fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 01:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_status: add latest arming/disarming reason

Browse Source 
Makes it easier to debug.
This commit is contained in:
Beat Küng
2020-08-04 10:55:26 +02:00
committed by Daniel Agar
parent 1f5d0cd2d0
commit 5f8c6512b3
6 changed files with 106 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/state_machine_helper.cpp
+9 -1
View File
@@ -105,7 +105,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags,
const PreFlightCheck::arm_requirements_t &arm_requirements,
const hrt_abstime &time_since_boot)
const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason)
{
// Double check that our static arrays are still valid
static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
@@ -216,12 +216,20 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
// Finish up the state transition
if (valid_transition) {
bool was_armed = armed->armed;
armed->armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED);
armed->ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY);
ret = TRANSITION_CHANGED;
status->arming_state = new_arming_state;
if (was_armed && !armed->armed) { // disarm transition
status->latest_disarming_reason = (uint8_t)calling_reason;
} else if (!was_armed && armed->armed) { // arm transition
status->latest_arming_reason = (uint8_t)calling_reason;
}
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
armed->armed_time_ms = hrt_absolute_time() / 1000;