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Merge pull request #2349 from PX4/auto_takeoff_fix

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FW: Auto takeoff fix
This commit is contained in:
Lorenz Meier
2015-06-14 10:45:10 +02:00
parent 484be77b05 3f77455dd8
commit b6d9a97aaa
8 changed files with 49 additions and 16 deletions
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src/modules/commander/commander.cpp
+2 -1
View File
@@ -450,7 +450,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// For HIL platforms, require that simulated sensors are connected
if (is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
}
src/modules/commander/state_machine_helper.cpp
+1 -1
View File
@@ -375,7 +375,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
switch (new_state) {
case vehicle_status_s::HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_log_critical(mavlink_fd, "#audio: Not switching off HIL (safety)");
mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)");
ret = TRANSITION_DENIED;
break;