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commander state machine add global position check

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This commit is contained in:
Daniel Agar 2018-03-29 23:14:34 -04:00
parent 729c98d9e2
commit f81a1aedcd
1 changed files with 25 additions and 7 deletions
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32
src/modules/commander/state_machine_helper.cpp
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@ -1018,18 +1018,36 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
}
}
// mission required
if ((arm_requirements & ARM_REQ_MISSION_BIT)
&& (!status_flags.condition_auto_mission_available || !status_flags.condition_global_position_valid)) {
// Arm Requirements: mission
if (arm_requirements & ARM_REQ_MISSION_BIT) {
prearm_ok = false;
if (!status_flags.condition_auto_mission_available) {
prearm_ok = false;
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: valid mission required");
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: valid mission required");
}
}
if (!status_flags.condition_global_position_valid) {
prearm_ok = false;
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: global position required");
}
}
}
// arm authorization check
// Arm Requirements: global position
if ((arm_requirements & ARM_REQ_GPS_BIT) && (!status_flags.condition_global_position_valid)) {
prearm_ok = false;
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: global position required");
}
}
// Arm Requirements: authorization
if (arm_requirements & ARM_REQ_ARM_AUTH_BIT) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
// feedback provided in arm_auth_check