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Prearm check: provide user instruction to power cycle if things look good

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Lorenz Meier
2015-04-20 09:14:14 +02:00
parent 554719c78f
commit c92afb99b6
1 changed files with 8 additions and 0 deletions
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src/modules/commander/state_machine_helper.cpp
+8
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@@ -217,6 +217,14 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR; status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
} }
/* Check if we are trying to arm, checks look good but we are in STANDBY_ERROR */
if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR &&
new_arming_state == vehicle_status_s::ARMING_STATE_ARMED &&
status->condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming");
feedback_provided = true;
}
// Finish up the state transition // Finish up the state transition
if (valid_transition) { if (valid_transition) {
armed->armed = new_arming_state == vehicle_status_s::ARMING_STATE_ARMED || new_arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR; armed->armed = new_arming_state == vehicle_status_s::ARMING_STATE_ARMED || new_arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR;