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report sensor init failure

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Mark Whitehorn 2016-04-01 13:23:35 -06:00 committed by Lorenz Meier
parent f5c3b349a8
commit b4520f538e
1 changed files with 4 additions and 3 deletions
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7
src/modules/commander/state_machine_helper.cpp
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@ -149,7 +149,8 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */);
/* report preflight_check failures continuously since they prevent normal operation */
prearm_ret = preflight_check(status, mavlink_log_pub, false /* pre-flight */, true /* force report */);
status->condition_system_sensors_initialized = !prearm_ret;
last_preflight_check = hrt_absolute_time();
last_prearm_ret = prearm_ret;
@ -276,7 +277,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
if ((!status->condition_system_prearm_error_reported &&
status->condition_system_hotplug_timeout) ||
(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors need inspection");
mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not initialized");
status->condition_system_prearm_error_reported = true;
}
feedback_provided = true;
@ -307,7 +308,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
if (ret == TRANSITION_DENIED) {
/* print to MAVLink and console if we didn't provide any feedback yet */
if (!feedback_provided) {
mavlink_and_console_log_critical(mavlink_log_pub, "INVAL: %s - %s", state_names[status->arming_state], state_names[new_arming_state]);
mavlink_and_console_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s -> %s", state_names[status->arming_state], state_names[new_arming_state]);
}
}