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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-26 12:04:16 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-26 12:04:16 +0200 |
| commit | 1b6742cebe649fcdf55c2fa4b85b0eb30cf4c169 (patch) | |
| tree | f96e99c18a5633448913fcc3d8d05730a228d6b6 | |
| parent | 585c5334be924d974016074d29afe724459d285c (diff) | |
| download | px4-firmware-1b6742cebe649fcdf55c2fa4b85b0eb30cf4c169.tar.gz px4-firmware-1b6742cebe649fcdf55c2fa4b85b0eb30cf4c169.tar.bz2 px4-firmware-1b6742cebe649fcdf55c2fa4b85b0eb30cf4c169.zip | |
commander: Better user feedback after resolving preflight check warnings
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 26 |
1 files changed, 17 insertions, 9 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 9aba61e14..bd31be7ac 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -211,7 +211,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s valid_transition = true; } - /* Sensors need to be initialized for STANDBY state */ + // Sensors need to be initialized for STANDBY state if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) { mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors not operational."); feedback_provided = true; @@ -219,15 +219,23 @@ 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) { - if (status->condition_system_sensors_initialized) { - mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming"); - } else { - mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm"); + // 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) { + + if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + + if (status->condition_system_sensors_initialized) { + mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming"); + } else { + mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm"); + } + feedback_provided = true; + + } else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && + status->condition_system_sensors_initialized) { + mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, power cycle to complete"); + feedback_provided = true; } - feedback_provided = true; } // Finish up the state transition |