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Merge branch 'master' of github.com:PX4/Firmware into battload

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This commit is contained in:
Lorenz Meier
2014-07-20 16:21:59 +02:00
parent 5d2489880c 2685e3cfa4
commit e21cb64553
16 changed files with 295 additions and 50 deletions
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src/modules/commander/commander.cpp
+14 -15
View File
@@ -546,24 +546,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
#if 0
/* Flight termination */
case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
//XXX: to enable the parachute, a param needs to be set
//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 0.5f) {
//XXX update state machine?
armed_local->force_failsafe = true;
warnx("forcing failsafe");
} else {
/* reject parachute depoyment not armed */
cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
armed_local->force_failsafe = false;
warnx("disabling failsafe");
}
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
#endif
case VEHICLE_CMD_DO_SET_HOME: {
bool use_current = cmd->param1 > 0.5f;
@@ -1421,8 +1416,12 @@ int commander_thread_main(int argc, char *argv[])
arming_state_changed = true;
} else if (arming_ret == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "arming state transition denied");
/*
* the arming transition can be denied to a number of reasons:
* - pre-flight check failed (sensors not ok or not calibrated)
* - safety not disabled
* - system not in manual mode
*/
tune_negative(true);
}
src/modules/commander/state_machine_helper.cpp
+17 -9
View File
@@ -110,8 +110,8 @@ arming_state_transition(struct vehicle_status_s *status, /// current
ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
transition_result_t ret = TRANSITION_DENIED;
arming_state_t current_arming_state = status->arming_state;
bool feedback_provided = false;
/* only check transition if the new state is actually different from the current one */
if (new_arming_state == current_arming_state) {
@@ -156,13 +156,15 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Fail transition if pre-arm check fails
if (prearm_ret) {
/* the prearm check already prints the reject reason */
feedback_provided = true;
valid_transition = false;
// Fail transition if we need safety switch press
} else if (safety->safety_switch_available && !safety->safety_off) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
feedback_provided = true;
valid_transition = false;
}
@@ -173,6 +175,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
if (!status->condition_power_input_valid) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
feedback_provided = true;
valid_transition = false;
}
@@ -182,6 +185,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
(status->avionics_power_rail_voltage < 4.9f))) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
feedback_provided = true;
valid_transition = false;
}
}
@@ -200,6 +204,8 @@ arming_state_transition(struct vehicle_status_s *status, /// current
/* Sensors need to be initialized for STANDBY state */
if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
feedback_provided = true;
valid_transition = false;
}
@@ -216,11 +222,14 @@ arming_state_transition(struct vehicle_status_s *status, /// current
}
if (ret == TRANSITION_DENIED) {
static const char *errMsg = "INVAL: %s - %s";
const char * str = "INVAL: %s - %s";
/* only print to console here by default as this is too technical to be useful during operation */
warnx(str, state_names[status->arming_state], state_names[new_arming_state]);
mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
/* print to MAVLink if we didn't provide any feedback yet */
if (!feedback_provided) {
mavlink_log_critical(mavlink_fd, str, state_names[status->arming_state], state_names[new_arming_state]);
}
}
return ret;
@@ -648,8 +657,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
mavlink_log_critical(mavlink_fd, "hold still while arming");
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE, hold still");
/* this is frickin' fatal */
failed = true;
goto system_eval;