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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-19 23:15:51 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-20 09:14:14 +0200 |
| commit | c92afb99b66eacad5e2069dd8ea735ff86dabc61 (patch) | |
| tree | c040494f8daed5052a67696fbfb9afce7e40dccf | |
| parent | 554719c78fe4e0e07e56bc7a57877340924d0d92 (diff) | |
| download | px4-firmware-c92afb99b66eacad5e2069dd8ea735ff86dabc61.tar.gz px4-firmware-c92afb99b66eacad5e2069dd8ea735ff86dabc61.tar.bz2 px4-firmware-c92afb99b66eacad5e2069dd8ea735ff86dabc61.zip | |
Prearm check: provide user instruction to power cycle if things look good
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index ccfc7a986..c7dabee7e 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -217,6 +217,14 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR; } + /* Check if we are trying to arm, checks look good but we are in STANDBY_ERROR */ + if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR && + new_arming_state == vehicle_status_s::ARMING_STATE_ARMED && + status->condition_system_sensors_initialized) { + mavlink_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming"); + feedback_provided = true; + } + // 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; |