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commander: more user-friendly states indication

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This commit is contained in:
Anton Babushkin 2014-01-25 23:37:26 +01:00
parent ebc7cb03b7
commit 92ddf7903b
3 changed files with 40 additions and 9 deletions
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43
src/modules/commander/commander.cpp
View File

@ -575,6 +575,26 @@ int commander_thread_main(int argc, char *argv[])
/* welcome user */
warnx("starting");
char *main_states_str[MAIN_STATE_MAX];
main_states_str[0] = "MANUAL";
main_states_str[1] = "SEATBELT";
main_states_str[2] = "EASY";
main_states_str[3] = "AUTO";
char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[0] = "INIT";
arming_states_str[1] = "STANDBY";
arming_states_str[2] = "ARMED";
arming_states_str[3] = "ARMED_ERROR";
arming_states_str[4] = "STANDBY_ERROR";
arming_states_str[5] = "REBOOT";
arming_states_str[6] = "IN_AIR_RESTORE";
char *failsafe_states_str[FAILSAFE_STATE_MAX];
failsafe_states_str[0] = "NORMAL";
failsafe_states_str[1] = "RTL";
failsafe_states_str[2] = "TERMINATION";
/* pthread for slow low prio thread */
pthread_t commander_low_prio_thread;
@ -1108,8 +1128,8 @@ int commander_thread_main(int argc, char *argv[])
}
} else if (res == TRANSITION_DENIED) {
warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
}
if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
@ -1127,13 +1147,11 @@ int commander_thread_main(int argc, char *argv[])
res = check_main_state_machine(&status);
if (res == TRANSITION_CHANGED) {
//mavlink_log_info(mavlink_fd, "[cmd] main state: %d", status.main_state);
tune_positive();
} else if (res == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied");
}
} else {
@ -1179,9 +1197,20 @@ int commander_thread_main(int argc, char *argv[])
hrt_abstime t1 = hrt_absolute_time();
if (arming_state_changed || main_state_changed || failsafe_state_changed) {
mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d, fs %d", status.arming_state, status.main_state, status.failsafe_state);
/* print new state */
if (arming_state_changed) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]);
}
if (main_state_changed) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]);
}
if (failsafe_state_changed) {
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %s", failsafe_states_str[status.failsafe_state]);
}
/* publish states (armed, control mode, vehicle status) at least with 5 Hz */

2
src/modules/navigator/navigator_main.cpp
View File

@ -802,7 +802,7 @@ Navigator::task_main()
/* notify user about state changes */
if (myState != prevState) {
mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s -> %s", nav_states_str[prevState], nav_states_str[myState]);
mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]);
prevState = myState;
pub_control_mode = true;
}

4
src/modules/uORB/topics/vehicle_status.h
View File

@ -64,6 +64,7 @@ typedef enum {
MAIN_STATE_SEATBELT,
MAIN_STATE_EASY,
MAIN_STATE_AUTO,
MAIN_STATE_MAX
} main_state_t;
typedef enum {
@ -73,7 +74,8 @@ typedef enum {
ARMING_STATE_ARMED_ERROR,
ARMING_STATE_STANDBY_ERROR,
ARMING_STATE_REBOOT,
ARMING_STATE_IN_AIR_RESTORE
ARMING_STATE_IN_AIR_RESTORE,
ARMING_STATE_MAX
} arming_state_t;
typedef enum {