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Merge branch 'release_v1.0.0'

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This commit is contained in:
Lorenz Meier
2015-05-22 07:24:57 +02:00
parent 283baff956 323759bb52
commit 9cf1b4ba7a
4 changed files with 28 additions and 17 deletions
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src/modules/commander/state_machine_helper.cpp
+16 -13
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@@ -219,23 +219,13 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
valid_transition = true;
}
// Sensors need to be initialized for STANDBY state, except for HIL
if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(!status->condition_system_sensors_initialized)) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
feedback_provided = true;
valid_transition = false;
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
// Check if we are trying to arm, checks look good but we are in STANDBY_ERROR
if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming");
mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, reboot before arming");
} else {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm");
}
@@ -243,11 +233,24 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
status->condition_system_sensors_initialized) {
mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, power cycle to complete");
mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, reboot to complete");
feedback_provided = true;
} else {
// Silent ignore
feedback_provided = true;
}
// Sensors need to be initialized for STANDBY state, except for HIL
} else if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
(!status->condition_system_sensors_initialized)) {
if (!fRunPreArmChecks) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
}
feedback_provided = true;
valid_transition = false;
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
// Finish up the state transition