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Checkpoint: Added arming check function

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This commit is contained in:
Julian Oes
2013-02-21 18:10:34 -08:00
parent ebe0285ce7
commit c056410f84
2 changed files with 57 additions and 0 deletions
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apps/commander/state_machine_helper.c
+55
View File
@@ -254,6 +254,61 @@ void navigation_state_update(int status_pub, struct vehicle_status_s *current_st
return;
}
int check_arming_state_transition(arming_state_t current_arming_state, arming_state_t new_arming_state) {
int ret = ERROR;
/* only check transition if the new state is actually different from the current one */
if (new_arming_state != current_arming_state) {
switch (new_arming_state) {
case ARMING_STATE_INIT:
/* allow going back from INIT for calibration */
if (current_arming_state == ARMING_STATE_STANDBY) {
ret = OK;
}
break;
case ARMING_STATE_STANDBY:
/* allow coming from INIT and disarming from ARMED */
if (current_arming_state == ARMING_STATE_INIT
|| current_arming_state == ARMING_STATE_ARMED) {
ret = OK;
}
break;
case ARMING_STATE_ARMED:
/* allow arming from STANDBY and IN-AIR-RESTORE */
if (current_arming_state == ARMING_STATE_STANDBY
|| current_arming_state == ARMING_STATE_IN_AIR_RESTORE) {
ret = OK;
}
break;
case ARMING_STATE_ARMED_ERROR:
/* an armed error happens when ARMED obviously */
if (current_arming_state == ARMING_STATE_ARMED) {
ret = OK;
}
break;
case ARMING_STATE_STANDBY_ERROR:
/* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */
if (current_arming_state == ARMING_STATE_STANDBY
|| current_arming_state == ARMING_STATE_INIT
|| current_arming_state == ARMING_STATE_ARMED_ERROR) {
ret = OK;
}
break;
default:
break;
}
}
return ret;
}
/*
* This functions does not evaluate any input flags but only checks if the transitions
* are valid.
apps/commander/state_machine_helper.h
+2
View File
@@ -54,4 +54,6 @@ void navigation_state_update(int status_pub, struct vehicle_status_s *current_st
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
int check_navigation_state_transition(navigation_state_t current_navigation_state, navigation_state_t new_navigation_state);
int check_arming_state_transition(arming_state_t current_arming_state, arming_state_t new_arming_state);
#endif /* STATE_MACHINE_HELPER_H_ */