps/commander/commander.c
+5 -1
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@@ -2054,9 +2054,13 @@ int commander_thread_main(int argc, char *argv[])
state_changed = false;
}
/* make changes in state machine if needed */
update_state_machine(stat_pub, &current_status, mavlink_fd);
/* Store old modes to detect and act on state transitions */
voltage_previous = current_status.voltage_battery;
fflush(stdout);
counter++;
usleep(COMMANDER_MONITORING_INTERVAL);
apps/commander/state_machine_helper.c
+22
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@@ -53,6 +53,28 @@
#include "state_machine_helper.h"
void update_state_machine(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* check arming first */
if (current_status->flag_system_armed && current_status->flag_system_emergency) {
do_arming_state_update(status_pub, current_status, mavlink_fd, ARMING_STATE_MISSION_ABORT);
} else if(current_status->flag_system_armed && !current_status->flag_system_emergency) {
do_arming_state_update(status_pub, current_status, mavlink_fd, ARMING_STATE_ARMED);
} else if(!current_status->flag_system_armed && current_status->flag_system_emergency) {
do_arming_state_update(status_pub, current_status, mavlink_fd, ARMING_STATE_ERROR);
} else if(!current_status->flag_system_armed && !current_status->flag_system_emergency) {
do_arming_state_update(status_pub, current_status, mavlink_fd, ARMING_STATE_STANDBY);
} else if (current_status->flag_system_sensors_ok) {
do_arming_state_update(status_pub, current_status, mavlink_fd, ARMING_STATE_STANDBY);
} else if (!current_status->flag_system_sensors_ok && current_status->flag_system_armed) {
do_arming_state_update(status_pub, current_status, mavlink_fd, ARMING_STATE_MISSION_ABORT);
} else if (!current_status->flag_system_sensors_ok && !current_status->flag_system_armed) {
do_arming_state_update(status_pub, current_status, mavlink_fd, ARMING_STATE_ERROR);
}
/* now determine the navigation state */
}
/**
* Transition from one navigation state to another
*/
apps/commander/state_machine_helper.h
+2
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@@ -47,6 +47,8 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
void update_state_machine(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
int do_navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, navigation_state_t new_state);
int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state);
apps/sensors/sensor_params.c
+4 -6
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@@ -158,13 +158,11 @@ PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5);
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6);
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 6);
PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
apps/sensors/sensors.cpp
+1 -1
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@@ -438,7 +438,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSION_SW");
_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
apps/uORB/topics/vehicle_status.h
+2
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@@ -170,6 +170,8 @@ struct vehicle_status_s
bool flag_system_armed; /**< true is motors / actuators are armed */
bool flag_system_emergency;
bool flag_system_sensors_ok;
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled; /**< true if offboard control input is on */
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */