fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-22 05:57:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

«flighttermination state» replaced by more general «failsafe state»

Browse Source
This commit is contained in:
Anton Babushkin
2014-01-25 23:24:12 +01:00
parent e8a1b620e9
commit ebc7cb03b7
7 changed files with 206 additions and 164 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/state_machine_helper.cpp
+29 -31
View File
@@ -63,7 +63,7 @@ static const int ERROR = -1;
static bool arming_state_changed = true;
static bool main_state_changed = true;
static bool flighttermination_state_changed = true;
static bool failsafe_state_changed = true;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
@@ -287,10 +287,10 @@ check_main_state_changed()
}
bool
check_flighttermination_state_changed()
check_failsafe_state_changed()
{
if (flighttermination_state_changed) {
flighttermination_state_changed = false;
if (failsafe_state_changed) {
failsafe_state_changed = false;
return true;
} else {
@@ -361,41 +361,39 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
/**
* Transition from one flightermination state to another
* Transition from one failsafe state to another
*/
transition_result_t flighttermination_state_transition(struct vehicle_status_s *status, flighttermination_state_t new_flighttermination_state)
transition_result_t failsafe_state_transition(struct vehicle_status_s *status, failsafe_state_t new_failsafe_state)
{
transition_result_t ret = TRANSITION_DENIED;
/* only check transition if the new state is actually different from the current one */
if (new_flighttermination_state == status->flighttermination_state) {
ret = TRANSITION_NOT_CHANGED;
/* only check transition if the new state is actually different from the current one */
if (new_failsafe_state == status->failsafe_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
} else if (status->failsafe_state != FAILSAFE_STATE_TERMINATION) {
switch (new_failsafe_state) {
case FAILSAFE_STATE_NORMAL:
ret = TRANSITION_CHANGED;
break;
case FAILSAFE_STATE_RTL:
ret = TRANSITION_CHANGED;
break;
case FAILSAFE_STATE_TERMINATION:
ret = TRANSITION_CHANGED;
break;
switch (new_flighttermination_state) {
case FLIGHTTERMINATION_STATE_ON:
ret = TRANSITION_CHANGED;
status->flighttermination_state = FLIGHTTERMINATION_STATE_ON;
warnx("state machine helper: change to FLIGHTTERMINATION_STATE_ON");
break;
case FLIGHTTERMINATION_STATE_OFF:
ret = TRANSITION_CHANGED;
status->flighttermination_state = FLIGHTTERMINATION_STATE_OFF;
break;
default:
break;
}
if (ret == TRANSITION_CHANGED) {
flighttermination_state_changed = true;
// TODO
//control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON;
}
default:
break;
}
return ret;
if (ret == TRANSITION_CHANGED) {
status->failsafe_state = new_failsafe_state;
failsafe_state_changed = true;
}
}
return ret;
}