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| author | Julian Oes <julian@oes.ch> | 2013-06-14 16:04:23 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-14 16:04:23 +0200 |
| commit | 5b21362e1ffefe4e28579eb7a853fe5d22288760 (patch) | |
| tree | 5d95088b834b0e30b2e50c78b17c8afcb5ddb396 | |
| parent | 90f5e30f2a177bed2ac08e76699ec3029292d640 (diff) | |
| download | px4-firmware-5b21362e1ffefe4e28579eb7a853fe5d22288760.tar.gz px4-firmware-5b21362e1ffefe4e28579eb7a853fe5d22288760.tar.bz2 px4-firmware-5b21362e1ffefe4e28579eb7a853fe5d22288760.zip | |
Arming with IO working now
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 11 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.c | 4 |
2 files changed, 9 insertions, 6 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 28a3eb917..d728b7b76 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -728,12 +728,11 @@ PX4IO::io_set_arming_state() } else { clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } - // TODO fix this -// if (armed.ready_to_arm) { -// set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; -// } else { -// clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; -// } + if (safety.ready_to_arm) { + set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + } else { + clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + } if (vstatus.flag_external_manual_override_ok) { set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index fea7ee840..4f2fbc984 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -70,6 +70,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta if (current_state->arming_state == ARMING_STATE_STANDBY) { ret = OK; safety->armed = false; + safety->ready_to_arm = false; } break; case ARMING_STATE_STANDBY: @@ -82,6 +83,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta if (current_state->condition_system_sensors_initialized) { ret = OK; safety->armed = false; + safety->ready_to_arm = true; } else { mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized"); } @@ -115,6 +117,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta || current_state->arming_state == ARMING_STATE_ARMED_ERROR) { ret = OK; safety->armed = false; + safety->ready_to_arm = false; } break; case ARMING_STATE_REBOOT: @@ -126,6 +129,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta ret = OK; safety->armed = false; + safety->ready_to_arm = false; } break; |