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Merge branch 'navigator_rewrite' into navigator_rewrite_estimator

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Julian Oes
2014-06-27 14:41:19 +02:00
parent dbd99b6494 cc8f7f4c97
commit b8d07532a7
7 changed files with 59 additions and 45 deletions
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src/modules/commander/commander.cpp
+8 -11
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@@ -956,7 +956,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
arming_state_changed = true;
}
@@ -1155,18 +1155,16 @@ int commander_thread_main(int argc, char *argv[])
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
warnx("changed 1");
arming_state_changed = true;
}
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
warnx("changed 2");
arming_state_changed = true;
}
}
@@ -1178,7 +1176,7 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */
if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
/* TODO: check for sensors */
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
@@ -1237,7 +1235,7 @@ int commander_thread_main(int argc, char *argv[])
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
@@ -1262,7 +1260,7 @@ int commander_thread_main(int argc, char *argv[])
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
@@ -1937,8 +1935,7 @@ void *commander_low_prio_loop(void *arg)
int calib_ret = ERROR;
/* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) {
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
break;
}
@@ -2001,7 +1998,7 @@ void *commander_low_prio_loop(void *arg)
tune_negative(true);
}
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd);
break;
}