fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 06:40:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Calibration state machine fixes, generates less bogus error messages during calibration

Browse Source
This commit is contained in:
Lorenz Meier
2015-05-21 17:25:37 +02:00
parent fb4dc27bc9
commit 9179fcefc9
3 changed files with 22 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+7 -3
View File
@@ -1604,7 +1604,7 @@ int commander_thread_main(int argc, char *argv[])
/* End battery voltage check */
/* If in INIT state, try to proceed to STANDBY state */
if (status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
if (!status.calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
@@ -2689,6 +2689,8 @@ void *commander_low_prio_loop(void *arg)
false /* fRunPreArmChecks */, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
break;
} else {
status.calibration_enabled = true;
}
if ((int)(cmd.param1) == 1) {
@@ -2748,12 +2750,14 @@ void *commander_low_prio_loop(void *arg)
/* enable RC control input */
status.rc_input_blocked = false;
mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
calib_ret = OK;
calib_ret = OK;
}
/* this always succeeds */
calib_ret = OK;
}
status.calibration_enabled = false;
if (calib_ret == OK) {
tune_positive(true);
@@ -2771,7 +2775,7 @@ void *commander_low_prio_loop(void *arg)
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
} else {
tune_negative(true);