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delete unused ARMING_STATE_ARMED_ERROR state

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This commit is contained in:
Daniel Agar
2018-03-29 10:25:56 -04:00
parent e29b568d33
commit e395b3578f
8 changed files with 21 additions and 75 deletions
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msg/vehicle_status.msg
+4 -5
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@@ -3,11 +3,10 @@
uint8 ARMING_STATE_INIT = 0
uint8 ARMING_STATE_STANDBY = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_ARMED_ERROR = 3
uint8 ARMING_STATE_STANDBY_ERROR = 4
uint8 ARMING_STATE_REBOOT = 5
uint8 ARMING_STATE_IN_AIR_RESTORE = 6
uint8 ARMING_STATE_MAX = 7
uint8 ARMING_STATE_STANDBY_ERROR = 3
uint8 ARMING_STATE_REBOOT = 4
uint8 ARMING_STATE_IN_AIR_RESTORE = 5
uint8 ARMING_STATE_MAX = 6
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1
src/modules/commander/commander.cpp
+3 -7
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@@ -2428,7 +2428,7 @@ Commander::run()
status.rc_signal_lost = false;
const bool in_armed_state = status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR;
const bool in_armed_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
const bool arm_button_pressed = arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON;
/* DISARM
@@ -2453,13 +2453,10 @@ Commander::run()
print_reject_arm("NOT DISARMING: Not in manual mode or landed yet.");
} else if ((stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) || arm_switch_to_disarm_transition) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status,
&battery,
&safety,
new_arming_state,
vehicle_status_s::ARMING_STATE_STANDBY,
&armed,
true /* fRunPreArmChecks */,
&mavlink_log_pub,
@@ -3087,8 +3084,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
led_mode = led_control_s::MODE_ON;
set_normal_color = true;
} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR ||
(!status_flags.condition_system_sensors_initialized && hotplug_timeout)) {
} else if (!status_flags.condition_system_sensors_initialized && hotplug_timeout) {
led_mode = led_control_s::MODE_BLINK_FAST;
led_color = led_control_s::COLOR_RED;
src/modules/commander/commander_tests/state_machine_helper_test.cpp
-31
View File
@@ -149,16 +149,6 @@ bool StateMachineHelperTest::armingStateTransitionTest()
vehicle_status_s::ARMING_STATE_STANDBY,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: armed to armed error",
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED_ERROR,
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: armed error to standby error",
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: standby error to reboot",
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_REBOOT,
@@ -193,12 +183,6 @@ bool StateMachineHelperTest::armingStateTransitionTest()
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
// standby error
{ "transition: armed error to standby error requested standby",
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_STANDBY,
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
// TRANSITION_DENIED tests
// Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
@@ -208,11 +192,6 @@ bool StateMachineHelperTest::armingStateTransitionTest()
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: standby to armed error",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED_ERROR,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: armed to init",
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_INIT,
@@ -223,16 +202,6 @@ bool StateMachineHelperTest::armingStateTransitionTest()
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: armed error to armed",
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: armed error to reboot",
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: standby error to armed",
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED,
src/modules/commander/state_machine_helper.cpp
+9 -17
View File
@@ -64,14 +64,13 @@ static constexpr const char reason_no_datalink[] = "no datalink";
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = {
// INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_REBOOT */ true, true, false, false, true, true, true },
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI
// INIT, STANDBY, ARMED, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_REBOOT */ true, true, false, true, true, true },
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false }, // NYI
};
// You can index into the array with an arming_state_t in order to get its textual representation
@@ -79,7 +78,6 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"ARMING_STATE_INIT",
"ARMING_STATE_STANDBY",
"ARMING_STATE_ARMED",
"ARMING_STATE_ARMED_ERROR",
"ARMING_STATE_STANDBY_ERROR",
"ARMING_STATE_REBOOT",
"ARMING_STATE_IN_AIR_RESTORE",
@@ -258,10 +256,6 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
}
}
}
} else if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY
&& status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
}
@@ -325,8 +319,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
// Finish up the state transition
if (valid_transition) {
armed->armed = new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| new_arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR;
armed->armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED);
armed->ready_to_arm = new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY;
ret = TRANSITION_CHANGED;
@@ -592,8 +585,7 @@ bool set_nav_state(vehicle_status_s *status,
const bool rc_loss_act_configured = rc_loss_act > link_loss_actions_t::DISABLED;
const bool rc_lost = rc_loss_act_configured && (status->rc_signal_lost);
bool is_armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
bool is_armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED);
bool old_failsafe = status->failsafe;
status->failsafe = false;
src/modules/gpio_led/gpio_led.c
+1 -4
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@@ -304,10 +304,7 @@ void gpio_led_cycle(FAR void *arg)
/* select pattern for current vehiclestatus */
int pattern = 0;
if (priv->vehicle_status.arming_state == ARMING_STATE_ARMED_ERROR) {
pattern = 0x2A; // *_*_*_ fast blink (armed, error)
} else if (priv->vehicle_status.arming_state == ARMING_STATE_ARMED) {
if (priv->vehicle_status.arming_state == ARMING_STATE_ARMED) {
if (priv->battery_status.warning == BATTERY_WARNING_NONE
&& !priv->vehicle_status.failsafe) {
pattern = 0x3f; // ****** solid (armed)
src/modules/logger/logger.cpp
+1 -3
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@@ -957,9 +957,7 @@ void Logger::run()
if (ret == 0 && vehicle_status_updated) {
vehicle_status_s vehicle_status;
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
(vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ||
_arm_override;
bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) || _arm_override;
if (_was_armed != armed && !_log_until_shutdown) {
_was_armed = armed;
src/modules/mavlink/mavlink_messages.cpp
+2 -7
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@@ -131,8 +131,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_st
}
/* arming state */
if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
@@ -259,9 +258,6 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_st
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
*mavlink_state = MAV_STATE_ACTIVE;
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
*mavlink_state = MAV_STATE_CRITICAL;
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
*mavlink_state = MAV_STATE_STANDBY;
@@ -3439,8 +3435,7 @@ protected:
msg.param2 = 0;
msg.param3 = 0;
/* set camera capture ON/OFF depending on arming state */
msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ? 1 : 0;
msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 1 : 0;
msg.param5 = 0;
msg.param6 = 0;
msg.param7 = 0;
src/modules/sdlog2/sdlog2.c
+1 -1
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@@ -2250,7 +2250,7 @@ void handle_command(struct vehicle_command_s *cmd)
void handle_status(struct vehicle_status_s *status)
{
// TODO use flag from actuator_armed here?
bool armed = status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR;
bool armed = status->arming_state == ARMING_STATE_ARMED;
if (armed != flag_system_armed) {
flag_system_armed = armed;