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Commander: Improved preflight check routines. Running checks on all connected sensors. Re-run checks once GCS is connected.

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Lorenz Meier
2015-04-19 13:57:07 +02:00
parent 5c44146c1b
commit 7dbb6c4fa8
4 changed files with 284 additions and 206 deletions
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src/modules/commander/state_machine_helper.cpp
+4 -4
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@@ -77,8 +77,8 @@ static const int ERROR = -1;
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
static const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = {
// INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, true, false, false },
// INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false },
@@ -212,10 +212,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
/* Sensors need to be initialized for STANDBY state */
if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
mavlink_log_critical(mavlink_fd, "Not ready to fly: Sensors not operational.");
feedback_provided = true;
valid_transition = false;
new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
// Finish up the state transition