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commander: Formatting and logic flow cleanup, no functional change

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Lorenz Meier
2014-06-24 21:33:03 +02:00
parent 68442e31ac
commit 571e139c24
1 changed files with 15 additions and 9 deletions
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src/modules/commander/state_machine_helper.cpp
+15 -9
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@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,6 +34,9 @@
/**
* @file state_machine_helper.cpp
* State machine helper functions implementations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#include <stdio.h>
@@ -133,15 +134,20 @@ arming_state_transition(struct vehicle_status_s *status, /// current
if (valid_transition) {
// We have a good transition. Now perform any secondary validation.
if (new_arming_state == ARMING_STATE_ARMED) {
// Fail transition if we need safety switch press
// Allow if coming from in air restore
// Allow if HIL_STATE_ON
if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first.");
}
if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE &&
status->hil_state == HIL_STATE_OFF) {
valid_transition = false;
// Fail transition if we need safety switch press
if (safety->safety_switch_available && !safety->safety_off) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first.");
}
valid_transition = false;
}
}
} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {