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Merge remote-tracking branch 'upstream/master' into geo

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This commit is contained in:
Thomas Gubler
2014-05-30 16:09:44 +02:00
parent e0042ec12c 90d8f7726d
commit dc336a2ea4
62 changed files with 1484 additions and 1060 deletions
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src/modules/commander/commander.cpp
+5 -4
View File
@@ -1246,10 +1246,10 @@ int commander_thread_main(int argc, char *argv[])
sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
print_reject_arm("#audio: NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
@@ -1421,7 +1421,7 @@ int commander_thread_main(int argc, char *argv[])
home.alt = global_position.alt;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "#audio: home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (home_pub > 0) {
@@ -1861,7 +1861,8 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command);
/* this needs additional hints to the user - so let other messages pass and be spoken */
mavlink_log_critical(mavlink_fd, "command temporarily rejected: %u", cmd.command);
tune_negative(true);
break;
src/modules/commander/state_machine_helper.cpp
+2 -2
View File
@@ -138,7 +138,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Allow if HIL_STATE_ON
if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
if (mavlink_fd) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first.");
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first.");
}
valid_transition = false;
@@ -312,7 +312,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
case HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)");
mavlink_log_critical(mavlink_fd, "#audio: Not switching off HIL (safety)");
valid_transition = false;
break;