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Rejecting arming if safety switch is not in safe position, added reboot command

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Lorenz Meier
2013-08-15 09:52:22 +02:00
parent 0bbc4b7012
commit cc9f1e81ad
3 changed files with 58 additions and 18 deletions
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src/modules/commander/state_machine_helper.cpp
+18 -3
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@@ -67,7 +67,7 @@ static bool main_state_changed = true;
static bool navigation_state_changed = true;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, arming_state_t new_arming_state, struct actuator_armed_s *armed)
arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, arming_state_t new_arming_state, struct actuator_armed_s *armed)
{
transition_result_t ret = TRANSITION_DENIED;
@@ -108,8 +108,10 @@ arming_state_transition(struct vehicle_status_s *status, arming_state_t new_armi
case ARMING_STATE_ARMED:
/* allow arming from STANDBY and IN-AIR-RESTORE */
if (status->arming_state == ARMING_STATE_STANDBY
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE) {
if ((status->arming_state == ARMING_STATE_STANDBY
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
&& (!safety->safety_switch_available || safety->safety_off)) /* only allow arming if safety is off */
{
ret = TRANSITION_CHANGED;
armed->armed = true;
armed->ready_to_arm = false;
@@ -172,6 +174,19 @@ arming_state_transition(struct vehicle_status_s *status, arming_state_t new_armi
return ret;
}
bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed)
{
// System is safe if:
// 1) Not armed
// 2) Armed, but in software lockdown (HIL)
// 3) Safety switch is present AND engaged -> actuators locked
if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) {
return true;
} else {
return false;
}
}
bool
check_arming_state_changed()
{