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commander: do not reboot on USB disconnect when armed

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Signed-off-by: Andrei Korigodski <akorigod@gmail.com>
This commit is contained in:
Andrei Korigodski 2019-07-15 21:50:09 +03:00 committed by Julian Oes
parent 2e3926b577
commit 4a330c6e0a
1 changed files with 10 additions and 1 deletions
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11
src/modules/commander/Commander.cpp
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@ -197,6 +197,8 @@ void print_reject_arm(const char *msg);
void print_status();
bool shutdown_if_allowed();
transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const char *armedBy);
/**
@ -521,6 +523,13 @@ void print_status()
PX4_INFO("arming: %s", arming_state_names[status.arming_state]);
}
bool shutdown_if_allowed()
{
return TRANSITION_DENIED != arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_REBOOT,
&armed, false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, arm_requirements,
hrt_elapsed_time(&commander_boot_timestamp));
}
transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, const char *armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
@ -1511,7 +1520,7 @@ Commander::run()
}
/* if the USB hardware connection went away, reboot */
if (status_flags.usb_connected && !system_power.usb_connected) {
if (status_flags.usb_connected && !system_power.usb_connected && shutdown_if_allowed()) {
/*
* apparently the USB cable went away but we are still powered,
* so lets reset to a classic non-usb state.