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State machine cleanup, introduced variable rates for MAVLink depending on the baud rate

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Lorenz Meier
2012-08-18 16:48:43 +02:00
parent e707574f73
commit dc484c1d21
7 changed files with 142 additions and 76 deletions
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apps/commander/commander.c
+4 -6
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@@ -95,10 +95,7 @@ static int leds;
static int buzzer;
static int mavlink_fd;
static bool commander_initialized = false;
static struct vehicle_status_s current_status = {
.state_machine = SYSTEM_STATE_PREFLIGHT,
.mode = 0
}; /**< Main state machine */
static struct vehicle_status_s current_status; /**< Main state machine */
static int stat_pub;
static uint16_t nofix_counter = 0;
@@ -798,6 +795,7 @@ int commander_main(int argc, char *argv[])
/* make sure we are in preflight state */
memset(&current_status, 0, sizeof(current_status));
current_status.state_machine = SYSTEM_STATE_PREFLIGHT;
current_status.flag_system_armed = false;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@@ -905,8 +903,8 @@ int commander_main(int argc, char *argv[])
}
/* toggle error led at 5 Hz in HIL mode */
if ((current_status.mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
/* armed */
if (current_status.flag_hil_enabled) {
/* hil enabled */
led_toggle(LED_AMBER);
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {