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special treatment and warning message for HIL platform arming

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Mark Whitehorn
2015-06-10 12:13:49 -06:00
parent da6a07421b
commit e224441ac1
1 changed files with 6 additions and 0 deletions
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src/modules/commander/commander.cpp
+6
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@@ -437,6 +437,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
{ {
transition_result_t arming_res = TRANSITION_NOT_CHANGED; transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// For HIL platforms, require that simulated sensors are connected
if (autostart_id < 2000 && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
}
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will // Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition. // output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY, &armed, arming_res = arming_state_transition(&status, &safety, arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY, &armed,