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Minor but important fixes across system

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This commit is contained in:
Lorenz Meier
2012-08-08 18:47:46 +02:00
parent 7a6a4b9352
commit 7a912a3fe4
8 changed files with 243 additions and 160 deletions
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apps/commander/state_machine_helper.c
+34 -39
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@@ -417,6 +417,7 @@ void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status)
{
// XXX CHANGE BACK
if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
printf("[commander] arming\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
@@ -466,13 +467,43 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode)
{
commander_state_machine_t current_system_state = current_status->state_machine;
printf("in update state request\n");
uint8_t ret = 1;
current_status->mode |= MAV_MODE_FLAG_SAFETY_ARMED;
/* Set manual input enabled flag */
current_status->mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
/* vehicle is disarmed, mode requests arming */
if (!(current_status->mode & VEHICLE_MODE_FLAG_SAFETY_ARMED) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only arm in standby state */
// XXX REMOVE
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
/* Set armed flag */
current_status->mode |= MAV_MODE_FLAG_SAFETY_ARMED;
/* Set manual input enabled flag */
current_status->mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
ret = OK;
printf("[commander] arming due to command request\n");
}
}
/* vehicle is armed, mode requests disarming */
//if ((current_status->mode & VEHICLE_MODE_FLAG_SAFETY_ARMED) && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only disarm in ground ready */
//if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
/* Clear armed flag, leave manual input enabled */
// current_status->mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
// do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
// ret = OK;
// printf("[commander] disarming due to command request\n");
//}
//}
/* Switch on HIL if in standby */
if ((current_system_state == SYSTEM_STATE_STANDBY) && (mode & MAV_MODE_FLAG_HIL_ENABLED)) {
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & MAV_MODE_FLAG_HIL_ENABLED)) {
/* Enable HIL on request */
current_status->mode |= MAV_MODE_FLAG_HIL_ENABLED;
ret = OK;
@@ -486,42 +517,6 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
ret = ERROR;
}
//TODO: clarify mapping between mavlink enum MAV_MODE and the state machine, then add more decisions to the switch (see also the system_state_loop function in mavlink.c)
switch (mode) {
case MAV_MODE_MANUAL_ARMED: //= SYSTEM_STATE_ARMED
if (current_system_state == SYSTEM_STATE_STANDBY) {
/* Set armed flag */
current_status->mode |= MAV_MODE_FLAG_SAFETY_ARMED;
/* Set manual input enabled flag */
current_status->mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
ret = OK;
}
break;
case MAV_MODE_MANUAL_DISARMED:
if (current_system_state == SYSTEM_STATE_GROUND_READY) {
/* Clear armed flag, leave manual input enabled */
current_status->mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
ret = OK;
}
break;
default:
break;
}
#warning STATE MACHINE IS INCOMPLETE HERE
// if(ret != 0) //Debug
// {
// strcpy(mavlink_statustext_msg_content.values[0].string_value, "Commander: command rejected");
// global_data_send_mavlink_message_out(&mavlink_statustext_msg_content);
// }
return ret;
}