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Commander: fix LED status bug when system is armed

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This commit is contained in:
Henry Zhang
2017-04-01 11:39:05 +02:00
committed by Beat Küng
parent 0b91fd0e20
commit 982fe91fa8
1 changed files with 5 additions and 3 deletions
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src/modules/commander/commander.cpp
+5 -3
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@@ -3230,7 +3230,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
/* driving rgbled */ /* driving rgbled */
if (changed || last_overload != overload) { if (changed || last_overload != overload) {
uint8_t led_mode = led_control_s::MODE_OFF; uint8_t led_mode = led_control_s::MODE_OFF;
uint8_t led_color; uint8_t led_color = led_control_s::COLOR_WHITE;
bool set_normal_color = false; bool set_normal_color = false;
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT; bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
@@ -3242,7 +3242,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
led_color = led_control_s::COLOR_PURPLE; led_color = led_control_s::COLOR_PURPLE;
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { } else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
led_color = led_control_s::MODE_ON; led_mode = led_control_s::MODE_ON;
set_normal_color = true; set_normal_color = true;
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR || } else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR ||
@@ -3257,9 +3257,11 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
} else if (!status_flags.condition_system_sensors_initialized && !hotplug_timeout) { } else if (!status_flags.condition_system_sensors_initialized && !hotplug_timeout) {
led_mode = led_control_s::MODE_BREATHE; led_mode = led_control_s::MODE_BREATHE;
set_normal_color = true; set_normal_color = true;
}else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_INIT) {
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_INIT) {
// if in init status it should not be in the error state // if in init status it should not be in the error state
led_mode = led_control_s::MODE_OFF; led_mode = led_control_s::MODE_OFF;
} else { // STANDBY_ERROR and other states } else { // STANDBY_ERROR and other states
led_mode = led_control_s::MODE_BLINK_NORMAL; led_mode = led_control_s::MODE_BLINK_NORMAL;
led_color = led_control_s::COLOR_RED; led_color = led_control_s::COLOR_RED;