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Commander: Provide better status feedback for sensor init / check routine

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Lorenz Meier
2015-09-26 17:20:08 +02:00
parent c97a2c4810
commit ccf19d12f2
1 changed files with 5 additions and 9 deletions
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src/modules/commander/state_machine_helper.cpp
+5 -9
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@@ -243,7 +243,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) && (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
(!status->condition_system_sensors_initialized)) { (!status->condition_system_sensors_initialized)) {
if (!sensor_feedback_provided) { if (!sensor_feedback_provided || (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection"); mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
sensor_feedback_provided = true; sensor_feedback_provided = true;
} }
@@ -260,7 +260,8 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
} }
/* reset feedback state */ /* reset feedback state */
if (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { if (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR &&
valid_transition) {
sensor_feedback_provided = false; sensor_feedback_provided = false;
} }
@@ -271,15 +272,10 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
} }
if (ret == TRANSITION_DENIED) { if (ret == TRANSITION_DENIED) {
#define WARNSTR "INVAL: %s - %s" /* print to MAVLink and console if we didn't provide any feedback yet */
/* only print to console here by default as this is too technical to be useful during operation */
warnx(WARNSTR, state_names[status->arming_state], state_names[new_arming_state]);
/* print to MAVLink if we didn't provide any feedback yet */
if (!feedback_provided) { if (!feedback_provided) {
mavlink_log_critical(mavlink_fd, WARNSTR, state_names[status->arming_state], state_names[new_arming_state]); mavlink_and_console_log_critical(mavlink_fd, "INVAL: %s - %s", state_names[status->arming_state], state_names[new_arming_state]);
} }
#undef WARNSTR
} }
return ret; return ret;