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| author | Julian Oes <julian@oes.ch> | 2013-08-16 09:27:05 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-08-16 09:27:05 +0200 |
| commit | ec9de4ad84be8e62b762567c58ec3bb948684b43 (patch) | |
| tree | 6200d4531f39037a0a0965b8b24f348886048de6 | |
| parent | d75c3c4e7369510db1d91721c2793c23dcd873fa (diff) | |
| download | px4-firmware-ec9de4ad84be8e62b762567c58ec3bb948684b43.tar.gz px4-firmware-ec9de4ad84be8e62b762567c58ec3bb948684b43.tar.bz2 px4-firmware-ec9de4ad84be8e62b762567c58ec3bb948684b43.zip | |
Critical voltage now leads to a proper arming state transition
| -rw-r--r-- | src/modules/commander/commander.cpp | 10 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 2 |
2 files changed, 9 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 4e6ecd1e4..926be91b9 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -812,8 +812,6 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(battery_status), battery_sub, &battery); - warnx("bat v: %2.2f", battery.voltage_v); - /* only consider battery voltage if system has been running 2s and battery voltage is not 0 */ if ((t - start_time) > 2000000 && battery.voltage_v > 0.001f) { status.battery_voltage = battery.voltage_v; @@ -887,7 +885,13 @@ int commander_thread_main(int argc, char *argv[]) critical_battery_voltage_actions_done = true; mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY"); status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; - arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + + if (armed.armed) { + // XXX not sure what should happen when voltage is low in flight + //arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + } else { + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); + } status_changed = true; } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 163aceed2..ef3890b71 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -168,6 +168,8 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * if (ret == TRANSITION_CHANGED) { status->arming_state = new_arming_state; arming_state_changed = true; + } else { + warnx("arming transition rejected"); } } |