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commander arming_state_transition cleanup preflight and prearm calls

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- only call prearm if preflight passes
 - prearm always provide feedback
This commit is contained in:
Daniel Agar
2018-03-29 23:14:34 -04:00
parent 208e320975
commit bb13b602e2
5 changed files with 33 additions and 38 deletions
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src/modules/commander/commander.cpp
+6 -5
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@@ -102,6 +102,7 @@
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
@@ -389,7 +390,7 @@ int commander_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "check")) {
bool checkres = prearm_check(&mavlink_log_pub, true, &status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
bool checkres = prearm_check(&mavlink_log_pub, status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
PX4_INFO("Prearm check: %s", checkres ? "OK" : "FAILED");
return 0;
@@ -1049,10 +1050,10 @@ Commander::handle_command(vehicle_status_s *status_local,
}
break;
case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: {
// only send the acknowledge from the commander, the command actually is handled by each mavlink instance
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
// only send the acknowledge from the commander, the command actually is handled by each mavlink instance
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_1:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_2: