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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-03-08 14:51:59 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-20 09:14:12 +0200 |
| commit | 4654d0f4fcf5d76bdd0f186c013ed1e349d08053 (patch) | |
| tree | 8682dd732fcf806061ca0b21b19f2f8f119d5148 | |
| parent | b70138c631985fe09a3f373a3084346811199878 (diff) | |
| download | px4-firmware-4654d0f4fcf5d76bdd0f186c013ed1e349d08053.tar.gz px4-firmware-4654d0f4fcf5d76bdd0f186c013ed1e349d08053.tar.bz2 px4-firmware-4654d0f4fcf5d76bdd0f186c013ed1e349d08053.zip | |
Commander: Enter ARMING_STATE_STANDBY_ERROR by default if preflight has failed
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index e1d2d72d1..58a123adf 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -78,11 +78,11 @@ static const int ERROR = -1; // code for those checks. static 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, false, false, false }, + { /* 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, false, true, true, 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 }; @@ -215,6 +215,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational."); feedback_provided = true; valid_transition = false; + new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR; } // Finish up the state transition |