fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 15:20:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: modes display fixes, don't activate failsafe while disarmed

Browse Source
This commit is contained in:
Anton Babushkin
2014-06-17 13:19:50 +02:00
parent e0ed0625f8
commit 55e5f747de
4 changed files with 66 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+38 -18
View File
@@ -624,22 +624,34 @@ int commander_thread_main(int argc, char *argv[])
warnx("starting");
char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL";
main_states_str[1] = "ALTCTL";
main_states_str[2] = "POSCTL";
main_states_str[3] = "AUTO_MISSION";
main_states_str[4] = "AUTO_LOITER";
main_states_str[5] = "AUTO_RTL";
main_states_str[6] = "ACRO";
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
main_states_str[MAIN_STATE_POSCTL] = "POSCTL";
main_states_str[MAIN_STATE_AUTO_MISSION] = "AUTO_MISSION";
main_states_str[MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER";
main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL";
main_states_str[MAIN_STATE_ACRO] = "ACRO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
arming_states_str[1] = "STANDBY";
arming_states_str[2] = "ARMED";
arming_states_str[3] = "ARMED_ERROR";
arming_states_str[4] = "STANDBY_ERROR";
arming_states_str[5] = "REBOOT";
arming_states_str[6] = "IN_AIR_RESTORE";
arming_states_str[ARMING_STATE_INIT] = "INIT";
arming_states_str[ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[ARMING_STATE_ARMED] = "ARMED";
arming_states_str[ARMING_STATE_ARMED_ERROR] = "ARMED_ERROR";
arming_states_str[ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR";
arming_states_str[ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
char *nav_states_str[NAVIGATION_STATE_MAX];
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION";
nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER";
nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL";
nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO";
nav_states_str[NAVIGATION_STATE_LAND] = "LAND";
nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND";
nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION";
/* pthread for slow low prio thread */
pthread_t commander_low_prio_thread;
@@ -844,7 +856,7 @@ int commander_thread_main(int argc, char *argv[])
/* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_state_changed = false;
bool failsafe_old = false;
while (!thread_should_exit) {
@@ -1366,18 +1378,26 @@ int commander_thread_main(int argc, char *argv[])
was_armed = armed.armed;
/* now set navigation state according to failsafe and main state */
set_nav_state(&status);
bool nav_state_changed = set_nav_state(&status);
// TODO handle mode changes by commands
if (main_state_changed) {
status_changed = true;
warnx("main state: %s", main_states_str[status.main_state]);
mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]);
main_state_changed = false;
}
if (failsafe_state_changed) {
if (status.failsafe != failsafe_old) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe);
failsafe_state_changed = false;
failsafe_old = status.failsafe;
}
if (nav_state_changed) {
status_changed = true;
warnx("nav state: %s", nav_states_str[status.nav_state]);
mavlink_log_info(mavlink_fd, "[cmd] nav state: %s", nav_states_str[status.nav_state]);
}
/* publish states (armed, control mode, vehicle status) at least with 5 Hz */