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Commander: Enter ARMING_STATE_STANDBY_ERROR by default if preflight has failed

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This commit is contained in:
Johan Jansen
2015-04-20 09:14:12 +02:00
committed by Lorenz Meier
parent b70138c631
commit 4654d0f4fc
1 changed files with 3 additions and 2 deletions
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src/modules/commander/state_machine_helper.cpp
+3 -2
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@@ -78,11 +78,11 @@ static const int ERROR = -1;
// code for those checks. // code for those checks.
static const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = { static const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = {
// INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE // INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, false, false, false }, { /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, true, false, false, false }, { /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, false, true }, { /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false }, { /* vehicle_status_s::ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, false, true, true, false, false }, { /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_REBOOT */ true, true, false, false, true, true, true }, { /* vehicle_status_s::ARMING_STATE_REBOOT */ true, true, false, false, true, true, true },
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI { /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI
}; };
@@ -215,6 +215,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational."); mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
feedback_provided = true; feedback_provided = true;
valid_transition = false; valid_transition = false;
new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
} }
// Finish up the state transition // Finish up the state transition